From fbe5bb87443adb3e3fa1ee518b5afd272af8666f Mon Sep 17 00:00:00 2001
From: David Sidrane <David.Sidrane@NscDg.com>
Date: Wed, 14 Oct 2020 13:15:02 -0700
Subject: [PATCH 1/3] ROMFS:Use . for (source) and ${R} for pathing

init.d-posix:rcS Quiet Shell check warning
---
 ROMFS/cannode/init.d/rcS                      |  9 +++----
 .../init.d-posix/airframes/10016_iris         |  2 +-
 .../init.d-posix/airframes/10020_if750a       |  2 +-
 .../init.d-posix/airframes/10030_px4vision    |  2 +-
 .../init.d-posix/airframes/1010_iris_opt_flow |  2 +-
 .../init.d-posix/airframes/1011_iris_irlock   |  2 +-
 .../init.d-posix/airframes/1012_iris_rplidar  |  2 +-
 .../init.d-posix/airframes/1013_iris_vision   |  2 +-
 .../init.d-posix/airframes/1014_solo          |  2 +-
 .../airframes/1015_iris_obs_avoid             |  2 +-
 .../init.d-posix/airframes/1016_iris_rtps     |  2 +-
 .../airframes/1017_iris_opt_flow_mockup       |  2 +-
 .../airframes/1018_iris_vision_velocity       |  2 +-
 .../init.d-posix/airframes/1019_iris_dual_gps |  2 +-
 .../init.d-posix/airframes/1020_uuv_generic   |  2 +-
 .../airframes/1021_uuv_hippocampus            |  2 +-
 .../init.d-posix/airframes/1030_plane         |  2 +-
 .../init.d-posix/airframes/1031_plane_cam     |  2 +-
 .../airframes/1032_plane_catapult             |  2 +-
 .../init.d-posix/airframes/1033_plane_lidar   |  2 +-
 .../init.d-posix/airframes/1033_rascal        |  2 +-
 .../airframes/1034_rascal-electric            |  2 +-
 .../init.d-posix/airframes/1035_techpod       |  2 +-
 .../init.d-posix/airframes/1040_standard_vtol |  2 +-
 .../init.d-posix/airframes/1041_tailsitter    |  2 +-
 .../init.d-posix/airframes/1042_tiltrotor     |  2 +-
 .../init.d-posix/airframes/1060_rover         |  2 +-
 .../init.d-posix/airframes/1061_r1_rover      |  2 +-
 .../init.d-posix/airframes/1062_tf-r1         |  2 +-
 .../init.d-posix/airframes/1070_boat          |  2 +-
 .../init.d-posix/airframes/17001_tf-g1        |  2 +-
 .../init.d-posix/airframes/2507_cloudship     |  2 +-
 .../init.d-posix/airframes/3010_quadrotor_x   |  2 +-
 .../init.d-posix/airframes/3011_hexarotor_x   |  2 +-
 .../init.d-posix/airframes/6011_typhoon_h480  |  2 +-
 ROMFS/px4fmu_common/init.d-posix/rcS          | 13 +++++-----
 .../init.d/airframes/1000_rc_fw_easystar.hil  |  2 +-
 .../init.d/airframes/10015_tbs_discovery      |  2 +-
 .../init.d/airframes/10016_3dr_iris           |  2 +-
 .../init.d/airframes/10017_steadidrone_qu4d   |  2 +-
 .../init.d/airframes/10018_tbs_endurance      |  2 +-
 .../init.d/airframes/1001_rc_quad_x.hil       |  2 +-
 .../init.d/airframes/1002_standard_vtol.hil   |  2 +-
 .../init.d/airframes/11001_hexa_cox           |  2 +-
 .../init.d/airframes/1100_rc_quad_x_sih.hil   |  2 +-
 .../init.d/airframes/12001_octo_cox           |  2 +-
 .../init.d/airframes/12002_steadidrone_mavrik |  2 +-
 .../airframes/13000_generic_vtol_standard     |  2 +-
 .../init.d/airframes/13001_caipirinha_vtol    |  2 +-
 .../init.d/airframes/13002_firefly6           |  2 +-
 .../init.d/airframes/13003_quad_tailsitter    |  2 +-
 .../init.d/airframes/13004_quad+_tailsitter   |  2 +-
 .../init.d/airframes/13005_vtol_AAERT_quad    |  2 +-
 .../airframes/13006_vtol_standard_delta       |  2 +-
 .../init.d/airframes/13007_vtol_AAVVT_quad    |  2 +-
 .../init.d/airframes/13008_QuadRanger         |  2 +-
 .../init.d/airframes/13009_vtol_spt_ranger    |  2 +-
 .../init.d/airframes/13010_claire             |  2 +-
 .../init.d/airframes/13012_convergence        |  2 +-
 .../init.d/airframes/13013_deltaquad          |  2 +-
 .../init.d/airframes/13014_vtol_babyshark     |  2 +-
 .../init.d/airframes/13050_generic_vtol_octo  |  2 +-
 .../airframes/13200_generic_vtol_tailsitter   |  2 +-
 .../init.d/airframes/14001_tri_y_yaw+         |  2 +-
 .../init.d/airframes/14002_tri_y_yaw-         |  2 +-
 .../init.d/airframes/15001_coax_heli          |  2 +-
 .../init.d/airframes/16001_helicopter         |  2 +-
 .../init.d/airframes/17002_TF-AutoG2          |  2 +-
 .../init.d/airframes/2100_standard_plane      |  2 +-
 .../px4fmu_common/init.d/airframes/2105_maja  |  2 +-
 .../init.d/airframes/2106_albatross           |  2 +-
 .../init.d/airframes/2200_mini_talon          |  2 +-
 .../init.d/airframes/2507_cloudship           |  2 +-
 .../init.d/airframes/3000_generic_wing        |  2 +-
 .../init.d/airframes/3030_io_camflyer         |  2 +-
 .../init.d/airframes/3031_phantom             |  2 +-
 .../init.d/airframes/3032_skywalker_x5        |  2 +-
 .../init.d/airframes/3033_wingwing            |  2 +-
 .../px4fmu_common/init.d/airframes/3034_fx79  |  2 +-
 .../px4fmu_common/init.d/airframes/3035_viper |  2 +-
 .../init.d/airframes/3036_pigeon              |  2 +-
 .../init.d/airframes/3037_parrot_disco_mod    |  2 +-
 .../init.d/airframes/3100_tbs_caipirinha      |  2 +-
 .../init.d/airframes/4001_quad_x              |  2 +-
 .../px4fmu_common/init.d/airframes/4003_qavr5 |  2 +-
 .../init.d/airframes/4009_qav250              |  2 +-
 .../init.d/airframes/4010_dji_f330            |  2 +-
 .../init.d/airframes/4011_dji_f450            |  2 +-
 .../px4fmu_common/init.d/airframes/4014_s500  |  2 +-
 .../init.d/airframes/4015_holybro_s500        |  2 +-
 .../init.d/airframes/4016_holybro_px4vision   |  2 +-
 .../init.d/airframes/4020_hk_micro_pcb        |  2 +-
 .../init.d/airframes/4030_3dr_solo            |  2 +-
 .../init.d/airframes/4031_3dr_quad            |  2 +-
 .../init.d/airframes/4040_reaper              |  2 +-
 .../init.d/airframes/4041_beta75x             |  2 +-
 .../init.d/airframes/4050_generic_250         |  2 +-
 .../init.d/airframes/4051_s250aq              |  2 +-
 .../init.d/airframes/4052_holybro_qav250      |  2 +-
 .../init.d/airframes/4053_holybro_kopis2      |  2 +-
 .../init.d/airframes/4060_dji_matrice_100     |  2 +-
 .../init.d/airframes/4070_aerofc              |  2 +-
 .../px4fmu_common/init.d/airframes/4072_draco |  2 +-
 .../init.d/airframes/4080_zmr250              |  2 +-
 .../init.d/airframes/4090_nanomind            |  2 +-
 .../init.d/airframes/4100_tiltquadrotor       |  2 +-
 .../px4fmu_common/init.d/airframes/4250_teal  |  2 +-
 .../init.d/airframes/4500_clover4             |  2 +-
 .../init.d/airframes/4900_crazyflie           |  2 +-
 .../airframes/50000_generic_ground_vehicle    |  2 +-
 .../init.d/airframes/50001_axialracing_ax10   |  2 +-
 .../airframes/50002_traxxas_stampede_2wd      |  2 +-
 .../airframes/50003_aion_robotics_r1_rover    |  2 +-
 .../airframes/50004_nxpcup_car_dfrobot_gpx    |  2 +-
 .../init.d/airframes/5001_quad_+              |  2 +-
 .../init.d/airframes/60000_uuv_generic        |  2 +-
 .../init.d/airframes/60001_uuv_hippocampus    |  2 +-
 .../init.d/airframes/6001_hexa_x              |  2 +-
 .../init.d/airframes/6002_draco_r             |  2 +-
 .../init.d/airframes/7001_hexa_+              |  2 +-
 .../init.d/airframes/8001_octo_x              |  2 +-
 .../init.d/airframes/9001_octo_+              |  2 +-
 ROMFS/px4fmu_common/init.d/rc.interface       |  4 ++--
 ROMFS/px4fmu_common/init.d/rc.vehicle_setup   | 24 +++++++++----------
 ROMFS/px4fmu_common/init.d/rcS                | 24 ++++++++++---------
 ROMFS/px4fmu_test/init.d/rcS                  |  5 ++--
 126 files changed, 162 insertions(+), 157 deletions(-)

diff --git a/ROMFS/cannode/init.d/rcS b/ROMFS/cannode/init.d/rcS
index d688c2acea96..5ff223d49953 100644
--- a/ROMFS/cannode/init.d/rcS
+++ b/ROMFS/cannode/init.d/rcS
@@ -14,7 +14,7 @@ set +e
 # NOTE: COMMENT LINES ARE REMOVED BEFORE STORED IN ROMFS.
 #
 #------------------------------------------------------------------------------
-
+set R /
 #
 # Mount the procfs.
 #
@@ -57,7 +57,7 @@ fi
 #
 # Optional board defaults: rc.board_defaults
 #
-set BOARD_RC_DEFAULTS /etc/init.d/rc.board_defaults
+set BOARD_RC_DEFAULTS ${R}etc/init.d/rc.board_defaults
 if [ -f $BOARD_RC_DEFAULTS ]
 then
 	echo "Board defaults: ${BOARD_RC_DEFAULTS}"
@@ -83,7 +83,7 @@ fi
 #
 # board sensors: rc.sensors
 #
-set BOARD_RC_SENSORS /etc/init.d/rc.board_sensors
+set BOARD_RC_SENSORS ${R}etc/init.d/rc.board_sensors
 if [ -f $BOARD_RC_SENSORS ]
 then
 	echo "Board sensors: ${BOARD_RC_SENSORS}"
@@ -95,7 +95,7 @@ unset BOARD_RC_SENSORS
 # Start UART/Serial device drivers.
 # Note: rc.serial is auto-generated from Tools/serial/generate_config.py
 #
-. /etc/init.d/rc.serial
+. ${R}etc/init.d/rc.serial
 
 # Check for flow sensor
 if param compare SENS_EN_PX4FLOW 1
@@ -104,3 +104,4 @@ then
 fi
 
 uavcannode start
+unset R
diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/10016_iris b/ROMFS/px4fmu_common/init.d-posix/airframes/10016_iris
index 260d9e147463..7bdbe1b2833a 100644
--- a/ROMFS/px4fmu_common/init.d-posix/airframes/10016_iris
+++ b/ROMFS/px4fmu_common/init.d-posix/airframes/10016_iris
@@ -7,6 +7,6 @@
 # @maintainer Julian Oes <julian@oes.ch>
 #
 
-sh /etc/init.d/rc.mc_defaults
+. ${R}etc/init.d/rc.mc_defaults
 
 set MIXER quad_w
diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/10020_if750a b/ROMFS/px4fmu_common/init.d-posix/airframes/10020_if750a
index 608d76b02cbc..61df0d0fc776 100644
--- a/ROMFS/px4fmu_common/init.d-posix/airframes/10020_if750a
+++ b/ROMFS/px4fmu_common/init.d-posix/airframes/10020_if750a
@@ -6,7 +6,7 @@
 # @type Quadrotor
 #
 
