From a2bb826523de57f64cc2e40537af8bd5bb8c6cea Mon Sep 17 00:00:00 2001
From: Anna Dai <anna@auterion.com>
Date: Tue, 5 Feb 2019 16:23:54 +0100
Subject: [PATCH] fix for AV board mavlink streams

---
 boards/av/x-v1/init/rc.board_extras | 6 +++++-
 1 file changed, 5 insertions(+), 1 deletion(-)

diff --git a/boards/av/x-v1/init/rc.board_extras b/boards/av/x-v1/init/rc.board_extras
index c05f9ff099..c2b036aab1 100644
--- a/boards/av/x-v1/init/rc.board_extras
+++ b/boards/av/x-v1/init/rc.board_extras
@@ -5,7 +5,11 @@
 #
 
 # AV-X: start MAVLink to companion (connected to TX2)
-mavlink start -d /dev/ttyS5 -r 20000 -b 460800 -m onboard
+mavlink start -d /dev/ttyS5 -b 500000 -m osd
+mavlink stream -d /dev/ttyS5 -s HIGHRES_IMU -r 250
+mavlink stream -d /dev/ttyS5 -s CAMERA_TRIGGER -r 100
+mavlink stream -d /dev/ttyS5 -s LOCAL_POSITION_NED -r 50
+
 
 # AV-X: start MAVLink UDP port 14570
 mavlink start -x -u 14570
-- 
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