diff --git a/ROMFS/px4fmu_common/init.d-posix/rcS b/ROMFS/px4fmu_common/init.d-posix/rcS
index 5aa031072d..7b535701ae 100644
--- a/ROMFS/px4fmu_common/init.d-posix/rcS
+++ b/ROMFS/px4fmu_common/init.d-posix/rcS
@@ -110,6 +110,7 @@ udp_offboard_port_remote=$((14540+px4_instance))
 udp_onboard_payload_port_local=$((14280+px4_instance))
 udp_onboard_payload_port_remote=$((14030+px4_instance))
 udp_onboard_gimbal_port_local=$((13030+px4_instance))
+udp_onboard_gimbal_port_remote=$((13280+px4_instance))
 udp_gcs_port_local=$((18570+px4_instance))
 
 if [ $AUTOCNF = yes ]
@@ -261,7 +262,7 @@ else
 	mavlink start -x -u $udp_onboard_payload_port_local -r 4000 -f -m onboard -o $udp_onboard_payload_port_remote
 
 	# Onboard link to gimbal
-	mavlink start -x -u $udp_onboard_gimbal_port_local -r 400000 -m gimbal
+	mavlink start -x -u $udp_onboard_gimbal_port_local -r 400000 -m gimbal -o $udp_onboard_gimbal_port_remote
 fi
 
 # execute autostart post script if any