-sh /etc/init.d/rc.mc_defaults
+. ${R}etc/init.d/rc.mc_defaults
 
 if [ $AUTOCNF = yes ]
 then
diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/10030_px4vision b/ROMFS/px4fmu_common/init.d-posix/airframes/10030_px4vision
index 8f0f4fe9a158..1eb4be33f765 100644
--- a/ROMFS/px4fmu_common/init.d-posix/airframes/10030_px4vision
+++ b/ROMFS/px4fmu_common/init.d-posix/airframes/10030_px4vision
@@ -6,6 +6,6 @@
 # @type Quadrotor
 #
 
-sh /etc/init.d/airframes/4016_holybro_px4vision
+. ${R}etc/init.d/airframes/4016_holybro_px4vision
 
 set MIXER quad_x
diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/1010_iris_opt_flow b/ROMFS/px4fmu_common/init.d-posix/airframes/1010_iris_opt_flow
index 998d3aa03eda..eabbebbf2bf2 100644
--- a/ROMFS/px4fmu_common/init.d-posix/airframes/1010_iris_opt_flow
+++ b/ROMFS/px4fmu_common/init.d-posix/airframes/1010_iris_opt_flow
@@ -5,7 +5,7 @@
 # @type Quadrotor Wide
 #
 
-sh /etc/init.d-posix/airframes/10016_iris
+. ${R}etc/init.d-posix/airframes/10016_iris
 
 if [ $AUTOCNF = yes ]
 then
diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/1011_iris_irlock b/ROMFS/px4fmu_common/init.d-posix/airframes/1011_iris_irlock
index 3cc47459d5d2..c0f9e6dfef78 100644
--- a/ROMFS/px4fmu_common/init.d-posix/airframes/1011_iris_irlock
+++ b/ROMFS/px4fmu_common/init.d-posix/airframes/1011_iris_irlock
@@ -5,7 +5,7 @@
 # @type Quadrotor Wide
 #
 
-sh /etc/init.d-posix/airframes/10016_iris
+. ${R}etc/init.d-posix/airframes/10016_iris
 
 if [ $AUTOCNF = yes ]
 then
diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/1012_iris_rplidar b/ROMFS/px4fmu_common/init.d-posix/airframes/1012_iris_rplidar
index f1b8290cea88..0e6c5096b022 100644
--- a/ROMFS/px4fmu_common/init.d-posix/airframes/1012_iris_rplidar
+++ b/ROMFS/px4fmu_common/init.d-posix/airframes/1012_iris_rplidar
@@ -5,7 +5,7 @@
 # @type Quadrotor Wide
 #
 
-sh /etc/init.d-posix/airframes/10016_iris
+. ${R}etc/init.d-posix/airframes/10016_iris
 
 if [ $AUTOCNF = yes ]
 then
diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/1013_iris_vision b/ROMFS/px4fmu_common/init.d-posix/airframes/1013_iris_vision
index 4f1f2696f746..abb53b425490 100644
--- a/ROMFS/px4fmu_common/init.d-posix/airframes/1013_iris_vision
+++ b/ROMFS/px4fmu_common/init.d-posix/airframes/1013_iris_vision
@@ -5,7 +5,7 @@
 # @type Quadrotor Wide
 #
 
-sh /etc/init.d-posix/airframes/10016_iris
+. ${R}etc/init.d-posix/airframes/10016_iris
 
 if [ $AUTOCNF = yes ]
 then
diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/1014_solo b/ROMFS/px4fmu_common/init.d-posix/airframes/1014_solo
index 36fb244ceb15..a4dd4d731e27 100644
--- a/ROMFS/px4fmu_common/init.d-posix/airframes/1014_solo
+++ b/ROMFS/px4fmu_common/init.d-posix/airframes/1014_solo
@@ -5,7 +5,7 @@
 # @type Quadrotor
 #
 
-sh /etc/init.d/rc.mc_defaults
+. ${R}etc/init.d/rc.mc_defaults
 
 if [ $AUTOCNF = yes ]
 then
diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/1015_iris_obs_avoid b/ROMFS/px4fmu_common/init.d-posix/airframes/1015_iris_obs_avoid
index 2acec65ac02a..ae56b441371e 100644
--- a/ROMFS/px4fmu_common/init.d-posix/airframes/1015_iris_obs_avoid
+++ b/ROMFS/px4fmu_common/init.d-posix/airframes/1015_iris_obs_avoid
@@ -5,7 +5,7 @@
 # @type Quadrotor Wide
 #
 
-sh /etc/init.d-posix/airframes/10016_iris
+. ${R}etc/init.d-posix/airframes/10016_iris
 
 if [ $AUTOCNF = yes ]
 then
diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/1016_iris_rtps b/ROMFS/px4fmu_common/init.d-posix/airframes/1016_iris_rtps
index 7a3fe90c3bfa..bc39d78a9f45 100644
--- a/ROMFS/px4fmu_common/init.d-posix/airframes/1016_iris_rtps
+++ b/ROMFS/px4fmu_common/init.d-posix/airframes/1016_iris_rtps
@@ -5,4 +5,4 @@
 # @type Quadrotor Wide
 #
 
-sh /etc/init.d-posix/airframes/10016_iris
+. ${R}etc/init.d-posix/airframes/10016_iris
diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/1017_iris_opt_flow_mockup b/ROMFS/px4fmu_common/init.d-posix/airframes/1017_iris_opt_flow_mockup
index 35178650ccd3..bc3d997a5c50 100644
--- a/ROMFS/px4fmu_common/init.d-posix/airframes/1017_iris_opt_flow_mockup
+++ b/ROMFS/px4fmu_common/init.d-posix/airframes/1017_iris_opt_flow_mockup
@@ -5,7 +5,7 @@
 # @type Quadrotor Wide
 #
 
-sh /etc/init.d-posix/airframes/10016_iris
+. ${R}etc/init.d-posix/airframes/10016_iris
 
 if [ $AUTOCNF = yes ]
 then
diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/1018_iris_vision_velocity b/ROMFS/px4fmu_common/init.d-posix/airframes/1018_iris_vision_velocity
index a66139d3e664..defabcd28b44 100644
--- a/ROMFS/px4fmu_common/init.d-posix/airframes/1018_iris_vision_velocity
+++ b/ROMFS/px4fmu_common/init.d-posix/airframes/1018_iris_vision_velocity
@@ -5,7 +5,7 @@
 # @type Quadrotor Wide
 #
 
-sh /etc/init.d-posix/airframes/10016_iris
+. ${R}etc/init.d-posix/airframes/10016_iris
 
 if [ $AUTOCNF = yes ]
 then
diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/1019_iris_dual_gps b/ROMFS/px4fmu_common/init.d-posix/airframes/1019_iris_dual_gps
index f15d34fc7088..8e4c86fec8b8 100644
--- a/ROMFS/px4fmu_common/init.d-posix/airframes/1019_iris_dual_gps
+++ b/ROMFS/px4fmu_common/init.d-posix/airframes/1019_iris_dual_gps
@@ -5,7 +5,7 @@
 # @type Quadrotor Wide
 #
 
-sh /etc/init.d-posix/airframes/10016_iris
+. ${R}etc/init.d-posix/airframes/10016_iris
 
 if [ $AUTOCNF = yes ]
 then
diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/1020_uuv_generic b/ROMFS/px4fmu_common/init.d-posix/airframes/1020_uuv_generic
index 4a1156e68241..6f8de16cae1c 100644
--- a/ROMFS/px4fmu_common/init.d-posix/airframes/1020_uuv_generic
+++ b/ROMFS/px4fmu_common/init.d-posix/airframes/1020_uuv_generic
@@ -3,7 +3,7 @@
 # @name UUV
 #
 
-sh /etc/init.d/rc.uuv_defaults
+. ${R}etc/init.d/rc.uuv_defaults
 
 if [ $AUTOCNF = yes ]
 then
diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/1021_uuv_hippocampus b/ROMFS/px4fmu_common/init.d-posix/airframes/1021_uuv_hippocampus
index 095a2a146d8a..058a1024507b 100644
--- a/ROMFS/px4fmu_common/init.d-posix/airframes/1021_uuv_hippocampus
+++ b/ROMFS/px4fmu_common/init.d-posix/airframes/1021_uuv_hippocampus
@@ -3,7 +3,7 @@
 # @name Hippocampus UUV
 #
 
-sh /etc/init.d/rc.uuv_defaults
+. ${R}etc/init.d/rc.uuv_defaults
 
 if [ $AUTOCNF = yes ]
 then
diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/1030_plane b/ROMFS/px4fmu_common/init.d-posix/airframes/1030_plane
index ea49ffc943a2..38183812a7b1 100644
--- a/ROMFS/px4fmu_common/init.d-posix/airframes/1030_plane
+++ b/ROMFS/px4fmu_common/init.d-posix/airframes/1030_plane
@@ -3,7 +3,7 @@
 # @name Plane SITL
 #
 
-sh /etc/init.d/rc.fw_defaults
+. ${R}etc/init.d/rc.fw_defaults
 
 if [ $AUTOCNF = yes ]
 then
diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/1031_plane_cam b/ROMFS/px4fmu_common/init.d-posix/airframes/1031_plane_cam
index 63ae49950d03..1d226793d4ae 100644
--- a/ROMFS/px4fmu_common/init.d-posix/airframes/1031_plane_cam
+++ b/ROMFS/px4fmu_common/init.d-posix/airframes/1031_plane_cam
@@ -3,7 +3,7 @@
 # @name Plane SITL with camera
 #
 
-sh /etc/init.d-posix/airframes/1030_plane
+. ${R}etc/init.d-posix/airframes/1030_plane
 
 if [ $AUTOCNF = yes ]
 then
diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/1032_plane_catapult b/ROMFS/px4fmu_common/init.d-posix/airframes/1032_plane_catapult
index e0b705953366..17674d597b9e 100644
--- a/ROMFS/px4fmu_common/init.d-posix/airframes/1032_plane_catapult
+++ b/ROMFS/px4fmu_common/init.d-posix/airframes/1032_plane_catapult
@@ -3,7 +3,7 @@
 # @name Plane SITL with catapult
 #
 
-sh /etc/init.d-posix/airframes/1030_plane
+. ${R}etc/init.d-posix/airframes/1030_plane
 
 if [ $AUTOCNF = yes ]
 then
diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/1033_plane_lidar b/ROMFS/px4fmu_common/init.d-posix/airframes/1033_plane_lidar
index 310e698a24e7..e197c2d91f35 100644
--- a/ROMFS/px4fmu_common/init.d-posix/airframes/1033_plane_lidar
+++ b/ROMFS/px4fmu_common/init.d-posix/airframes/1033_plane_lidar
@@ -3,7 +3,7 @@
 # @name Plane SITL with downward facing LIDAR.
 #
 
-sh /etc/init.d-posix/airframes/1030_plane
+. ${R}etc/init.d-posix/airframes/1030_plane
 
 if [ $AUTOCNF = yes ]
 then
diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/1033_rascal b/ROMFS/px4fmu_common/init.d-posix/airframes/1033_rascal
index 05fd975438e2..92c5f99784d7 100644
--- a/ROMFS/px4fmu_common/init.d-posix/airframes/1033_rascal
+++ b/ROMFS/px4fmu_common/init.d-posix/airframes/1033_rascal
@@ -3,7 +3,7 @@
 # @name Plane SITL
 #
 
-sh /etc/init.d/rc.fw_defaults
+. ${R}etc/init.d/rc.fw_defaults
 
 if [ $AUTOCNF = yes ]
 then
diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/1034_rascal-electric b/ROMFS/px4fmu_common/init.d-posix/airframes/1034_rascal-electric
index 05fd975438e2..92c5f99784d7 100644
--- a/ROMFS/px4fmu_common/init.d-posix/airframes/1034_rascal-electric
+++ b/ROMFS/px4fmu_common/init.d-posix/airframes/1034_rascal-electric
@@ -3,7 +3,7 @@
 # @name Plane SITL
 #
 
-sh /etc/init.d/rc.fw_defaults
+. ${R}etc/init.d/rc.fw_defaults
 
 if [ $AUTOCNF = yes ]
 then
diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/1035_techpod b/ROMFS/px4fmu_common/init.d-posix/airframes/1035_techpod
index ea49ffc943a2..38183812a7b1 100644
--- a/ROMFS/px4fmu_common/init.d-posix/airframes/1035_techpod
+++ b/ROMFS/px4fmu_common/init.d-posix/airframes/1035_techpod
@@ -3,7 +3,7 @@
 # @name Plane SITL
 #
 
