px4-firmware/ROMFS/px4fmu_common/init.d/rc.usb

#!nsh
#
# USB MAVLink start
#

mavlink start -r 20000 -d /dev/ttyACM0 -x
# Enable a number of interesting streams we want via USB
mavlink stream -d /dev/ttyACM0 -s PARAM_VALUE -r 200
mavlink stream -d /dev/ttyACM0 -s MISSION_ITEM -r 50
mavlink stream -d /dev/ttyACM0 -s NAMED_VALUE_FLOAT -r 10
mavlink stream -d /dev/ttyACM0 -s OPTICAL_FLOW_RAD -r 10
mavlink stream -d /dev/ttyACM0 -s VFR_HUD -r 20
mavlink stream -d /dev/ttyACM0 -s ATTITUDE -r 20
mavlink stream -d /dev/ttyACM0 -s ACTUATOR_CONTROL_TARGET -r 30
mavlink stream -d /dev/ttyACM0 -s RC_CHANNELS_RAW -r 5
mavlink stream -d /dev/ttyACM0 -s SERVO_OUTPUT_RAW_0 -r 20
mavlink stream -d /dev/ttyACM0 -s POSITION_TARGET_GLOBAL_INT -r 10
mavlink stream -d /dev/ttyACM0 -s LOCAL_POSITION_NED -r 30
mavlink stream -d /dev/ttyACM0 -s MANUAL_CONTROL -r 5
mavlink stream -d /dev/ttyACM0 -s ATTITUDE_QUATERNION -r 20
mavlink stream -d /dev/ttyACM0 -s HIGHRES_IMU -r 20
mavlink stream -d /dev/ttyACM0 -s GPS_RAW_INT -r 20

# Exit shell to make it available to MAVLink
exit