diff --git a/ROMFS/px4fmu_common/init.d/rcS b/ROMFS/px4fmu_common/init.d/rcS
index 8a40f7ae90..ff484c86ee 100644
--- a/ROMFS/px4fmu_common/init.d/rcS
+++ b/ROMFS/px4fmu_common/init.d/rcS
@@ -647,6 +647,10 @@ then
 		then
 			mavlink start -d ${MAVLINK_COMPANION_DEVICE} -b 57600 -m onboard -r 5000 -x
 		fi
+		if param compare SYS_COMPANION 460800
+		then
+			mavlink start -d ${MAVLINK_COMPANION_DEVICE} -b 460800 -m onboard -r 5000 -x
+		fi
 		if param compare SYS_COMPANION 157600
 		then
 			mavlink start -d ${MAVLINK_COMPANION_DEVICE} -b 57600 -m osd -r 1000