-sh /etc/init.d/rc.fw_defaults
+. ${R}etc/init.d/rc.fw_defaults
 
 if [ $AUTOCNF = yes ]
 then
diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/1040_standard_vtol b/ROMFS/px4fmu_common/init.d-posix/airframes/1040_standard_vtol
index 3befbc28685f..1767ef4c98a9 100644
--- a/ROMFS/px4fmu_common/init.d-posix/airframes/1040_standard_vtol
+++ b/ROMFS/px4fmu_common/init.d-posix/airframes/1040_standard_vtol
@@ -5,7 +5,7 @@
 # @type Standard VTOL
 #
 
-sh /etc/init.d/rc.vtol_defaults
+. ${R}etc/init.d/rc.vtol_defaults
 
 if [ $AUTOCNF = yes ]
 then
diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/1041_tailsitter b/ROMFS/px4fmu_common/init.d-posix/airframes/1041_tailsitter
index 5f854e45e482..efe8a9cce699 100644
--- a/ROMFS/px4fmu_common/init.d-posix/airframes/1041_tailsitter
+++ b/ROMFS/px4fmu_common/init.d-posix/airframes/1041_tailsitter
@@ -5,7 +5,7 @@
 # @type VTOL Quad Tailsitter
 #
 
-sh /etc/init.d/rc.vtol_defaults
+. ${R}etc/init.d/rc.vtol_defaults
 
 if [ $AUTOCNF = yes ]
 then
diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/1042_tiltrotor b/ROMFS/px4fmu_common/init.d-posix/airframes/1042_tiltrotor
index 25f1c9d5ba4f..d1569f415bc6 100644
--- a/ROMFS/px4fmu_common/init.d-posix/airframes/1042_tiltrotor
+++ b/ROMFS/px4fmu_common/init.d-posix/airframes/1042_tiltrotor
@@ -5,7 +5,7 @@
 # @type VTOL Tiltrotor
 #
 
-sh /etc/init.d/rc.vtol_defaults
+. ${R}etc/init.d/rc.vtol_defaults
 
 if [ $AUTOCNF = yes ]
 then
diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/1060_rover b/ROMFS/px4fmu_common/init.d-posix/airframes/1060_rover
index 7441618b059d..dcb0500f0974 100644
--- a/ROMFS/px4fmu_common/init.d-posix/airframes/1060_rover
+++ b/ROMFS/px4fmu_common/init.d-posix/airframes/1060_rover
@@ -3,7 +3,7 @@
 # @name Rover
 #
 
-sh /etc/init.d/rc.rover_defaults
+. ${R}etc/init.d/rc.rover_defaults
 
 if [ $AUTOCNF = yes ]
 then
diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/1061_r1_rover b/ROMFS/px4fmu_common/init.d-posix/airframes/1061_r1_rover
index ccf43621f581..1d3a436cc236 100644
--- a/ROMFS/px4fmu_common/init.d-posix/airframes/1061_r1_rover
+++ b/ROMFS/px4fmu_common/init.d-posix/airframes/1061_r1_rover
@@ -4,7 +4,7 @@
 # @type Rover
 # @class Rover
 
-sh /etc/init.d/rc.rover_defaults
+. ${R}etc/init.d/rc.rover_defaults
 
 if [ $AUTOCNF = yes ]
 then
diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/1062_tf-r1 b/ROMFS/px4fmu_common/init.d-posix/airframes/1062_tf-r1
index 9ed5e0e44208..80d70249f452 100644
--- a/ROMFS/px4fmu_common/init.d-posix/airframes/1062_tf-r1
+++ b/ROMFS/px4fmu_common/init.d-posix/airframes/1062_tf-r1
@@ -8,7 +8,7 @@
 # @maintainer ThunderFly s.r.o.
 #
 
-sh /etc/init.d/rc.rover_defaults
+. ${R}etc/init.d/rc.rover_defaults
 
 if [ $AUTOCNF = yes ]
 then
diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/1070_boat b/ROMFS/px4fmu_common/init.d-posix/airframes/1070_boat
index 6c474ab53bf5..7c11e78d17bc 100644
--- a/ROMFS/px4fmu_common/init.d-posix/airframes/1070_boat
+++ b/ROMFS/px4fmu_common/init.d-posix/airframes/1070_boat
@@ -3,7 +3,7 @@
 # @name Boat
 #
 
-sh /etc/init.d/rc.boat_defaults
+. ${R}etc/init.d/rc.boat_defaults
 
 if [ $AUTOCNF = yes ]
 then
diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/17001_tf-g1 b/ROMFS/px4fmu_common/init.d-posix/airframes/17001_tf-g1
index d60ccd9d6dc5..72ebb6da1332 100644
--- a/ROMFS/px4fmu_common/init.d-posix/airframes/17001_tf-g1
+++ b/ROMFS/px4fmu_common/init.d-posix/airframes/17001_tf-g1
@@ -10,7 +10,7 @@
 #
 #
 
-sh /etc/init.d/rc.fw_defaults
+. ${R}etc/init.d/rc.fw_defaults
 
 if [ $AUTOCNF = yes ]
 then
diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/2507_cloudship b/ROMFS/px4fmu_common/init.d-posix/airframes/2507_cloudship
index 29b71a3e5952..09bfb9b5285c 100644
--- a/ROMFS/px4fmu_common/init.d-posix/airframes/2507_cloudship
+++ b/ROMFS/px4fmu_common/init.d-posix/airframes/2507_cloudship
@@ -9,7 +9,7 @@
 # @output MAIN3 port thruster
 # @output MAIN4 tail thruster
 
-sh /etc/init.d/rc.airship_defaults
+. ${R}etc/init.d/rc.airship_defaults
 
 set MIXER cloudship
 set PWM_OUT 1234
diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/3010_quadrotor_x b/ROMFS/px4fmu_common/init.d-posix/airframes/3010_quadrotor_x
index c82eae87943d..81e2505111be 100644
--- a/ROMFS/px4fmu_common/init.d-posix/airframes/3010_quadrotor_x
+++ b/ROMFS/px4fmu_common/init.d-posix/airframes/3010_quadrotor_x
@@ -7,6 +7,6 @@
 # @maintainer Jaeyoung Lim <jaeyoung@auterion.com>
 #
 
-sh /etc/init.d/rc.mc_defaults
+. ${R}etc/init.d/rc.mc_defaults
 
 set MIXER quad_w
diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/3011_hexarotor_x b/ROMFS/px4fmu_common/init.d-posix/airframes/3011_hexarotor_x
index 3ee8751da37a..ce9ca8818d7c 100644
--- a/ROMFS/px4fmu_common/init.d-posix/airframes/3011_hexarotor_x
+++ b/ROMFS/px4fmu_common/init.d-posix/airframes/3011_hexarotor_x
@@ -7,7 +7,7 @@
 # @maintainer Jaeyoung Lim <jaeyoung@auterion.com>
 #
 
-sh /etc/init.d/rc.mc_defaults
+. ${R}etc/init.d/rc.mc_defaults
 
 if [ $AUTOCNF = yes ]
 then
diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/6011_typhoon_h480 b/ROMFS/px4fmu_common/init.d-posix/airframes/6011_typhoon_h480
index 4955f3b578a9..2e225fc9a175 100644
--- a/ROMFS/px4fmu_common/init.d-posix/airframes/6011_typhoon_h480
+++ b/ROMFS/px4fmu_common/init.d-posix/airframes/6011_typhoon_h480
@@ -5,7 +5,7 @@
 # @type Hexarotor x
 #
 
-sh /etc/init.d/rc.mc_defaults
+. ${R}etc/init.d/rc.mc_defaults
 
 if [ $AUTOCNF = yes ]
 then
diff --git a/ROMFS/px4fmu_common/init.d-posix/rcS b/ROMFS/px4fmu_common/init.d-posix/rcS
index 7be09ba9fbd0..e0fa783d9705 100644
--- a/ROMFS/px4fmu_common/init.d-posix/rcS
+++ b/ROMFS/px4fmu_common/init.d-posix/rcS
@@ -15,7 +15,7 @@ SCRIPT_DIR="$(CDPATH='' cd -- "$(dirname -- "$0")" && pwd)"
 # shellcheck disable=SC2154
 if [ "$replay_mode" = "ekf2" ]
 then
-	sh etc/init.d-posix/rc.replay
+	. ${R}etc/init.d-posix/rc.replay
 	exit 0
 fi
 
@@ -176,7 +176,8 @@ fi
 
 # Autostart ID
 autostart_file=''
-for f in etc/init.d-posix/airframes/"$(param show -q SYS_AUTOSTART)"_*
+# shellcheck disable=SC2231
+for f in ${R}etc/init.d-posix/airframes/"$(param show -q SYS_AUTOSTART)"_*
 do
 	filename=$(basename "$f")
 	case "$filename" in
@@ -193,7 +194,7 @@ if [ ! -e "$autostart_file" ]; then
 	exit 1
 fi
 
-sh "$autostart_file"
+. "$autostart_file"
 
 #
 # If autoconfig parameter was set, reset it and save parameters.
@@ -232,7 +233,7 @@ fi
 # Note: rc.vehicle_setup is the entry point for rc.interface,
 #       rc.fw_apps, rc.mc_apps, rc.rover_apps, and rc.vtol_apps.
 #
-sh etc/init.d/rc.vehicle_setup
+. ${R}etc/init.d/rc.vehicle_setup
 
 # GCS link
 mavlink start -x -u $udp_gcs_port_local -r 4000000
@@ -253,7 +254,7 @@ mavlink start -x -u $udp_offboard_port_local -r 4000000 -m onboard -o $udp_offbo
 mavlink start -x -u $udp_onboard_payload_port_local -r 4000 -f -m onboard -o $udp_onboard_payload_port_remote
 
 # execute autostart post script if any
-[ -e "$autostart_file".post ] && sh "$autostart_file".post
+[ -e "$autostart_file".post ] && . "$autostart_file".post
 
 # Run script to start logging
 if param compare SYS_MC_EST_GROUP 2
@@ -262,7 +263,7 @@ then
 else
 	set LOGGER_ARGS "-p vehicle_attitude"
 fi
-sh etc/init.d/rc.logging
+. ${R}etc/init.d/rc.logging
 
 mavlink boot_complete
 replay trystart
diff --git a/ROMFS/px4fmu_common/init.d/airframes/1000_rc_fw_easystar.hil b/ROMFS/px4fmu_common/init.d/airframes/1000_rc_fw_easystar.hil
index bff8ee2e9150..e12d04091b5b 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/1000_rc_fw_easystar.hil
+++ b/ROMFS/px4fmu_common/init.d/airframes/1000_rc_fw_easystar.hil
@@ -15,7 +15,7 @@
 # @maintainer Lorenz Meier <lorenz@px4.io>
 #
 
-. /etc/init.d/rc.fw_defaults
+. ${R}etc/init.d/rc.fw_defaults
 
 if [ $AUTOCNF = yes ]
 then
diff --git a/ROMFS/px4fmu_common/init.d/airframes/10015_tbs_discovery b/ROMFS/px4fmu_common/init.d/airframes/10015_tbs_discovery
index 3d51b01b858a..67b1854ef4ca 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/10015_tbs_discovery
+++ b/ROMFS/px4fmu_common/init.d/airframes/10015_tbs_discovery
@@ -23,7 +23,7 @@
 # @board bitcraze_crazyflie exclude
 #
 
-. /etc/init.d/rc.mc_defaults
+. ${R}etc/init.d/rc.mc_defaults
 
 if [ $AUTOCNF = yes ]
 then
diff --git a/ROMFS/px4fmu_common/init.d/airframes/10016_3dr_iris b/ROMFS/px4fmu_common/init.d/airframes/10016_3dr_iris
index 0fd00f5574c7..ef981cb571e4 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/10016_3dr_iris
+++ b/ROMFS/px4fmu_common/init.d/airframes/10016_3dr_iris
@@ -21,7 +21,7 @@
 # @board bitcraze_crazyflie exclude
 #
 
-. /etc/init.d/rc.mc_defaults
+. ${R}etc/init.d/rc.mc_defaults
 
 if [ $AUTOCNF = yes ]
 then
diff --git a/ROMFS/px4fmu_common/init.d/airframes/10017_steadidrone_qu4d b/ROMFS/px4fmu_common/init.d/airframes/10017_steadidrone_qu4d
index 6252bd592322..023e9da43c4d 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/10017_steadidrone_qu4d
+++ b/ROMFS/px4fmu_common/init.d/airframes/10017_steadidrone_qu4d
@@ -23,7 +23,7 @@
 # @board bitcraze_crazyflie exclude
 #
 
