diff --git a/ROMFS/px4fmu_common/init.d/4070_aerofc b/ROMFS/px4fmu_common/init.d/4070_aerofc
index 24aac2876c..f990f44c25 100644
--- a/ROMFS/px4fmu_common/init.d/4070_aerofc
+++ b/ROMFS/px4fmu_common/init.d/4070_aerofc
@@ -14,5 +14,5 @@ set OUTPUT_DEV /dev/tap_esc
 set MIXER quad_x
 set USE_IO no
 
-param set SYS_COMPANION 0
-set MAVLINK_F "-b 115200 -mode onboard -r 80000 -d /dev/ttyS1"
+param set SYS_COMPANION 1500000
+set MAVLINK_COMPANION_DEVICE /dev/ttyS1
diff --git a/ROMFS/px4fmu_common/init.d/rcS b/ROMFS/px4fmu_common/init.d/rcS
index 5063d609ed..897efd252a 100644
--- a/ROMFS/px4fmu_common/init.d/rcS
+++ b/ROMFS/px4fmu_common/init.d/rcS
@@ -587,6 +587,10 @@ then
 		then
 			mavlink start -d $MAVLINK_COMPANION_DEVICE -b 921600 -r 20000
 		fi
+		if param compare SYS_COMPANION 1500000
+		then
+			mavlink start -d $MAVLINK_COMPANION_DEVICE -b 1500000 -m onboard -r 10000 -x
+		fi
 	fi
 
 	unset MAVLINK_COMPANION_DEVICE