diff --git a/ROMFS/px4fmu_common/init.d/rcS b/ROMFS/px4fmu_common/init.d/rcS
index b4d7d9984b..0ef4771122 100644
--- a/ROMFS/px4fmu_common/init.d/rcS
+++ b/ROMFS/px4fmu_common/init.d/rcS
@@ -530,6 +530,10 @@ then
 		then
 			mavlink start -d /dev/ttyS2 -b 57600 -r 1000
 		fi
+		if param compare SYS_COMPANION 1921600
+		then
+			mavlink start -d /dev/ttyS2 -b 921600 -r 20000
+		fi
 		# Sensors on the PWM interface bank
 		# clear pins 5 and 6
 		if param compare SENS_EN_LL40LS 1
diff --git a/Tools/px4params/xmlout.py b/Tools/px4params/xmlout.py
index d2b230a016..55f0418047 100644
--- a/Tools/px4params/xmlout.py
+++ b/Tools/px4params/xmlout.py
@@ -25,7 +25,7 @@ class XMLOutput():
         xml_version = ET.SubElement(xml_parameters, "parameter_version_major")
         xml_version.text = "1"
         xml_version = ET.SubElement(xml_parameters, "parameter_version_minor")
-        xml_version.text = "7"
+        xml_version.text = "8"
         importtree = ET.parse(inject_xml_file_name)
         injectgroups = importtree.getroot().findall("group")
         for igroup in injectgroups: