diff --git a/ROMFS/px4fmu_common/init.d/rcS b/ROMFS/px4fmu_common/init.d/rcS
index a62f67718b..f0bdf32f86 100644
--- a/ROMFS/px4fmu_common/init.d/rcS
+++ b/ROMFS/px4fmu_common/init.d/rcS
@@ -410,7 +410,7 @@ then
 			if [ $TTYS1_BUSY == yes ]
 			then
 				# Start MAVLink on ttyS0, because FMU ttyS1 pins configured as something else
-				set MAVLINK_FLAGS "-r 1000 -d /dev/ttyS0 -b 115200"
+				set MAVLINK_FLAGS "-r 1000 -d /dev/ttyS0 -b 57600"
 				
 				# Exit from nsh to free port for mavlink
 				set EXIT_ON_END yes
@@ -421,8 +421,16 @@ then
 		fi
 	fi
 
+    # Main mavlink
 	mavlink start $MAVLINK_FLAGS
-	
+    # Optical Flow
+    mavlink start -d /dev/ttyS3 -m custom -b 115200
+    # Android board
+    #mavlink start -d /dev/ttyS2 -m custom -b 115200
+    #mavlink stream -d /dev/ttyS2 -s LOCAL_POSITION_NED -r 5 
+    #mavlink stream -d /dev/ttyS2 -s ATTITUDE -r 50
+    #mavlink stream -d /dev/ttyS2 -s VICON_POSITION_ESTIMATE -r 50
+
 	#
 	# Start the datamanager
 	#