diff --git a/src/lib/systemlib/system_params.c b/src/lib/systemlib/system_params.c
index 2b916f06e6..252eb5cd60 100644
--- a/src/lib/systemlib/system_params.c
+++ b/src/lib/systemlib/system_params.c
@@ -44,7 +44,7 @@
  *
  * @reboot_required true
  * @min 0
- * @max 99999
+ * @max 9999999
  * @group System
  */
 PARAM_DEFINE_INT32(SYS_AUTOSTART, 0);
diff --git a/src/modules/mavlink/mavlink_main.cpp b/src/modules/mavlink/mavlink_main.cpp
index 67945c87b8..27c676c683 100644
--- a/src/modules/mavlink/mavlink_main.cpp
+++ b/src/modules/mavlink/mavlink_main.cpp
@@ -1678,28 +1678,49 @@ Mavlink::configure_streams_to_default(const char *configure_single_stream)
 		break;
 
 	case MAVLINK_MODE_EXTVISION:
-		configure_stream_local("ALTITUDE", 10.0f); // for avoidance
-		configure_stream_local("ATTITUDE", 25.0f);
-		configure_stream_local("ATTITUDE_TARGET", 10.0f);
-		configure_stream_local("CAMERA_TRIGGER", unlimited_rate); // for VIO
-		configure_stream_local("DISTANCE_SENSOR", 10.0f);		// for avoidance
+		configure_stream_local("HIGHRES_IMU", unlimited_rate);		// for VIO
+		configure_stream_local("TIMESYNC", 10.0f);
+
+	// FALLTHROUGH
+	case MAVLINK_MODE_EXTVISIONMIN:
+		configure_stream_local("ADSB_VEHICLE", unlimited_rate);
+		configure_stream_local("ALTITUDE", 10.0f);
+		configure_stream_local("ATTITUDE", 20.0f);
+		configure_stream_local("ATTITUDE_TARGET", 2.0f);
+		configure_stream_local("CAMERA_IMAGE_CAPTURED", unlimited_rate);
+		configure_stream_local("CAMERA_TRIGGER", unlimited_rate);
+		configure_stream_local("COLLISION", unlimited_rate);
+		configure_stream_local("DEBUG", 1.0f);
+		configure_stream_local("DEBUG_FLOAT_ARRAY", 1.0f);
+		configure_stream_local("DEBUG_VECT", 1.0f);
+		configure_stream_local("DISTANCE_SENSOR", 10.0f);
 		configure_stream_local("ESTIMATOR_STATUS", 1.0f);
 		configure_stream_local("EXTENDED_SYS_STATE", 1.0f);
-		configure_stream_local("GLOBAL_POSITION_INT", 10.0f);
+		configure_stream_local("GLOBAL_POSITION_INT", 5.0f);
+		configure_stream_local("GPS2_RAW", 1.0f);
 		configure_stream_local("GPS_RAW_INT", 1.0f);
 		configure_stream_local("HOME_POSITION", 0.5f);
-		configure_stream_local("HIGHRES_IMU", unlimited_rate);		// for VIO
-		configure_stream_local("LOCAL_POSITION_NED", 30.0f); //for VIO and avoidance
+		configure_stream_local("LOCAL_POSITION_NED", 30.0f);
+		configure_stream_local("NAMED_VALUE_FLOAT", 1.0f);
+		configure_stream_local("NAV_CONTROLLER_OUTPUT", 1.5f);
+		configure_stream_local("ODOMETRY", 30.0f);
+		configure_stream_local("OPTICAL_FLOW_RAD", 1.0f);
+		configure_stream_local("ORBIT_EXECUTION_STATUS", 5.0f);
+		configure_stream_local("PING", 0.1f);
+		configure_stream_local("POSITION_TARGET_GLOBAL_INT", 1.5f);
+		configure_stream_local("POSITION_TARGET_LOCAL_NED", 1.5f);
+		configure_stream_local("RC_CHANNELS", 5.0f);
+		configure_stream_local("SERVO_OUTPUT_RAW_0", 1.0f);
 		configure_stream_local("SYS_STATUS", 5.0f);
-		configure_stream_local("SYSTEM_TIME", 1.0f);
-		configure_stream_local("TIMESYNC", 10.0f);
-		configure_stream_local("TRAJECTORY_REPRESENTATION_WAYPOINTS", 5.0f); // for avoidance
-		configure_stream_local("VFR_HUD", 25.0f);
-		configure_stream_local("WIND_COV", 2.0f);
+		configure_stream_local("TRAJECTORY_REPRESENTATION_WAYPOINTS", 5.0f);
+		configure_stream_local("UTM_GLOBAL_POSITION", 1.0f);
+		configure_stream_local("VFR_HUD", 4.0f);
+		configure_stream_local("WIND_COV", 1.0f);
 		break;
 
+
 	case MAVLINK_MODE_OSD:
-		configure_stream_local("ALTITUDE", 1.0f);
+		configure_stream_local("ALTITUDE", 10.0f);
 		configure_stream_local("ATTITUDE", 25.0f);
 		configure_stream_local("ATTITUDE_TARGET", 10.0f);
 		configure_stream_local("ESTIMATOR_STATUS", 1.0f);
@@ -1988,6 +2009,9 @@ Mavlink::task_main(int argc, char *argv[])
 					} else if (strcmp(myoptarg, "extvision") == 0) {
 						_mode = MAVLINK_MODE_EXTVISION;
 
+					} else if (strcmp(myoptarg, "extvisionmin") == 0) {
+						_mode = MAVLINK_MODE_EXTVISIONMIN;
+
 					} else {
 						PX4_ERR("invalid mode");
 						err_flag = true;
diff --git a/src/modules/mavlink/mavlink_main.h b/src/modules/mavlink/mavlink_main.h
index e70312ccc5..055b0943e1 100644
--- a/src/modules/mavlink/mavlink_main.h
+++ b/src/modules/mavlink/mavlink_main.h
@@ -189,6 +189,7 @@ public:
 		MAVLINK_MODE_IRIDIUM,
 		MAVLINK_MODE_MINIMAL,
 		MAVLINK_MODE_EXTVISION,
+		MAVLINK_MODE_EXTVISIONMIN,
 
 		MAVLINK_MODE_COUNT
 	};
@@ -235,6 +236,9 @@ public:
 		case MAVLINK_MODE_EXTVISION:
 			return "ExtVision";
 
+		case MAVLINK_MODE_EXTVISIONMIN:
+			return "ExtVisionMin";
+
 		default:
 			return "Unknown";
 		}