Merge branch 'beta' into stable

This reverts commit 864068b99d.

ROMFS/px4fmu_common/init.d/rcS

@@ -497,17 +497,12 @@ then
 	mavlink start $MAVLINK_F
 	unset MAVLINK_F
 
-	if ver hwcmp PX4FMU_V4
-	then
-		# Start MAVLink on OSD (TELEM2 port)
-		mavlink start -r 1200 -d /dev/ttyS2 -b 57600 -m osd
-	fi
-
 	#
 	# MAVLink onboard / TELEM2
 	#
-	if ver hwcmp PX4FMU_V2
+	if ver hwcmp PX4FMU_V1
 	then
+	else
 		# XXX We need a better way for runtime eval of shell variables,
 		# but this works for now
 		if param compare SYS_COMPANION 921600
@@ -526,6 +521,10 @@ then
 		then
 			mavlink start -d /dev/ttyS2 -b 57600 -m magic -r 5000 -x
 		fi
+		if param compare SYS_COMPANION 357600
+		then
+			mavlink start -d /dev/ttyS2 -b 57600 -r 1000
+		fi
 		# Sensors on the PWM interface bank
 		# clear pins 5 and 6
 		if param compare SENS_EN_LL40LS 1

src/modules/systemlib/system_params.c

@@ -92,6 +92,8 @@ PARAM_DEFINE_INT32(SYS_RESTART_TYPE, 2);
 * @value 921600 Companion Link (921600 baud, 8N1)
 * @value 57600 Companion Link (57600 baud, 8N1)
 * @value 157600 OSD (57600 baud, 8N1)
+* @value 257600 Command Receiver (57600 baud, 8N1)
+* @value 357600 Telemetry (57600 baud, 8N1)
 *
 * @min 0
 * @max 921600