-. /etc/init.d/rc.mc_defaults
+. ${R}etc/init.d/rc.mc_defaults
 
 if [ $AUTOCNF = yes ]
 then
diff --git a/ROMFS/px4fmu_common/init.d/airframes/10018_tbs_endurance b/ROMFS/px4fmu_common/init.d/airframes/10018_tbs_endurance
index 5b8f80ffa563..1028738f2788 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/10018_tbs_endurance
+++ b/ROMFS/px4fmu_common/init.d/airframes/10018_tbs_endurance
@@ -23,7 +23,7 @@
 # @board bitcraze_crazyflie exclude
 #
 
-. /etc/init.d/rc.mc_defaults
+. ${R}etc/init.d/rc.mc_defaults
 
 if [ $AUTOCNF = yes ]
 then
diff --git a/ROMFS/px4fmu_common/init.d/airframes/1001_rc_quad_x.hil b/ROMFS/px4fmu_common/init.d/airframes/1001_rc_quad_x.hil
index 5a918daf246f..49802c243bc8 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/1001_rc_quad_x.hil
+++ b/ROMFS/px4fmu_common/init.d/airframes/1001_rc_quad_x.hil
@@ -8,7 +8,7 @@
 # @maintainer Lorenz Meier <lorenz@px4.io>
 #
 
-. /etc/init.d/rc.mc_defaults
+. ${R}etc/init.d/rc.mc_defaults
 
 set MIXER quad_x
 set PWM_OUT 1234
diff --git a/ROMFS/px4fmu_common/init.d/airframes/1002_standard_vtol.hil b/ROMFS/px4fmu_common/init.d/airframes/1002_standard_vtol.hil
index 9de90b05e1e6..6bf94a5bdf09 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/1002_standard_vtol.hil
+++ b/ROMFS/px4fmu_common/init.d/airframes/1002_standard_vtol.hil
@@ -8,7 +8,7 @@
 # @maintainer Roman Bapst <roman@auterion.com>
 #
 
-. /etc/init.d/rc.vtol_defaults
+. ${R}etc/init.d/rc.vtol_defaults
 
 if [ $AUTOCNF = yes ]
 then
diff --git a/ROMFS/px4fmu_common/init.d/airframes/11001_hexa_cox b/ROMFS/px4fmu_common/init.d/airframes/11001_hexa_cox
index 82e00d061b4a..438c384be508 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/11001_hexa_cox
+++ b/ROMFS/px4fmu_common/init.d/airframes/11001_hexa_cox
@@ -22,7 +22,7 @@
 # @board bitcraze_crazyflie exclude
 #
 
-. /etc/init.d/rc.mc_defaults
+. ${R}etc/init.d/rc.mc_defaults
 
 set MIXER hexa_cox
 
diff --git a/ROMFS/px4fmu_common/init.d/airframes/1100_rc_quad_x_sih.hil b/ROMFS/px4fmu_common/init.d/airframes/1100_rc_quad_x_sih.hil
index 549e5caa2b1c..84592ec0b072 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/1100_rc_quad_x_sih.hil
+++ b/ROMFS/px4fmu_common/init.d/airframes/1100_rc_quad_x_sih.hil
@@ -8,7 +8,7 @@
 # @maintainer Romain Chiappinelli <romain.chiap@gmail.com>
 #
 
-. /etc/init.d/rc.mc_defaults
+. ${R}etc/init.d/rc.mc_defaults
 
 set MIXER quad_x
 set PWM_OUT 1234
diff --git a/ROMFS/px4fmu_common/init.d/airframes/12001_octo_cox b/ROMFS/px4fmu_common/init.d/airframes/12001_octo_cox
index 3c3cce3a8e69..8992cc4d58e1 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/12001_octo_cox
+++ b/ROMFS/px4fmu_common/init.d/airframes/12001_octo_cox
@@ -20,7 +20,7 @@
 # @board bitcraze_crazyflie exclude
 #
 
-. /etc/init.d/rc.mc_defaults
+. ${R}etc/init.d/rc.mc_defaults
 
 set MIXER octo_cox
 
diff --git a/ROMFS/px4fmu_common/init.d/airframes/12002_steadidrone_mavrik b/ROMFS/px4fmu_common/init.d/airframes/12002_steadidrone_mavrik
index 703a0b541d98..4b54e627dd2c 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/12002_steadidrone_mavrik
+++ b/ROMFS/px4fmu_common/init.d/airframes/12002_steadidrone_mavrik
@@ -20,7 +20,7 @@
 # @board bitcraze_crazyflie exclude
 #
 
-. /etc/init.d/rc.mc_defaults
+. ${R}etc/init.d/rc.mc_defaults
 
 if [ $AUTOCNF = yes ]
 then
diff --git a/ROMFS/px4fmu_common/init.d/airframes/13000_generic_vtol_standard b/ROMFS/px4fmu_common/init.d/airframes/13000_generic_vtol_standard
index 5e1dea9c17ee..6c8b5c0da89b 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/13000_generic_vtol_standard
+++ b/ROMFS/px4fmu_common/init.d/airframes/13000_generic_vtol_standard
@@ -18,7 +18,7 @@
 # @output AUX5 Throttle
 #
 
-. /etc/init.d/rc.vtol_defaults
+. ${R}etc/init.d/rc.vtol_defaults
 
 if [ $AUTOCNF = yes ]
 then
diff --git a/ROMFS/px4fmu_common/init.d/airframes/13001_caipirinha_vtol b/ROMFS/px4fmu_common/init.d/airframes/13001_caipirinha_vtol
index 91a001dfe047..225e2820662c 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/13001_caipirinha_vtol
+++ b/ROMFS/px4fmu_common/init.d/airframes/13001_caipirinha_vtol
@@ -13,7 +13,7 @@
 # @maintainer Roman Bapst <roman@px4.io>
 #
 
-. /etc/init.d/rc.vtol_defaults
+. ${R}etc/init.d/rc.vtol_defaults
 
 if [ $AUTOCNF = yes ]
 then
diff --git a/ROMFS/px4fmu_common/init.d/airframes/13002_firefly6 b/ROMFS/px4fmu_common/init.d/airframes/13002_firefly6
index c882ec02ab54..b6aaa1cba7a4 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/13002_firefly6
+++ b/ROMFS/px4fmu_common/init.d/airframes/13002_firefly6
@@ -22,7 +22,7 @@
 # @board bitcraze_crazyflie exclude
 #
 
-. /etc/init.d/rc.vtol_defaults
+. ${R}etc/init.d/rc.vtol_defaults
 
 if [ $AUTOCNF = yes ]
 then
diff --git a/ROMFS/px4fmu_common/init.d/airframes/13003_quad_tailsitter b/ROMFS/px4fmu_common/init.d/airframes/13003_quad_tailsitter
index 575f09aa6792..754bce83e4d6 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/13003_quad_tailsitter
+++ b/ROMFS/px4fmu_common/init.d/airframes/13003_quad_tailsitter
@@ -8,7 +8,7 @@
 # @maintainer Roman Bapst <roman@px4.io>
 #
 
-. /etc/init.d/rc.vtol_defaults
+. ${R}etc/init.d/rc.vtol_defaults
 
 if [ $AUTOCNF = yes ]
 then
diff --git a/ROMFS/px4fmu_common/init.d/airframes/13004_quad+_tailsitter b/ROMFS/px4fmu_common/init.d/airframes/13004_quad+_tailsitter
index d8472dcebe8f..8b744eb5081e 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/13004_quad+_tailsitter
+++ b/ROMFS/px4fmu_common/init.d/airframes/13004_quad+_tailsitter
@@ -21,7 +21,7 @@
 # @board bitcraze_crazyflie exclude
 #
 
-. /etc/init.d/rc.vtol_defaults
+. ${R}etc/init.d/rc.vtol_defaults
 
 if [ $AUTOCNF = yes ]
 then
diff --git a/ROMFS/px4fmu_common/init.d/airframes/13005_vtol_AAERT_quad b/ROMFS/px4fmu_common/init.d/airframes/13005_vtol_AAERT_quad
index 3507503ee734..48cf4f8adce0 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/13005_vtol_AAERT_quad
+++ b/ROMFS/px4fmu_common/init.d/airframes/13005_vtol_AAERT_quad
@@ -21,7 +21,7 @@
 # @board bitcraze_crazyflie exclude
 #
 
-. /etc/init.d/rc.vtol_defaults
+. ${R}etc/init.d/rc.vtol_defaults
 
 if [ $AUTOCNF = yes ]
 then
diff --git a/ROMFS/px4fmu_common/init.d/airframes/13006_vtol_standard_delta b/ROMFS/px4fmu_common/init.d/airframes/13006_vtol_standard_delta
index f2f0e911b4f9..e1954d78593f 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/13006_vtol_standard_delta
+++ b/ROMFS/px4fmu_common/init.d/airframes/13006_vtol_standard_delta
@@ -19,7 +19,7 @@
 # @board bitcraze_crazyflie exclude
 #
 
-. /etc/init.d/rc.vtol_defaults
+. ${R}etc/init.d/rc.vtol_defaults
 
 if [ $AUTOCNF = yes ]
 then
diff --git a/ROMFS/px4fmu_common/init.d/airframes/13007_vtol_AAVVT_quad b/ROMFS/px4fmu_common/init.d/airframes/13007_vtol_AAVVT_quad
index c82e272b55ca..bef8637ee85c 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/13007_vtol_AAVVT_quad
+++ b/ROMFS/px4fmu_common/init.d/airframes/13007_vtol_AAVVT_quad
@@ -11,7 +11,7 @@
 # @board bitcraze_crazyflie exclude
 #
 
-. /etc/init.d/rc.vtol_defaults
+. ${R}etc/init.d/rc.vtol_defaults
 
 if [ $AUTOCNF = yes ]
 then
diff --git a/ROMFS/px4fmu_common/init.d/airframes/13008_QuadRanger b/ROMFS/px4fmu_common/init.d/airframes/13008_QuadRanger
index 2087c0814bf2..a64c189e3b26 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/13008_QuadRanger
+++ b/ROMFS/px4fmu_common/init.d/airframes/13008_QuadRanger
@@ -11,7 +11,7 @@
 # @board bitcraze_crazyflie exclude
 #
 
-. /etc/init.d/rc.vtol_defaults
+. ${R}etc/init.d/rc.vtol_defaults
 
 if [ $AUTOCNF = yes ]
 then
diff --git a/ROMFS/px4fmu_common/init.d/airframes/13009_vtol_spt_ranger b/ROMFS/px4fmu_common/init.d/airframes/13009_vtol_spt_ranger
index d2e0cff85a1e..7a7cdc6aa9cc 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/13009_vtol_spt_ranger
+++ b/ROMFS/px4fmu_common/init.d/airframes/13009_vtol_spt_ranger
@@ -11,7 +11,7 @@
 # @board bitcraze_crazyflie exclude
 #
 
-. /etc/init.d/rc.vtol_defaults
+. ${R}etc/init.d/rc.vtol_defaults
 
 if [ $AUTOCNF = yes ]
 then
diff --git a/ROMFS/px4fmu_common/init.d/airframes/13010_claire b/ROMFS/px4fmu_common/init.d/airframes/13010_claire
index 430e71812fe9..630a795383f8 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/13010_claire
+++ b/ROMFS/px4fmu_common/init.d/airframes/13010_claire
@@ -12,7 +12,7 @@
 # @board bitcraze_crazyflie exclude
 #
 
-. /etc/init.d/rc.vtol_defaults
+. ${R}etc/init.d/rc.vtol_defaults
 
 if [ $AUTOCNF = yes ]
 then
diff --git a/ROMFS/px4fmu_common/init.d/airframes/13012_convergence b/ROMFS/px4fmu_common/init.d/airframes/13012_convergence
index 27d532aab501..f8edd7e8fef8 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/13012_convergence
+++ b/ROMFS/px4fmu_common/init.d/airframes/13012_convergence
@@ -20,7 +20,7 @@
 # @board bitcraze_crazyflie exclude
 #
 
-. /etc/init.d/rc.vtol_defaults
+. ${R}etc/init.d/rc.vtol_defaults
 
 if [ $AUTOCNF = yes ]
 then
diff --git a/ROMFS/px4fmu_common/init.d/airframes/13013_deltaquad b/ROMFS/px4fmu_common/init.d/airframes/13013_deltaquad
index d1591c0299f5..125b33849b34 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/13013_deltaquad
+++ b/ROMFS/px4fmu_common/init.d/airframes/13013_deltaquad
@@ -17,7 +17,7 @@
 # @output MAIN8 Pusher reverse channel
 #
 
