diff --git a/boards/av/x-v1/init/rc.board_extras b/boards/av/x-v1/init/rc.board_extras
index c05f9ff099..c2b036aab1 100644
--- a/boards/av/x-v1/init/rc.board_extras
+++ b/boards/av/x-v1/init/rc.board_extras
@@ -5,7 +5,11 @@
 #
 
 # AV-X: start MAVLink to companion (connected to TX2)
-mavlink start -d /dev/ttyS5 -r 20000 -b 460800 -m onboard
+mavlink start -d /dev/ttyS5 -b 500000 -m osd
+mavlink stream -d /dev/ttyS5 -s HIGHRES_IMU -r 250
+mavlink stream -d /dev/ttyS5 -s CAMERA_TRIGGER -r 100
+mavlink stream -d /dev/ttyS5 -s LOCAL_POSITION_NED -r 50
+
 
 # AV-X: start MAVLink UDP port 14570
 mavlink start -x -u 14570