diff --git a/ROMFS/px4fmu_common/init.d/rcS b/ROMFS/px4fmu_common/init.d/rcS
index 2dfe3d8e30..13b35313e7 100644
--- a/ROMFS/px4fmu_common/init.d/rcS
+++ b/ROMFS/px4fmu_common/init.d/rcS
@@ -484,6 +484,10 @@ then
 		then
 			mavlink start -d /dev/ttyS2 -b 57600 -m onboard -r 1000
 		fi
+		if param compare SYS_COMPANION 157600
+		then
+			mavlink start -d /dev/ttyS2 -b 57600 -m osd -r 1000
+		fi
 	fi
 
 	# UAVCAN