diff --git a/ROMFS/px4fmu_common/init.d/4070_aerofc b/ROMFS/px4fmu_common/init.d/4070_aerofc
index 01b140b807..a7f95b9ca2 100644
--- a/ROMFS/px4fmu_common/init.d/4070_aerofc
+++ b/ROMFS/px4fmu_common/init.d/4070_aerofc
@@ -11,4 +11,5 @@ set OUTPUT_DEV /dev/tap_esc
 set MIXER quad_x
 set USE_IO no
 
-set MAVLINK_F "-r 1200 -d /dev/ttyS2"
+param set SYS_COMPANION 0
+set MAVLINK_F "-b 115200 -mode onboard -r 80000 -d /dev/ttyS1"
diff --git a/nuttx-configs/aerofc-v1/include/board.h b/nuttx-configs/aerofc-v1/include/board.h
index 9a9206d4df..3e6c1630d2 100644
--- a/nuttx-configs/aerofc-v1/include/board.h
+++ b/nuttx-configs/aerofc-v1/include/board.h
@@ -214,17 +214,23 @@
 #define GPIO_USART1_RX	GPIO_USART1_RX_2
 #define DMAMAP_USART1_RX DMAMAP_USART1_RX_2
 
-// Mavlink
+// Companion
 #define GPIO_USART2_TX	GPIO_USART2_TX_1
 #define GPIO_USART2_RX	GPIO_USART2_RX_1
+#define GPIO_USART2_CTS	0 // unused
+#define GPIO_USART2_RTS	0 // unused
 
 // GPS
 #define GPIO_USART3_TX	GPIO_USART3_TX_1
 #define GPIO_USART3_RX	GPIO_USART3_RX_1
+#define GPIO_USART3_CTS	0 // unused
+#define GPIO_USART3_RTS	0 // unused
 
 // RC
 #define GPIO_UART4_TX	GPIO_UART4_TX_1
 #define GPIO_UART4_RX	GPIO_UART4_RX_1
+#define GPIO_UART4_CTS	0 // unused
+#define GPIO_UART4_RTS	0 // unused
 
 // Serial console
 #define GPIO_USART6_TX	GPIO_USART6_TX_1
diff --git a/src/drivers/boards/aerofc-v1/board_config.h b/src/drivers/boards/aerofc-v1/board_config.h
index 9f7a3e04c4..f429b57fc6 100644
--- a/src/drivers/boards/aerofc-v1/board_config.h
+++ b/src/drivers/boards/aerofc-v1/board_config.h
@@ -118,6 +118,13 @@
  */
 #define GPIO_OTGFS_VBUS (GPIO_INPUT|GPIO_FLOAT|GPIO_SPEED_100MHz|GPIO_OPENDRAIN|GPIO_PORTA|GPIO_PIN9)
 
+#define GPS_DEFAULT_UART_PORT	"/dev/ttyS2"
+
+/* RC Serial port
+ */
+#define RC_SERIAL_PORT		"/dev/ttyS3"
+#define INVERT_RC_INPUT(_s)		while(0)
+
 /* High-resolution timer
  */
 #define HRT_TIMER		3	/* use timer3 for the HRT */