diff --git a/ROMFS/px4fmu_common/init.d/rcS b/ROMFS/px4fmu_common/init.d/rcS
index c9e6a27cac..11e6995037 100644
--- a/ROMFS/px4fmu_common/init.d/rcS
+++ b/ROMFS/px4fmu_common/init.d/rcS
@@ -447,6 +447,11 @@ then
 
 	mavlink start $MAVLINK_FLAGS
 
+	#
+	# MAVLink onboard / TELEM2
+	#
+	mavlink start -d /dev/ttyS2 -b 230400
+
 	#
 	# Sensors, Logging, GPS
 	#