diff --git a/ROMFS/px4fmu_common/init.d/rc.mavlink b/ROMFS/px4fmu_common/init.d/rc.mavlink
index b9e664bfe0..9985aded5b 100644
--- a/ROMFS/px4fmu_common/init.d/rc.mavlink
+++ b/ROMFS/px4fmu_common/init.d/rc.mavlink
@@ -20,7 +20,7 @@ fi
 if ver hwcmp AV_X_V1
 then
 	# AV-X: start MAVLink to companion (connected to TX2)
-	mavlink start -d /dev/ttyS5 -r 80000 -b 921600 -m onboard
+	mavlink start -d /dev/ttyS5 -r 20000 -b 460800 -m onboard
 
 	# AV-X: start MAVLink UDP port 14570
 	mavlink start -x -u 14570