diff --git a/ROMFS/px4fmu_common/init.d/rcS b/ROMFS/px4fmu_common/init.d/rcS
index 9bb8e4a494..8c79a035a0 100755
--- a/ROMFS/px4fmu_common/init.d/rcS
+++ b/ROMFS/px4fmu_common/init.d/rcS
@@ -63,9 +63,8 @@ then
 	if sercon
 	then
 		echo "USB connected"
-	else
-		# second attempt
-		sercon &
+		sleep 3
+		mavlink start -d /dev/ttyACM0 -b 230400
 	fi
 	
 	#
@@ -105,7 +104,7 @@ then
 	fi
 
 	# Try to get an USB console
-	nshterm /dev/ttyACM0 &
+	#nshterm /dev/ttyACM0 &
 	
 	#
 	# Upgrade PX4IO firmware
@@ -219,5 +218,6 @@ then
 		gps start
 	
 	fi
+
 # End of autostart
 fi
diff --git a/src/modules/mavlink/mavlink.c b/src/modules/mavlink/mavlink.c
index 052ce7948c..a8ca19d7a4 100644
--- a/src/modules/mavlink/mavlink.c
+++ b/src/modules/mavlink/mavlink.c
@@ -516,7 +516,6 @@ void mavlink_update_system(void)
 int mavlink_thread_main(int argc, char *argv[])
 {
 	/* initialize mavlink text message buffering */
-	usleep(1000);
 	mavlink_logbuffer_init(&lb, 10);
 
 	int ch;