Beaglebone:

add the service to autostart:
update-rc.d <servicename> defaults

remove the service:
update-rc.d -f <servicename> remove

Raspberry Pi:

as beaglebone, but with sudo in front of the rest, like:

add the service to autostart:
sudo update-rc.d <servicename> defaults

remove the service:
sudo update-rc.d -f <servicename> remove

-max