diff --git a/ROMFS/px4fmu_common/init.d/rcS b/ROMFS/px4fmu_common/init.d/rcS
index a30dde0a16..12b9594d5b 100644
--- a/ROMFS/px4fmu_common/init.d/rcS
+++ b/ROMFS/px4fmu_common/init.d/rcS
@@ -526,6 +526,10 @@ 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
diff --git a/src/modules/systemlib/system_params.c b/src/modules/systemlib/system_params.c
index 692b36e1a7..77cad5cdd3 100644
--- a/src/modules/systemlib/system_params.c
+++ b/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