diff --git a/ROMFS/px4fmu_common/init.d/rcS b/ROMFS/px4fmu_common/init.d/rcS
index 2c00b60781..23312e4f5e 100644
--- a/ROMFS/px4fmu_common/init.d/rcS
+++ b/ROMFS/px4fmu_common/init.d/rcS
@@ -551,6 +551,14 @@ then
 		then
 			mavlink start -d /dev/ttyS2 -b 57600 -m magic -r 5000 -x
 		fi
+		if param compare SYS_COMPANION 319200
+		then
+			mavlink start -d /dev/ttyS2 -b 19200 -r 1000
+		fi
+		if param compare SYS_COMPANION 338400
+		then
+			mavlink start -d /dev/ttyS2 -b 38400 -r 1000
+		fi
 		if param compare SYS_COMPANION 357600
 		then
 			mavlink start -d /dev/ttyS2 -b 57600 -r 1000
diff --git a/src/modules/systemlib/system_params.c b/src/modules/systemlib/system_params.c
index f6ea3d045b..1007d69b1c 100644
--- a/src/modules/systemlib/system_params.c
+++ b/src/modules/systemlib/system_params.c
@@ -118,6 +118,8 @@ PARAM_DEFINE_INT32(SYS_MC_EST_GROUP, 1);
  * @value 57600 Companion Link (57600 baud, 8N1)
  * @value 157600 OSD (57600 baud, 8N1)
  * @value 257600 Command Receiver (57600 baud, 8N1)
+ * @value 319200 Normal Telemetry (19200 baud, 8N1)
+ * @value 338400 Normal Telemetry (38400 baud, 8N1)
  * @value 357600 Normal Telemetry (57600 baud, 8N1)
  * @value 1921600 ESP8266 (921600 baud, 8N1)
  *