diff --git a/boards/px4/fmu-v5x/init/rc.board_mavlink b/boards/px4/fmu-v5x/init/rc.board_mavlink
index dad84376ce..ae59f79dff 100644
--- a/boards/px4/fmu-v5x/init/rc.board_mavlink
+++ b/boards/px4/fmu-v5x/init/rc.board_mavlink
@@ -7,4 +7,7 @@ if ver hwtypecmp V5X009000 V5X009001 V5X00a000 V5X00a001 V5X008000 V5X008001 V5X
 then
 	# Start MAVLink on the UART connected to the mission computer
 	mavlink start -d /dev/ttyS4 -b 3000000 -r 290000 -m onboard_low_bandwidth -x -z
+
+	# Ensure nothing else starts on TEL2 (ttyS4)
+	set PRT_TEL2_ 1
 fi
diff --git a/boards/px4/fmu-v6x/init/rc.board_mavlink b/boards/px4/fmu-v6x/init/rc.board_mavlink
new file mode 100644
index 0000000000..6001553a76
--- /dev/null
+++ b/boards/px4/fmu-v6x/init/rc.board_mavlink
@@ -0,0 +1,13 @@
+#!/bin/sh
+#
+# PX4 FMUv6X specific board MAVLink startup script.
+#------------------------------------------------------------------------------
+
+# if skynode base board is detected start Mavlink on Telem2
+if ver hwtypecmp V6X009010 V6X010010
+then
+	mavlink start -d /dev/ttyS4 -b 3000000 -r 290000 -m onboard_low_bandwidth -x -z
+
+	# Ensure nothing else starts on TEL2 (ttyS4)
+	set PRT_TEL2_ 1
+fi