-. /etc/init.d/rc.vtol_defaults
+. ${R}etc/init.d/rc.vtol_defaults
 
 if [ $AUTOCNF = yes ]
 then
diff --git a/ROMFS/px4fmu_common/init.d/airframes/13014_vtol_babyshark b/ROMFS/px4fmu_common/init.d/airframes/13014_vtol_babyshark
index 4fc04e10f0f7..89a33b33dc46 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/13014_vtol_babyshark
+++ b/ROMFS/px4fmu_common/init.d/airframes/13014_vtol_babyshark
@@ -21,7 +21,7 @@
 # @board bitcraze_crazyflie exclude
 #
 
-. /etc/init.d/rc.vtol_defaults
+. ${R}etc/init.d/rc.vtol_defaults
 
 if [ $AUTOCNF = yes ]
 then
diff --git a/ROMFS/px4fmu_common/init.d/airframes/13050_generic_vtol_octo b/ROMFS/px4fmu_common/init.d/airframes/13050_generic_vtol_octo
index 8d72d8903c05..2293d34398d3 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/13050_generic_vtol_octo
+++ b/ROMFS/px4fmu_common/init.d/airframes/13050_generic_vtol_octo
@@ -24,7 +24,7 @@
 # @board bitcraze_crazyflie exclude
 #
 
-. /etc/init.d/rc.vtol_defaults
+. ${R}etc/init.d/rc.vtol_defaults
 
 if [ $AUTOCNF = yes ]
 then
diff --git a/ROMFS/px4fmu_common/init.d/airframes/13200_generic_vtol_tailsitter b/ROMFS/px4fmu_common/init.d/airframes/13200_generic_vtol_tailsitter
index f299c1019804..6b7fbcc33621 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/13200_generic_vtol_tailsitter
+++ b/ROMFS/px4fmu_common/init.d/airframes/13200_generic_vtol_tailsitter
@@ -16,7 +16,7 @@
 # @board bitcraze_crazyflie exclude
 #
 
-. /etc/init.d/rc.vtol_defaults
+. ${R}etc/init.d/rc.vtol_defaults
 
 if [ $AUTOCNF = yes ]
 then
diff --git a/ROMFS/px4fmu_common/init.d/airframes/14001_tri_y_yaw+ b/ROMFS/px4fmu_common/init.d/airframes/14001_tri_y_yaw+
index e5464f2cfce2..6a772e4a065a 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/14001_tri_y_yaw+
+++ b/ROMFS/px4fmu_common/init.d/airframes/14001_tri_y_yaw+
@@ -16,7 +16,7 @@
 # @board bitcraze_crazyflie exclude
 #
 
-. /etc/init.d/rc.mc_defaults
+. ${R}etc/init.d/rc.mc_defaults
 
 set MIXER tri_y_yaw+
 
diff --git a/ROMFS/px4fmu_common/init.d/airframes/14002_tri_y_yaw- b/ROMFS/px4fmu_common/init.d/airframes/14002_tri_y_yaw-
index 41e784cc6281..262aea2ab964 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/14002_tri_y_yaw-
+++ b/ROMFS/px4fmu_common/init.d/airframes/14002_tri_y_yaw-
@@ -16,7 +16,7 @@
 # @board bitcraze_crazyflie exclude
 #
 
-. /etc/init.d/rc.mc_defaults
+. ${R}etc/init.d/rc.mc_defaults
 
 set MIXER tri_y_yaw-
 
diff --git a/ROMFS/px4fmu_common/init.d/airframes/15001_coax_heli b/ROMFS/px4fmu_common/init.d/airframes/15001_coax_heli
index 81f27fa0118c..5191b34f5bca 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/15001_coax_heli
+++ b/ROMFS/px4fmu_common/init.d/airframes/15001_coax_heli
@@ -17,7 +17,7 @@
 # @board bitcraze_crazyflie exclude
 #
 
-. /etc/init.d/rc.mc_defaults
+. ${R}etc/init.d/rc.mc_defaults
 set MIXER coax
 
 if [ $AUTOCNF = yes ]
diff --git a/ROMFS/px4fmu_common/init.d/airframes/16001_helicopter b/ROMFS/px4fmu_common/init.d/airframes/16001_helicopter
index b609024b4ca4..02e217d66e7e 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/16001_helicopter
+++ b/ROMFS/px4fmu_common/init.d/airframes/16001_helicopter
@@ -18,7 +18,7 @@
 # @board bitcraze_crazyflie exclude
 #
 
-. /etc/init.d/rc.mc_defaults
+. ${R}etc/init.d/rc.mc_defaults
 
 # Configure as helicopter (number 4 defined in commander_helper.cpp)
 set MAV_TYPE 4
diff --git a/ROMFS/px4fmu_common/init.d/airframes/17002_TF-AutoG2 b/ROMFS/px4fmu_common/init.d/airframes/17002_TF-AutoG2
index 2eb1ceadc417..b6db51403d63 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/17002_TF-AutoG2
+++ b/ROMFS/px4fmu_common/init.d/airframes/17002_TF-AutoG2
@@ -24,7 +24,7 @@
 # @board bitcraze_crazyflie exclude
 #
 
-. /etc/init.d/rc.fw_defaults
+. ${R}etc/init.d/rc.fw_defaults
 
 if [ $AUTOCNF = yes ]
 then
diff --git a/ROMFS/px4fmu_common/init.d/airframes/2100_standard_plane b/ROMFS/px4fmu_common/init.d/airframes/2100_standard_plane
index 6c00f4e0589f..9a5346797b50 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/2100_standard_plane
+++ b/ROMFS/px4fmu_common/init.d/airframes/2100_standard_plane
@@ -22,7 +22,7 @@
 # @board bitcraze_crazyflie exclude
 #
 
-. /etc/init.d/rc.fw_defaults
+. ${R}etc/init.d/rc.fw_defaults
 
 if [ $AUTOCNF = yes ]
 then
diff --git a/ROMFS/px4fmu_common/init.d/airframes/2105_maja b/ROMFS/px4fmu_common/init.d/airframes/2105_maja
index 95287e031d24..8c60637989de 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/2105_maja
+++ b/ROMFS/px4fmu_common/init.d/airframes/2105_maja
@@ -24,7 +24,7 @@
 # @board bitcraze_crazyflie exclude
 #
 
-. /etc/init.d/rc.fw_defaults
+. ${R}etc/init.d/rc.fw_defaults
 
 if [ $AUTOCNF = yes ]
 then
diff --git a/ROMFS/px4fmu_common/init.d/airframes/2106_albatross b/ROMFS/px4fmu_common/init.d/airframes/2106_albatross
index 87fcef4004fa..074ceb1e82ef 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/2106_albatross
+++ b/ROMFS/px4fmu_common/init.d/airframes/2106_albatross
@@ -24,7 +24,7 @@
 # @board bitcraze_crazyflie exclude
 #
 
-. /etc/init.d/rc.fw_defaults
+. ${R}etc/init.d/rc.fw_defaults
 
 if [ $AUTOCNF = yes ]
 then
diff --git a/ROMFS/px4fmu_common/init.d/airframes/2200_mini_talon b/ROMFS/px4fmu_common/init.d/airframes/2200_mini_talon
index d4b73ec71c5d..d7c1f6d40216 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/2200_mini_talon
+++ b/ROMFS/px4fmu_common/init.d/airframes/2200_mini_talon
@@ -25,7 +25,7 @@
 # @board bitcraze_crazyflie exclude
 #
 
-. /etc/init.d/rc.fw_defaults
+. ${R}etc/init.d/rc.fw_defaults
 
 if [ $AUTOCNF = yes ]
 then
diff --git a/ROMFS/px4fmu_common/init.d/airframes/2507_cloudship b/ROMFS/px4fmu_common/init.d/airframes/2507_cloudship
index 8767ac178b14..4c294319d91c 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/2507_cloudship
+++ b/ROMFS/px4fmu_common/init.d/airframes/2507_cloudship
@@ -14,7 +14,7 @@
 # @board bitcraze_crazyflie exclude
 #
 
-. /etc/init.d/rc.airship_defaults
+. ${R}etc/init.d/rc.airship_defaults
 
 if [ $AUTOCNF = yes ]
 then
diff --git a/ROMFS/px4fmu_common/init.d/airframes/3000_generic_wing b/ROMFS/px4fmu_common/init.d/airframes/3000_generic_wing
index c09882f0efd9..00c75fef9a53 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/3000_generic_wing
+++ b/ROMFS/px4fmu_common/init.d/airframes/3000_generic_wing
@@ -19,6 +19,6 @@
 # @board bitcraze_crazyflie exclude
 #
 
-. /etc/init.d/rc.fw_defaults
+. ${R}etc/init.d/rc.fw_defaults
 
 set MIXER fw_generic_wing
diff --git a/ROMFS/px4fmu_common/init.d/airframes/3030_io_camflyer b/ROMFS/px4fmu_common/init.d/airframes/3030_io_camflyer
index f9a003abc9d6..fb32401de2d6 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/3030_io_camflyer
+++ b/ROMFS/px4fmu_common/init.d/airframes/3030_io_camflyer
@@ -20,7 +20,7 @@
 # @board bitcraze_crazyflie exclude
 #
 
-. /etc/init.d/rc.fw_defaults
+. ${R}etc/init.d/rc.fw_defaults
 
 if [ $AUTOCNF = yes ]
 then
diff --git a/ROMFS/px4fmu_common/init.d/airframes/3031_phantom b/ROMFS/px4fmu_common/init.d/airframes/3031_phantom
index 526f68051e1e..d6edaf55dbbb 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/3031_phantom
+++ b/ROMFS/px4fmu_common/init.d/airframes/3031_phantom
@@ -21,7 +21,7 @@
 # @board bitcraze_crazyflie exclude
 #
 
-. /etc/init.d/rc.fw_defaults
+. ${R}etc/init.d/rc.fw_defaults
 
 if [ $AUTOCNF = yes ]
 then
diff --git a/ROMFS/px4fmu_common/init.d/airframes/3032_skywalker_x5 b/ROMFS/px4fmu_common/init.d/airframes/3032_skywalker_x5
index 7c2e998da1c9..cc6072e6ecfa 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/3032_skywalker_x5
+++ b/ROMFS/px4fmu_common/init.d/airframes/3032_skywalker_x5
@@ -19,7 +19,7 @@
 # @board bitcraze_crazyflie exclude
 #
 
-. /etc/init.d/rc.fw_defaults
+. ${R}etc/init.d/rc.fw_defaults
 
 if [ $AUTOCNF = yes ]
 then
diff --git a/ROMFS/px4fmu_common/init.d/airframes/3033_wingwing b/ROMFS/px4fmu_common/init.d/airframes/3033_wingwing
index e10391357f66..2f45462ccac6 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/3033_wingwing
+++ b/ROMFS/px4fmu_common/init.d/airframes/3033_wingwing
@@ -21,7 +21,7 @@
 # @board bitcraze_crazyflie exclude
 #
 
-. /etc/init.d/rc.fw_defaults
+. ${R}etc/init.d/rc.fw_defaults
 
 if [ $AUTOCNF = yes ]
 then
diff --git a/ROMFS/px4fmu_common/init.d/airframes/3034_fx79 b/ROMFS/px4fmu_common/init.d/airframes/3034_fx79
index 7157598a4a2e..a363de1d6363 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/3034_fx79
+++ b/ROMFS/px4fmu_common/init.d/airframes/3034_fx79
@@ -19,7 +19,7 @@
 # @board bitcraze_crazyflie exclude
 #
 
-. /etc/init.d/rc.fw_defaults
+. ${R}etc/init.d/rc.fw_defaults
 
 if [ $AUTOCNF = yes ]
 then
diff --git a/ROMFS/px4fmu_common/init.d/airframes/3035_viper b/ROMFS/px4fmu_common/init.d/airframes/3035_viper
index dcf444c6daad..e89668404ddf 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/3035_viper
+++ b/ROMFS/px4fmu_common/init.d/airframes/3035_viper
@@ -17,6 +17,6 @@
 # @board bitcraze_crazyflie exclude
 #
 
