diff --git a/builder/assets/99-pixhawk.rules b/builder/assets/99-pixhawk.rules
new file mode 100644
index 00000000..90f3e809
--- /dev/null
+++ b/builder/assets/99-pixhawk.rules
@@ -0,0 +1,15 @@
+# PixHawk (px4fmu-v2), px4fmu-v3
+SUBSYSTEM=="tty", ATTRS{idVendor}=="26ac", ATTRS{idProduct}=="0011", SYMLINK+="px4fmu"
+# PixRacer (px4fmu-v4)
+SUBSYSTEM=="tty", ATTRS{idVendor}=="26ac", ATTRS{idProduct}=="0012", SYMLINK+="px4fmu"
+# px4fmu-v5
+SUBSYSTEM=="tty", ATTRS{idVendor}=="26ac", ATTRS{idProduct}=="0012", SYMLINK+="px4fmu"
+# auav
+SUBSYSTEM=="tty", ATTRS{idVendor}=="26ac", ATTRS{idProduct}=="0021", SYMLINK+="px4fmu"
+# crazyflie
+SUBSYSTEM=="tty", ATTRS{idVendor}=="26ac", ATTRS{idProduct}=="0016", SYMLINK+="px4fmu"
+# px4fmu-v4pro
+SUBSYSTEM=="tty", ATTRS{idVendor}=="26ac", ATTRS{idProduct}=="0013", SYMLINK+="px4fmu"
+# Omnibus
+SUBSYSTEM=="tty", ATTRS{idVendor}=="26ac", ATTRS{idProduct}=="0001", SYMLINK+="px4fmu"
+
diff --git a/builder/image-build.sh b/builder/image-build.sh
index e44c522d..028c4f33 100755
--- a/builder/image-build.sh
+++ b/builder/image-build.sh
@@ -109,6 +109,8 @@ ${BUILDER_DIR}/image-chroot.sh ${IMAGE_PATH} copy ${SCRIPTS_DIR}'/assets/roscore
 ${BUILDER_DIR}/image-chroot.sh ${IMAGE_PATH} copy ${SCRIPTS_DIR}'/assets/roscore.service' '/lib/systemd/system/'
 ${BUILDER_DIR}/image-chroot.sh ${IMAGE_PATH} copy ${SCRIPTS_DIR}'/assets/kinetic-rosdep-clever.yaml' '/etc/ros/rosdep/'
 # ${BUILDER_DIR}/image-chroot.sh ${IMAGE_PATH} copy ${SCRIPTS_DIR}'/assets/kinetic-ros-clever.rosinstall' '/home/pi/ros_catkin_ws/'
+# Add PX4 udev rules
+${BUILDER_DIR}/image-chroot.sh ${IMAGE_PATH} copy ${SCRIPTS_DIR}'/assets/99-pixhawk.rules' '/lib/udev/rules.d/'
 ${BUILDER_DIR}/image-chroot.sh ${IMAGE_PATH} exec ${SCRIPTS_DIR}'/image-ros.sh' ${REPO_URL} ${IMAGE_VERSION} false false ${NUMBER_THREADS}
 ${BUILDER_DIR}/image-chroot.sh ${IMAGE_PATH} exec ${SCRIPTS_DIR}'/image-validate.sh'
 
diff --git a/clever/launch/mavros.launch b/clever/launch/mavros.launch
index d6235c2f..6390834b 100644
--- a/clever/launch/mavros.launch
+++ b/clever/launch/mavros.launch
@@ -10,7 +10,7 @@
         <param name="fcu_url" value="/dev/ttyAMA0:921600" if="$(eval fcu_conn is None or fcu_conn == 'uart')"/>
 
         <!-- USB connection -->
-        <param name="fcu_url" value="/dev/ttyACM0" if="$(eval fcu_conn == 'usb')"/>
+        <param name="fcu_url" value="/dev/px4fmu" if="$(eval fcu_conn == 'usb')"/>
 
         <!-- sitl -->
         <param name="fcu_url" value="udp://@$(arg fcu_ip):14557" if="$(eval fcu_conn == 'udp')"/>