diff --git a/addons/point_of_sale/data/point_of_sale_data.xml b/addons/point_of_sale/data/point_of_sale_data.xml
index 810925e61e3..a1dc7f0e071 100644
--- a/addons/point_of_sale/data/point_of_sale_data.xml
+++ b/addons/point_of_sale/data/point_of_sale_data.xml
@@ -1,23 +1,5 @@
 <?xml version="1.0" encoding="utf-8"?>
 <odoo>
-    <data noupdate="1">
-        <record id="seq_picking_type_posout" model="ir.sequence">
-            <field name="name">Picking POS</field>
-            <field name="prefix">POS</field>
-            <field name="padding">5</field>
-            <field name="company_id" eval="False"/>
-        </record>
-    </data>
-    <data noupdate="0">
-        <record id="picking_type_posout" model="stock.picking.type">
-            <field name="name">PoS Orders</field>
-            <field name="sequence_id" ref="seq_picking_type_posout"/>
-            <field name="default_location_src_id" ref="stock.stock_location_stock"/>
-            <field name="default_location_dest_id" ref="stock.stock_location_customers"/>
-            <field name="warehouse_id" eval="False"/>
-            <field name="code">outgoing</field>
-        </record>
-    </data>
     <data noupdate="1">
         <!-- After closing the PoS, open the dashboard menu -->
         <record id="action_client_pos_menu" model="ir.actions.client">
@@ -26,6 +8,8 @@
             <field name="params" eval="{'menu_id': ref('menu_point_root')}"/>
         </record>
 
+        <function model="stock.warehouse" name="_create_missing_pos_picking_types"/>
+
         <record id="product_category_pos" model="product.category">
             <field name="parent_id" ref="product.product_category_1"/>
             <field name="name">PoS</field>
@@ -41,7 +25,6 @@
 
         <record model="pos.config" id="pos_config_main">
             <field name="name">Shop</field>
-            <field name="picking_type_id" ref="picking_type_posout"/>
             <field name="barcode_nomenclature_id" ref="barcodes.default_barcode_nomenclature"/>
         </record>
 
@@ -72,4 +55,3 @@
         </record>
     </data>
 </odoo>
-
diff --git a/addons/point_of_sale/models/__init__.py b/addons/point_of_sale/models/__init__.py
index 9023c405f2c..70d1073b2e5 100644
--- a/addons/point_of_sale/models/__init__.py
+++ b/addons/point_of_sale/models/__init__.py
@@ -14,3 +14,4 @@ from . import product
 from . import res_partner
 from . import res_company
 from . import res_config_settings
+from . import stock_warehouse
diff --git a/addons/point_of_sale/models/pos_config.py b/addons/point_of_sale/models/pos_config.py
index 7f634f6cd61..34040fff1c4 100644
--- a/addons/point_of_sale/models/pos_config.py
+++ b/addons/point_of_sale/models/pos_config.py
@@ -39,6 +39,9 @@ class PosConfig(models.Model):
     _name = 'pos.config'
     _description = 'Point of Sale Configuration'
 
+    def _default_picking_type_id(self):
+        return self.env['stock.warehouse'].search([('company_id', '=', self.env.user.company_id.id)], limit=1).pos_type_id.id
+
     def _default_sale_journal(self):
         journal = self.env.ref('point_of_sale.pos_sale_journal', raise_if_not_found=False)
         if journal and journal.sudo().company_id == self.env.company:
@@ -70,7 +73,11 @@ class PosConfig(models.Model):
         'account.journal', 'pos_config_journal_rel',
         'pos_config_id', 'journal_id', string='Available Payment Methods',
         domain="[('journal_user', '=', True ), ('type', 'in', ['bank', 'cash'])]",)
-    picking_type_id = fields.Many2one('stock.picking.type', string='Operation Type')
+    picking_type_id = fields.Many2one(
+        'stock.picking.type',
+        string='Operation Type',
+        default=_default_picking_type_id,
+        domain="[('code', '=', 'outgoing'), ('warehouse_id.company_id', '=', company_id)]")
     use_existing_lots = fields.Boolean(related='picking_type_id.use_existing_lots', readonly=False)
     stock_location_id = fields.Many2one(
         'stock.location', string='Stock Location',
diff --git a/addons/point_of_sale/models/stock_warehouse.py b/addons/point_of_sale/models/stock_warehouse.py
new file mode 100644
index 00000000000..c4ba29203eb
--- /dev/null
+++ b/addons/point_of_sale/models/stock_warehouse.py
@@ -0,0 +1,48 @@
+# -*- coding: utf-8 -*-
+
+from odoo import models, fields, api, _
+
+
+class Warehouse(models.Model):
+    _inherit = "stock.warehouse"
+
+    pos_type_id = fields.Many2one('stock.picking.type', string="Point of Sale Operation Type")
+
+    def _get_sequence_values(self):
+        sequence_values = super(Warehouse, self)._get_sequence_values()
+        sequence_values.update({
+            'pos_type_id': {
+                'name': self.name + ' ' + _('Picking POS'),
+                'prefix': self.code + '/POS/',
+                'padding': 5,
+                'company_id': self.company_id.id,
+            }
+        })
+        return sequence_values
+
+    def _get_picking_type_update_values(self):
+        picking_type_update_values = super(Warehouse, self)._get_picking_type_update_values()
+        picking_type_update_values.update({
+            'pos_type_id': {'default_location_src_id': self.lot_stock_id.id}
+        })
+        return picking_type_update_values
+
+    def _get_picking_type_create_values(self, max_sequence):
+        picking_type_create_values, max_sequence = super(Warehouse, self)._get_picking_type_create_values(max_sequence)
+        picking_type_create_values.update({
+            'pos_type_id': {
+                'name': _('PoS Orders'),
+                'code': 'outgoing',
+                'default_location_src_id': self.lot_stock_id.id,
+                'default_location_dest_id': self.env.ref('stock.stock_location_customers').id,
+                'sequence': max_sequence + 1,
+            }
+        })
+        return picking_type_create_values, max_sequence + 2
+
+    @api.model
+    def _create_missing_pos_picking_types(self):
+        warehouses = self.env['stock.warehouse'].search([('pos_type_id', '=', False)])
+        for warehouse in warehouses:
+            new_vals = warehouse._create_or_update_sequences_and_picking_types()
+            warehouse.write(new_vals)
diff --git a/addons/pos_restaurant/data/pos_restaurant_demo.xml b/addons/pos_restaurant/data/pos_restaurant_demo.xml
index 1964f5f3d19..4f71aa2c841 100644
--- a/addons/pos_restaurant/data/pos_restaurant_demo.xml
+++ b/addons/pos_restaurant/data/pos_restaurant_demo.xml
@@ -195,7 +195,6 @@
         <!-- Pos Config -->
         <record model="pos.config" id="pos_config_restaurant">
             <field name="name">Bar</field>
-            <field name="picking_type_id" ref="point_of_sale.picking_type_posout"/>
             <field name="barcode_nomenclature_id" ref="barcodes.default_barcode_nomenclature"/>
             <field name="module_pos_restaurant">True</field>
             <field name="is_table_management">True</field>