diff --git a/ROMFS/px4fmu_common/init.d/rcS b/ROMFS/px4fmu_common/init.d/rcS
index 29394b97e9..7d00bbf984 100644
--- a/ROMFS/px4fmu_common/init.d/rcS
+++ b/ROMFS/px4fmu_common/init.d/rcS
@@ -661,6 +661,10 @@ then
 		then
 			mavlink start -d ${MAVLINK_COMPANION_DEVICE} -b 57600 -r 1000
 		fi
+		if param compare SYS_COMPANION 3115200
+		then
+			mavlink start -d ${MAVLINK_COMPANION_DEVICE} -b 115200 -r 1000
+		fi
 		if param compare SYS_COMPANION 419200
 		then
 			iridiumsbd start -d /dev/ttyS2
diff --git a/src/modules/systemlib/system_params.c b/src/modules/systemlib/system_params.c
index dc00036d47..10e6ffd5e4 100644
--- a/src/modules/systemlib/system_params.c
+++ b/src/modules/systemlib/system_params.c
@@ -121,6 +121,7 @@ PARAM_DEFINE_INT32(SYS_MC_EST_GROUP, 2);
  * @value 319200 Normal Telemetry (19200 baud, 8N1)
  * @value 338400 Normal Telemetry (38400 baud, 8N1)
  * @value 357600 Normal Telemetry (57600 baud, 8N1)
+ * @value 3115200 Normal Telemetry (115200 baud, 8N1)
  * @value 419200 Iridium Telemetry (19200 baud, 8N1)
  * @value 1921600 ESP8266 (921600 baud, 8N1)
  *