diff --git a/ROMFS/px4fmu_common/init.d/airframes/0001_main_fts b/ROMFS/px4fmu_common/init.d/airframes/0001_main_fts
index e5f261a..ea4400a 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/0001_main_fts
+++ b/ROMFS/px4fmu_common/init.d/airframes/0001_main_fts
@@ -17,7 +17,7 @@
 param set-default FTS_TYPE 1
 
 # FTS_SIM_MODE = 0 -> NORMAL OPERATION
-# FTS_SIM_MODE = 1 -> TERMINATION IS NOT EXECUTED BUT SIMULATED VIA THE SIMULATION OUTPUT
+# FTS_SIM_MODE = 1 -> TERMINATION IS NOT EXECUTED BUT SIMULATED VIA MAVLINK MESSAGE & LOGGING
 
 param set-default FTS_SIM_MODE 0
 
diff --git a/ROMFS/px4fmu_common/init.d/airframes/0002_auto_fts b/ROMFS/px4fmu_common/init.d/airframes/0002_auto_fts
index e24550a..558bd8c 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/0002_auto_fts
+++ b/ROMFS/px4fmu_common/init.d/airframes/0002_auto_fts
@@ -17,7 +17,7 @@
 param set-default FTS_TYPE 2
 
 # FTS_SIM_MODE = 0 -> NORMAL OPERATION
-# FTS_SIM_MODE = 1 -> TERMINATION IS NOT EXECUTED BUT SIMULATED VIA THE SIMULATION OUTPUT
+# FTS_SIM_MODE = 1 -> TERMINATION IS NOT EXECUTED BUT SIMULATED VIA MAVLINK MESSAGE & LOGGING
 
 param set-default FTS_SIM_MODE 0
 
diff --git a/boards/px4/fts-auto/init/rc.board_defaults b/boards/px4/fts-auto/init/rc.board_defaults
index 6418e58..8232f5b 100644
--- a/boards/px4/fts-auto/init/rc.board_defaults
+++ b/boards/px4/fts-auto/init/rc.board_defaults
@@ -11,3 +11,7 @@ param set-default BAT1_A_PER_V 36.367515152
 param set-default BAT2_A_PER_V 36.367515152
 
 param set-default SYS_USE_IO 1
+
+param set-default SYS_AUTOSTART 1
+param set-default SYS_TYPE 37
+
diff --git a/src/modules/mavlink/streams/HEARTBEAT.hpp b/src/modules/mavlink/streams/HEARTBEAT.hpp
index 26d966a..7c21111 100644
--- a/src/modules/mavlink/streams/HEARTBEAT.hpp
+++ b/src/modules/mavlink/streams/HEARTBEAT.hpp
@@ -129,9 +129,8 @@ private:
 			} else if (vehicle_status.calibration_enabled) {
 				system_status = MAV_STATE_CALIBRATING;
 			}
-
-
-			mavlink_msg_heartbeat_send(_mavlink->get_channel(), _mavlink->get_system_type(), MAV_AUTOPILOT_PX4,
+            // custom heartbeat compliant to Nimbus FTS
+			mavlink_msg_heartbeat_send(_mavlink->get_channel(), _mavlink->get_system_type(), 20,
 						   base_mode, custom_mode.data, system_status);
 
 			return true;