-. /etc/init.d/rc.fw_defaults
+. ${R}etc/init.d/rc.fw_defaults
 
 set MIXER Viper
diff --git a/ROMFS/px4fmu_common/init.d/airframes/3036_pigeon b/ROMFS/px4fmu_common/init.d/airframes/3036_pigeon
index 66297a974c25..dcee0c8e2ccb 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/3036_pigeon
+++ b/ROMFS/px4fmu_common/init.d/airframes/3036_pigeon
@@ -20,7 +20,7 @@
 # @board bitcraze_crazyflie exclude
 #
 
-. /etc/init.d/rc.fw_defaults
+. ${R}etc/init.d/rc.fw_defaults
 
 if [ $AUTOCNF = yes ]
 then
diff --git a/ROMFS/px4fmu_common/init.d/airframes/3037_parrot_disco_mod b/ROMFS/px4fmu_common/init.d/airframes/3037_parrot_disco_mod
index fff1051bd360..7105193779bc 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/3037_parrot_disco_mod
+++ b/ROMFS/px4fmu_common/init.d/airframes/3037_parrot_disco_mod
@@ -21,7 +21,7 @@
 # @board bitcraze_crazyflie exclude
 #
 
-. /etc/init.d/rc.fw_defaults
+. ${R}etc/init.d/rc.fw_defaults
 
 if [ $AUTOCNF = yes ]
 then
diff --git a/ROMFS/px4fmu_common/init.d/airframes/3100_tbs_caipirinha b/ROMFS/px4fmu_common/init.d/airframes/3100_tbs_caipirinha
index 0f766b3ebe72..1ccee1c144a4 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/3100_tbs_caipirinha
+++ b/ROMFS/px4fmu_common/init.d/airframes/3100_tbs_caipirinha
@@ -19,7 +19,7 @@
 # @board bitcraze_crazyflie exclude
 #
 
-. /etc/init.d/rc.fw_defaults
+. ${R}etc/init.d/rc.fw_defaults
 
 if [ $AUTOCNF = yes ]
 then
diff --git a/ROMFS/px4fmu_common/init.d/airframes/4001_quad_x b/ROMFS/px4fmu_common/init.d/airframes/4001_quad_x
index 5d6e509a5666..cfa2ab089b26 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/4001_quad_x
+++ b/ROMFS/px4fmu_common/init.d/airframes/4001_quad_x
@@ -20,7 +20,7 @@
 # @maintainer Lorenz Meier <lorenz@px4.io>
 #
 
-. /etc/init.d/rc.mc_defaults
+. ${R}etc/init.d/rc.mc_defaults
 
 set MIXER quad_x
 
diff --git a/ROMFS/px4fmu_common/init.d/airframes/4003_qavr5 b/ROMFS/px4fmu_common/init.d/airframes/4003_qavr5
index dd4327bbcb95..a7c5c6d6cd30 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/4003_qavr5
+++ b/ROMFS/px4fmu_common/init.d/airframes/4003_qavr5
@@ -11,7 +11,7 @@
 # @board bitcraze_crazyflie exclude
 #
 
-. /etc/init.d/rc.mc_defaults
+. ${R}etc/init.d/rc.mc_defaults
 
 set MIXER quad_x
 set PWM_OUT 1234
diff --git a/ROMFS/px4fmu_common/init.d/airframes/4009_qav250 b/ROMFS/px4fmu_common/init.d/airframes/4009_qav250
index 881390fbe8cc..02f2c8be0a1a 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/4009_qav250
+++ b/ROMFS/px4fmu_common/init.d/airframes/4009_qav250
@@ -11,7 +11,7 @@
 # @board bitcraze_crazyflie exclude
 #
 
-. /etc/init.d/rc.mc_defaults
+. ${R}etc/init.d/rc.mc_defaults
 
 set MIXER quad_x
 set PWM_OUT 1234
diff --git a/ROMFS/px4fmu_common/init.d/airframes/4010_dji_f330 b/ROMFS/px4fmu_common/init.d/airframes/4010_dji_f330
index ff47b65ad1e1..6fd2e0d8024e 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/4010_dji_f330
+++ b/ROMFS/px4fmu_common/init.d/airframes/4010_dji_f330
@@ -8,7 +8,7 @@
 # @maintainer Lorenz Meier <lorenz@px4.io>
 #
 
-. /etc/init.d/rc.mc_defaults
+. ${R}etc/init.d/rc.mc_defaults
 
 set MIXER quad_x
 set PWM_OUT 1234
diff --git a/ROMFS/px4fmu_common/init.d/airframes/4011_dji_f450 b/ROMFS/px4fmu_common/init.d/airframes/4011_dji_f450
index d3e95103bf27..463b39d8f381 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/4011_dji_f450
+++ b/ROMFS/px4fmu_common/init.d/airframes/4011_dji_f450
@@ -8,7 +8,7 @@
 # @maintainer Lorenz Meier <lorenz@px4.io>
 #
 
-. /etc/init.d/rc.mc_defaults
+. ${R}etc/init.d/rc.mc_defaults
 
 set MIXER quad_x
 set PWM_OUT 1234
diff --git a/ROMFS/px4fmu_common/init.d/airframes/4014_s500 b/ROMFS/px4fmu_common/init.d/airframes/4014_s500
index 5730550f1a06..f0f833f35e56 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/4014_s500
+++ b/ROMFS/px4fmu_common/init.d/airframes/4014_s500
@@ -10,7 +10,7 @@
 # @board bitcraze_crazyflie exclude
 #
 
-. /etc/init.d/rc.mc_defaults
+. ${R}etc/init.d/rc.mc_defaults
 
 set MIXER quad_x
 set PWM_OUT 1234
diff --git a/ROMFS/px4fmu_common/init.d/airframes/4015_holybro_s500 b/ROMFS/px4fmu_common/init.d/airframes/4015_holybro_s500
index 35f11474144d..6c0dcae02371 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/4015_holybro_s500
+++ b/ROMFS/px4fmu_common/init.d/airframes/4015_holybro_s500
@@ -11,7 +11,7 @@
 # @board bitcraze_crazyflie exclude
 #
 
-. /etc/init.d/rc.mc_defaults
+. ${R}etc/init.d/rc.mc_defaults
 
 set MIXER quad_x
 set PWM_OUT 1234
diff --git a/ROMFS/px4fmu_common/init.d/airframes/4016_holybro_px4vision b/ROMFS/px4fmu_common/init.d/airframes/4016_holybro_px4vision
index 3fc793a43d40..61a21a82800d 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/4016_holybro_px4vision
+++ b/ROMFS/px4fmu_common/init.d/airframes/4016_holybro_px4vision
@@ -14,7 +14,7 @@
 # @board bitcraze_crazyflie exclude
 #
 
-. /etc/init.d/rc.mc_defaults
+. ${R}etc/init.d/rc.mc_defaults
 
 set MIXER quad_x
 set PWM_OUT 1234
diff --git a/ROMFS/px4fmu_common/init.d/airframes/4020_hk_micro_pcb b/ROMFS/px4fmu_common/init.d/airframes/4020_hk_micro_pcb
index 4b60f2cac6a4..d59650c80f9c 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/4020_hk_micro_pcb
+++ b/ROMFS/px4fmu_common/init.d/airframes/4020_hk_micro_pcb
@@ -17,7 +17,7 @@
 # @board bitcraze_crazyflie exclude
 #
 
-. /etc/init.d/rc.mc_defaults
+. ${R}etc/init.d/rc.mc_defaults
 
 set MIXER quad_x
 set PWM_OUT 1234
diff --git a/ROMFS/px4fmu_common/init.d/airframes/4030_3dr_solo b/ROMFS/px4fmu_common/init.d/airframes/4030_3dr_solo
index 9e8acf38f34b..2d1df6d60957 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/4030_3dr_solo
+++ b/ROMFS/px4fmu_common/init.d/airframes/4030_3dr_solo
@@ -17,7 +17,7 @@
 # @board bitcraze_crazyflie exclude
 #
 
-. /etc/init.d/rc.mc_defaults
+. ${R}etc/init.d/rc.mc_defaults
 
 if [ $AUTOCNF = yes ]
 then
diff --git a/ROMFS/px4fmu_common/init.d/airframes/4031_3dr_quad b/ROMFS/px4fmu_common/init.d/airframes/4031_3dr_quad
index a842115390d3..5ab10b188cfc 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/4031_3dr_quad
+++ b/ROMFS/px4fmu_common/init.d/airframes/4031_3dr_quad
@@ -11,7 +11,7 @@
 # @board bitcraze_crazyflie exclude
 #
 
-. /etc/init.d/rc.mc_defaults
+. ${R}etc/init.d/rc.mc_defaults
 
 set MIXER quad_x
 set PWM_OUT 1234
diff --git a/ROMFS/px4fmu_common/init.d/airframes/4040_reaper b/ROMFS/px4fmu_common/init.d/airframes/4040_reaper
index 422f6309e3b5..474c4123bb30 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/4040_reaper
+++ b/ROMFS/px4fmu_common/init.d/airframes/4040_reaper
@@ -19,7 +19,7 @@
 # @board bitcraze_crazyflie exclude
 #
 
-. /etc/init.d/rc.mc_defaults
+. ${R}etc/init.d/rc.mc_defaults
 
 if [ $AUTOCNF = yes ]
 then
diff --git a/ROMFS/px4fmu_common/init.d/airframes/4041_beta75x b/ROMFS/px4fmu_common/init.d/airframes/4041_beta75x
index 400825466e67..d07215d3cc00 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/4041_beta75x
+++ b/ROMFS/px4fmu_common/init.d/airframes/4041_beta75x
@@ -22,7 +22,7 @@
 # @board bitcraze_crazyflie exclude
 #
 
-. /etc/init.d/rc.mc_defaults
+. ${R}etc/init.d/rc.mc_defaults
 
 if [ $AUTOCNF = yes ]
 then
diff --git a/ROMFS/px4fmu_common/init.d/airframes/4050_generic_250 b/ROMFS/px4fmu_common/init.d/airframes/4050_generic_250
index a9e1870952af..963fe986c4f7 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/4050_generic_250
+++ b/ROMFS/px4fmu_common/init.d/airframes/4050_generic_250
@@ -11,7 +11,7 @@
 # @board bitcraze_crazyflie exclude
 #
 
-. /etc/init.d/rc.mc_defaults
+. ${R}etc/init.d/rc.mc_defaults
 
 set MIXER quad_x
 set PWM_OUT 1234
diff --git a/ROMFS/px4fmu_common/init.d/airframes/4051_s250aq b/ROMFS/px4fmu_common/init.d/airframes/4051_s250aq
index 4b1ef0757bb3..343737868892 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/4051_s250aq
+++ b/ROMFS/px4fmu_common/init.d/airframes/4051_s250aq
@@ -21,7 +21,7 @@
 # @board bitcraze_crazyflie exclude
 #
 
-. /etc/init.d/rc.mc_defaults
+. ${R}etc/init.d/rc.mc_defaults
 
 set MIXER quad_s250aq
 set MAV_TYPE 2
diff --git a/ROMFS/px4fmu_common/init.d/airframes/4052_holybro_qav250 b/ROMFS/px4fmu_common/init.d/airframes/4052_holybro_qav250
index 68fbf6ff8b12..1a7b4d924cc5 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/4052_holybro_qav250
+++ b/ROMFS/px4fmu_common/init.d/airframes/4052_holybro_qav250
@@ -14,7 +14,7 @@
 # @board bitcraze_crazyflie exclude
 #
 
-. /etc/init.d/rc.mc_defaults
+. ${R}etc/init.d/rc.mc_defaults
 
 set MIXER quad_x
 set PWM_OUT 1234
diff --git a/ROMFS/px4fmu_common/init.d/airframes/4053_holybro_kopis2 b/ROMFS/px4fmu_common/init.d/airframes/4053_holybro_kopis2
index 87d58752ee12..24510a8ffc72 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/4053_holybro_kopis2
+++ b/ROMFS/px4fmu_common/init.d/airframes/4053_holybro_kopis2
@@ -12,7 +12,7 @@
 # @board bitcraze_crazyflie exclude
 #
 
-. /etc/init.d/rc.mc_defaults
+. ${R}etc/init.d/rc.mc_defaults
 
 set MIXER quad_x
 set PWM_OUT 1234
diff --git a/ROMFS/px4fmu_common/init.d/airframes/4060_dji_matrice_100 b/ROMFS/px4fmu_common/init.d/airframes/4060_dji_matrice_100
index 1fa21770db23..72b220ff5223 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/4060_dji_matrice_100
+++ b/ROMFS/px4fmu_common/init.d/airframes/4060_dji_matrice_100
@@ -12,7 +12,7 @@
 # @board bitcraze_crazyflie exclude
 #
 
-. /etc/init.d/rc.mc_defaults
+. ${R}etc/init.d/rc.mc_defaults
 
 set MIXER quad_x
 set PWM_OUT 1234
diff --git a/ROMFS/px4fmu_common/init.d/airframes/4070_aerofc b/ROMFS/px4fmu_common/init.d/airframes/4070_aerofc
index 3a1cefc5495d..9f3d4dbc85bb 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/4070_aerofc
+++ b/ROMFS/px4fmu_common/init.d/airframes/4070_aerofc
@@ -16,7 +16,7 @@
 # @board bitcraze_crazyflie exclude
 #
 
-. /etc/init.d/rc.mc_defaults
+. ${R}etc/init.d/rc.mc_defaults
 
 #
 # Load default params for this platform
diff --git a/ROMFS/px4fmu_common/init.d/airframes/4072_draco b/ROMFS/px4fmu_common/init.d/airframes/4072_draco
index 5fec9562fbb5..e1a434b62a85 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/4072_draco
+++ b/ROMFS/px4fmu_common/init.d/airframes/4072_draco
@@ -21,7 +21,7 @@
 # @board bitcraze_crazyflie exclude
 #
 
-. /etc/init.d/rc.mc_defaults
+. ${R}etc/init.d/rc.mc_defaults
 
 set MIXER quad_x
 set PWM_OUT 1234
diff --git a/ROMFS/px4fmu_common/init.d/airframes/4080_zmr250 b/ROMFS/px4fmu_common/init.d/airframes/4080_zmr250
index e51698a1bcfd..e057971cc384 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/4080_zmr250
+++ b/ROMFS/px4fmu_common/init.d/airframes/4080_zmr250
@@ -12,7 +12,7 @@
 # @board bitcraze_crazyflie exclude
 #
 
-. /etc/init.d/rc.mc_defaults
+. ${R}etc/init.d/rc.mc_defaults
 
 set MIXER quad_x
 set PWM_OUT 1234
diff --git a/ROMFS/px4fmu_common/init.d/airframes/4090_nanomind b/ROMFS/px4fmu_common/init.d/airframes/4090_nanomind
index 5eb36e2f9ac2..ed075cd2d2a4 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/4090_nanomind
+++ b/ROMFS/px4fmu_common/init.d/airframes/4090_nanomind
@@ -16,7 +16,7 @@
 # @board bitcraze_crazyflie exclude
 #
 
-. /etc/init.d/rc.mc_defaults
+. ${R}etc/init.d/rc.mc_defaults
 
 set MIXER quad_x
 set PWM_OUT 1234
diff --git a/ROMFS/px4fmu_common/init.d/airframes/4100_tiltquadrotor b/ROMFS/px4fmu_common/init.d/airframes/4100_tiltquadrotor
index b9822efeff8a..be39aab46f2e 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/4100_tiltquadrotor
+++ b/ROMFS/px4fmu_common/init.d/airframes/4100_tiltquadrotor
@@ -23,7 +23,7 @@
 # @board bitcraze_crazyflie exclude
 #
 
-. /etc/init.d/rc.mc_defaults
+. ${R}etc/init.d/rc.mc_defaults
 
 #Parameters here:
 param set LED_RGB_MAXBRT 8
diff --git a/ROMFS/px4fmu_common/init.d/airframes/4250_teal b/ROMFS/px4fmu_common/init.d/airframes/4250_teal
index e9b98f7a1d4a..e07ccf7fd98a 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/4250_teal
+++ b/ROMFS/px4fmu_common/init.d/airframes/4250_teal
@@ -23,7 +23,7 @@
 
 echo "Executing 4250_teal script."
 
-. /etc/init.d/rc.mc_defaults
+. ${R}etc/init.d/rc.mc_defaults
 
 set MIXER quad_x
 set PWM_OUT 1234
diff --git a/ROMFS/px4fmu_common/init.d/airframes/4500_clover4 b/ROMFS/px4fmu_common/init.d/airframes/4500_clover4
index 57864308aef4..3afaafdfacc9 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/4500_clover4
+++ b/ROMFS/px4fmu_common/init.d/airframes/4500_clover4
@@ -12,7 +12,7 @@
 # @board bitcraze_crazyflie exclude
 #
 
-. /etc/init.d/rc.mc_defaults
+. ${R}etc/init.d/rc.mc_defaults
 
 set MIXER quad_x
 set PWM_OUT 1234
diff --git a/ROMFS/px4fmu_common/init.d/airframes/4900_crazyflie b/ROMFS/px4fmu_common/init.d/airframes/4900_crazyflie
index fc59f1cf3acf..4b8b45bb1e57 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/4900_crazyflie
+++ b/ROMFS/px4fmu_common/init.d/airframes/4900_crazyflie
@@ -15,7 +15,7 @@
 # @board px4_fmu-v5x exclude
 # @board intel_aerofc-v1 exclude
 #
-. /etc/init.d/rc.mc_defaults
+. ${R}etc/init.d/rc.mc_defaults
 
 set MIXER quad_x_cw
 set PWM_OUT 1234
diff --git a/ROMFS/px4fmu_common/init.d/airframes/50000_generic_ground_vehicle b/ROMFS/px4fmu_common/init.d/airframes/50000_generic_ground_vehicle
index 6c88b3814c02..6a45b95df4f8 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/50000_generic_ground_vehicle
+++ b/ROMFS/px4fmu_common/init.d/airframes/50000_generic_ground_vehicle
@@ -16,7 +16,7 @@
 # @board bitcraze_crazyflie exclude
 #
 
-. /etc/init.d/rc.rover_defaults
+. ${R}etc/init.d/rc.rover_defaults
 
 if [ $AUTOCNF = yes ]
 then
diff --git a/ROMFS/px4fmu_common/init.d/airframes/50001_axialracing_ax10 b/ROMFS/px4fmu_common/init.d/airframes/50001_axialracing_ax10
index 498815e7bb23..02a534bf9672 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/50001_axialracing_ax10
+++ b/ROMFS/px4fmu_common/init.d/airframes/50001_axialracing_ax10
@@ -21,7 +21,7 @@
 # @board bitcraze_crazyflie exclude
 #
 
-. /etc/init.d/rc.rover_defaults
+. ${R}etc/init.d/rc.rover_defaults
 
 #
 # This section can be enabled once tuning parameters for this particular
diff --git a/ROMFS/px4fmu_common/init.d/airframes/50002_traxxas_stampede_2wd b/ROMFS/px4fmu_common/init.d/airframes/50002_traxxas_stampede_2wd
index 546529e6d9e3..c20c3c8a97a7 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/50002_traxxas_stampede_2wd
+++ b/ROMFS/px4fmu_common/init.d/airframes/50002_traxxas_stampede_2wd
@@ -19,7 +19,7 @@
 # @board bitcraze_crazyflie exclude
 #
 
-. /etc/init.d/rc.rover_defaults
+. ${R}etc/init.d/rc.rover_defaults
 
 if [ $AUTOCNF = yes ]
 then
diff --git a/ROMFS/px4fmu_common/init.d/airframes/50003_aion_robotics_r1_rover b/ROMFS/px4fmu_common/init.d/airframes/50003_aion_robotics_r1_rover
index 3149cb368b98..2abf85c25f14 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/50003_aion_robotics_r1_rover
+++ b/ROMFS/px4fmu_common/init.d/airframes/50003_aion_robotics_r1_rover
@@ -19,7 +19,7 @@
 # @board bitcraze_crazyflie exclude
 #
 
-. /etc/init.d/rc.rover_defaults
+. ${R}etc/init.d/rc.rover_defaults
 
 if [ $AUTOCNF = yes ]
 then
diff --git a/ROMFS/px4fmu_common/init.d/airframes/50004_nxpcup_car_dfrobot_gpx b/ROMFS/px4fmu_common/init.d/airframes/50004_nxpcup_car_dfrobot_gpx
index 22d94363c2fe..2ef1b5058809 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/50004_nxpcup_car_dfrobot_gpx
+++ b/ROMFS/px4fmu_common/init.d/airframes/50004_nxpcup_car_dfrobot_gpx
@@ -19,7 +19,7 @@
 # @board bitcraze_crazyflie exclude
 #
 
-. /etc/init.d/rc.rover_defaults
+. ${R}etc/init.d/rc.rover_defaults
 
 if [ $AUTOCNF = yes ]
 then
diff --git a/ROMFS/px4fmu_common/init.d/airframes/5001_quad_+ b/ROMFS/px4fmu_common/init.d/airframes/5001_quad_+
index a683d6e733b5..b282d5fdd2a9 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/5001_quad_+
+++ b/ROMFS/px4fmu_common/init.d/airframes/5001_quad_+
@@ -23,7 +23,7 @@
 # @board bitcraze_crazyflie exclude
 #
 
-. /etc/init.d/rc.mc_defaults
+. ${R}etc/init.d/rc.mc_defaults
 
 set MIXER quad_+
 
diff --git a/ROMFS/px4fmu_common/init.d/airframes/60000_uuv_generic b/ROMFS/px4fmu_common/init.d/airframes/60000_uuv_generic
index 4967eba781f3..312aa1c7b7a3 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/60000_uuv_generic
+++ b/ROMFS/px4fmu_common/init.d/airframes/60000_uuv_generic
@@ -12,7 +12,7 @@
 # @board bitcraze_crazyflie exclude
 #
 
-. /etc/init.d/rc.uuv_defaults
+. ${R}etc/init.d/rc.uuv_defaults
 
 if [ $AUTOCNF = yes ]
 then
diff --git a/ROMFS/px4fmu_common/init.d/airframes/60001_uuv_hippocampus b/ROMFS/px4fmu_common/init.d/airframes/60001_uuv_hippocampus
index 0e52438b19bf..0265c2a6e207 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/60001_uuv_hippocampus
+++ b/ROMFS/px4fmu_common/init.d/airframes/60001_uuv_hippocampus
@@ -12,7 +12,7 @@
 # @board bitcraze_crazyflie exclude
 #
 
-. /etc/init.d/rc.uuv_defaults
+. ${R}etc/init.d/rc.uuv_defaults
 
 if [ $AUTOCNF = yes ]
 then
diff --git a/ROMFS/px4fmu_common/init.d/airframes/6001_hexa_x b/ROMFS/px4fmu_common/init.d/airframes/6001_hexa_x
index 756184c776e0..7c1e9b7b9656 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/6001_hexa_x
+++ b/ROMFS/px4fmu_common/init.d/airframes/6001_hexa_x
@@ -22,7 +22,7 @@
 # @board bitcraze_crazyflie exclude
 #
 
-. /etc/init.d/rc.mc_defaults
+. ${R}etc/init.d/rc.mc_defaults
 
 set MIXER hexa_x
 
diff --git a/ROMFS/px4fmu_common/init.d/airframes/6002_draco_r b/ROMFS/px4fmu_common/init.d/airframes/6002_draco_r
index 07b53f8e8b48..20e8a5ce33c0 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/6002_draco_r
+++ b/ROMFS/px4fmu_common/init.d/airframes/6002_draco_r
@@ -26,7 +26,7 @@
 # @board bitcraze_crazyflie exclude
 #
 
-. /etc/init.d/rc.mc_defaults
+. ${R}etc/init.d/rc.mc_defaults
 set MIXER hexa_x
 set PWM_OUT 12345678
 
diff --git a/ROMFS/px4fmu_common/init.d/airframes/7001_hexa_+ b/ROMFS/px4fmu_common/init.d/airframes/7001_hexa_+
index 286e8ba42d56..c8ab1e2d1365 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/7001_hexa_+
+++ b/ROMFS/px4fmu_common/init.d/airframes/7001_hexa_+
@@ -22,7 +22,7 @@
 # @board bitcraze_crazyflie exclude
 #
 
-. /etc/init.d/rc.mc_defaults
+. ${R}etc/init.d/rc.mc_defaults
 
 set MIXER hexa_+
 
diff --git a/ROMFS/px4fmu_common/init.d/airframes/8001_octo_x b/ROMFS/px4fmu_common/init.d/airframes/8001_octo_x
index 615940506a73..17bf17dda686 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/8001_octo_x
+++ b/ROMFS/px4fmu_common/init.d/airframes/8001_octo_x
@@ -24,7 +24,7 @@
 # @board bitcraze_crazyflie exclude
 #
 
-. /etc/init.d/rc.mc_defaults
+. ${R}etc/init.d/rc.mc_defaults
 
 set MIXER octo_x
 
diff --git a/ROMFS/px4fmu_common/init.d/airframes/9001_octo_+ b/ROMFS/px4fmu_common/init.d/airframes/9001_octo_+
index 6e18f2faaccf..bd9b48a74e7d 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/9001_octo_+
+++ b/ROMFS/px4fmu_common/init.d/airframes/9001_octo_+
@@ -24,7 +24,7 @@
 # @board bitcraze_crazyflie exclude
 #
 
-. /etc/init.d/rc.mc_defaults
+. ${R}etc/init.d/rc.mc_defaults
 
 set MIXER octo_+
 
diff --git a/ROMFS/px4fmu_common/init.d/rc.interface b/ROMFS/px4fmu_common/init.d/rc.interface
index ea7911e1b283..87a636c2bea0 100644
--- a/ROMFS/px4fmu_common/init.d/rc.interface
+++ b/ROMFS/px4fmu_common/init.d/rc.interface
@@ -108,7 +108,7 @@ then
 
 	if [ $OUTPUT_MODE = io ]
 	then
-		. /etc/init.d/rc.io
+		. ${R}etc/init.d/rc.io
 	fi
 
 	#
@@ -118,7 +118,7 @@ then
 	then
 		if [ $OUTPUT_MODE != io ]
 		then
-			. /etc/init.d/rc.io
+			. ${R}etc/init.d/rc.io
 		fi
 	fi
 fi
diff --git a/ROMFS/px4fmu_common/init.d/rc.vehicle_setup b/ROMFS/px4fmu_common/init.d/rc.vehicle_setup
index 87608e44ba28..2f8b0a53d650 100644
--- a/ROMFS/px4fmu_common/init.d/rc.vehicle_setup
+++ b/ROMFS/px4fmu_common/init.d/rc.vehicle_setup
@@ -26,10 +26,10 @@ then
 	param set MAV_TYPE ${MAV_TYPE}
 
 	# Load mixer and configure outputs.
-	source /etc/init.d/rc.interface
+	. ${R}etc/init.d/rc.interface
 
 	# Start standard fixedwing apps.
-	source /etc/init.d/rc.fw_apps
+	. ${R}etc/init.d/rc.fw_apps
 fi
 
 #
@@ -78,10 +78,10 @@ then
 	param set MAV_TYPE ${MAV_TYPE}
 
 	# Load mixer and configure outputs.
-	source /etc/init.d/rc.interface
+	. ${R}etc/init.d/rc.interface
 
 	# Start standard multicopter apps.
-	source /etc/init.d/rc.mc_apps
+	. ${R}etc/init.d/rc.mc_apps
 fi
 
 #
@@ -105,10 +105,10 @@ then
 	param set MAV_TYPE ${MAV_TYPE}
 
 	# Load mixer and configure outputs.
-	source /etc/init.d/rc.interface
+	. ${R}etc/init.d/rc.interface
 
 	# Start standard UGV apps.
-	source /etc/init.d/rc.rover_apps
+	. ${R}etc/init.d/rc.rover_apps
 fi
 
 #
@@ -141,10 +141,10 @@ then
 	param set MAV_TYPE ${MAV_TYPE}
 
 	# Load mixer and configure outputs.
-	source /etc/init.d/rc.interface
+	. ${R}etc/init.d/rc.interface
 
 	# Start standard vtol apps.
-	source /etc/init.d/rc.vtol_apps
+	. ${R}etc/init.d/rc.vtol_apps
 fi
 
 #
@@ -167,10 +167,10 @@ then
 	param set MAV_TYPE ${MAV_TYPE}
 
 	# Load mixer and configure outputs.
-	source /etc/init.d/rc.interface
+	. ${R}etc/init.d/rc.interface
 
 	# Start airship apps.
-	source /etc/init.d/rc.airship_apps
+	. ${R}etc/init.d/rc.airship_apps
 fi
 
 #
@@ -184,10 +184,10 @@ then
 	fi
 
 	# Load mixer and configure outputs.
-	source /etc/init.d/rc.interface
+	. ${R}etc/init.d/rc.interface
 
 	# Start standard vtol apps.
-	source /etc/init.d/rc.uuv_apps
+	. ${R}etc/init.d/rc.uuv_apps
 
 fi
 
diff --git a/ROMFS/px4fmu_common/init.d/rcS b/ROMFS/px4fmu_common/init.d/rcS
index d85d1e7c4301..d0f8134643f6 100644
--- a/ROMFS/px4fmu_common/init.d/rcS
+++ b/ROMFS/px4fmu_common/init.d/rcS
@@ -20,6 +20,7 @@ set +e
 # Do not add intra word spaces
 # it wastes flash
 #
+set R /
 set AUTOCNF no
 set AUX_MODE pwm
 set DATAMAN_OPT ""
@@ -198,7 +199,7 @@ else
 	#
 	# Optional board defaults: rc.board_defaults
 	#
-	set BOARD_RC_DEFAULTS /etc/init.d/rc.board_defaults
+	set BOARD_RC_DEFAULTS ${R}etc/init.d/rc.board_defaults
 	if [ -f $BOARD_RC_DEFAULTS ]
 	then
 		echo "Board defaults: ${BOARD_RC_DEFAULTS}"
@@ -256,7 +257,7 @@ else
 	#
 	if ! param compare SYS_AUTOSTART 0
 	then
-		. /etc/init.d/rc.autostart
+		. ${R}etc/init.d/rc.autostart
 	fi
 
 	#
@@ -369,7 +370,7 @@ else
 		#
 		# board sensors: rc.sensors
 		#
-		set BOARD_RC_SENSORS /etc/init.d/rc.board_sensors
+		set BOARD_RC_SENSORS ${R}etc/init.d/rc.board_sensors
 		if [ -f $BOARD_RC_SENSORS ]
 		then
 			echo "Board sensors: ${BOARD_RC_SENSORS}"
@@ -377,7 +378,7 @@ else
 		fi
 		unset BOARD_RC_SENSORS
 
-		. /etc/init.d/rc.sensors
+		. ${R}etc/init.d/rc.sensors
 
 		if param compare -s BAT1_SOURCE 2
 		then
@@ -459,7 +460,7 @@ else
 	#
 	# Optional board mavlink streams: rc.board_mavlink
 	#
-	set BOARD_RC_MAVLINK /etc/init.d/rc.board_mavlink
+	set BOARD_RC_MAVLINK ${R}etc/init.d/rc.board_mavlink
 	if [ -f $BOARD_RC_MAVLINK ]
 	then
 		echo "Board extras: ${BOARD_RC_MAVLINK}"
@@ -471,7 +472,7 @@ else
 	# Start UART/Serial device drivers.
 	# Note: rc.serial is auto-generated from Tools/serial/generate_config.py
 	#
-	. /etc/init.d/rc.serial
+	. ${R}etc/init.d/rc.serial
 
 	if [ $IO_PRESENT = no ]
 	then
@@ -484,7 +485,7 @@ else
 	# Note: rc.vehicle_setup is the entry point for rc.interface,
 	#       rc.fw_apps, rc.mc_apps, rc.rover_apps, and rc.vtol_apps.
 	#
-	. /etc/init.d/rc.vehicle_setup
+	. ${R}etc/init.d/rc.vehicle_setup
 
 	# Camera capture driver
 	if param greater -s CAM_CAP_FBACK 0
@@ -503,7 +504,7 @@ else
 	#
 	# Start a thermal calibration if required.
 	#
-	. /etc/init.d/rc.thermal_cal
+	. ${R}etc/init.d/rc.thermal_cal
 
 	#
 	# Start vmount to control mounts such as gimbals, disabled by default.
@@ -528,7 +529,7 @@ else
 	#
 	# Optional board supplied extras: rc.board_extras
 	#
-	set BOARD_RC_EXTRAS /etc/init.d/rc.board_extras
+	set BOARD_RC_EXTRAS ${R}etc/init.d/rc.board_extras
 	if [ -f $BOARD_RC_EXTRAS ]
 	then
 		echo "Board extras: ${BOARD_RC_EXTRAS}"
@@ -548,14 +549,14 @@ else
 	#
 	# Start the logger.
 	#
-	. /etc/init.d/rc.logging
+	. ${R}etc/init.d/rc.logging
 
 	#
 	# Set additional parameters and env variables for selected AUTOSTART.
 	#
 	if ! param compare SYS_AUTOSTART 0
 	then
-		. /etc/init.d/rc.autostart.post
+		. ${R}etc/init.d/rc.autostart.post
 	fi
 
 	if ! param compare SYS_PARAM_VER ${PARAM_DEFAULTS_VER}
@@ -575,6 +576,7 @@ fi
 #
 # Unset all script parameters to free RAM.
 #
+unset R
 unset AUTOCNF
 unset AUX_MODE
 unset DATAMAN_OPT
diff --git a/ROMFS/px4fmu_test/init.d/rcS b/ROMFS/px4fmu_test/init.d/rcS
index 08232cc6ec28..2097d6acc7e0 100644
--- a/ROMFS/px4fmu_test/init.d/rcS
+++ b/ROMFS/px4fmu_test/init.d/rcS
@@ -3,9 +3,10 @@
 # PX4FMU startup script for test hackery.
 #
 set +e
+set R /
 set unit_test_failure 0
 
-set BOARD_RC /etc/init.d/rc.board
+set BOARD_RC ${R}etc/init.d/rc.board
 
 uorb start
 
@@ -118,7 +119,7 @@ then
 	tests mount
 fi
 
-. /etc/init.d/rc.sensors
+. ${R}etc/init.d/rc.sensors
 
 ver all
 

From 789ffe750648289e9d2127582b7af787f8946bfc Mon Sep 17 00:00:00 2001
From: David Sidrane <David.Sidrane@NscDg.com>
Date: Wed, 14 Oct 2020 13:15:47 -0700
Subject: [PATCH 2/3] Tools:Use . for (source) and ${R} for pathing

---
 Tools/serial/rc.serial.jinja | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/Tools/serial/rc.serial.jinja b/Tools/serial/rc.serial.jinja
index fb04e2ec27e8..753f2af75023 100644
--- a/Tools/serial/rc.serial.jinja
+++ b/Tools/serial/rc.serial.jinja
@@ -3,7 +3,7 @@
 # serial autostart script generated with generate_serial_config.py
 
 
-set PRT_F /etc/init.d/rc.serial_port
+set PRT_F ${R}etc/init.d/rc.serial_port
 
 {% for command in commands -%}
 set PRT {{ command.port_param_name }}

From 12da1d885e2422559dbf51a1f23e843b8b09c545 Mon Sep 17 00:00:00 2001
From: David Sidrane <David.Sidrane@NscDg.com>
Date: Wed, 14 Oct 2020 13:16:03 -0700
Subject: [PATCH 3/3] px4-alias.sh_in:Remove source and add R=${pwd}

px4-alias.sh_in:Remove sh alias
---
 .../posix/src/px4/common/px4-alias.sh_in      | 32 +------------------
 1 file changed, 1 insertion(+), 31 deletions(-)

diff --git a/platforms/posix/src/px4/common/px4-alias.sh_in b/platforms/posix/src/px4/common/px4-alias.sh_in
index 4dd43e877f6e..61f0af5579a2 100644
--- a/platforms/posix/src/px4/common/px4-alias.sh_in
+++ b/platforms/posix/src/px4/common/px4-alias.sh_in
@@ -1,6 +1,7 @@
 #!/bin/sh
 
 # File is auto-generated by cmake compilation, do not edit.
+R="`pwd`/"
 
 # Map the NuttX-style variable definition 'set <var> <value>' to something that
 # bash and alternatives understand
@@ -9,37 +10,6 @@ _set() {
 	eval $1=\"$2\"
 }
 alias set=_set
-# alternative method with an alias:
-# alias set='f(){ set -- "$1=$2"; eval "$1"; unset -f f; }; eval f'
-
-# Execute another shell script.
-# $1: Path to the script, (optionally starts with /, to match with the NuttX
-# scripts)
-sh() {
-	script="$1"
-	case "$script" in
-	"/"*)
-		script="$script"
-		;;
-	*)
-		script="/$script"
-		;;
-	esac
-	. "$(pwd)$script"
-}
-
-source() {
-	script="$1"
-	case "$script" in
-	"/"*)
-		script="$script"
-		;;
-	*)
-		script="/$script"
-		;;
-	esac
-	. "$(pwd)$script"
-}
 
 # Don't stop on errors.
 #set -e