diff --git a/ROMFS/px4fmu_common/init.d/rcS b/ROMFS/px4fmu_common/init.d/rcS
index ac222ac945..5ec916cd0f 100644
--- a/ROMFS/px4fmu_common/init.d/rcS
+++ b/ROMFS/px4fmu_common/init.d/rcS
@@ -589,7 +589,13 @@ then
 	if param compare SYS_COMPANION 10
 	then
 		frsky_telemetry start -d ${MAVLINK_COMPANION_DEVICE}
+	else
+		if ver hwcmp PX4FMU_V4 PX4FMU_V4PRO MINDPX_V2
+		then
+			frsky_telemetry start -d /dev/ttyS6
+		fi
 	fi
+
 	if param compare SYS_COMPANION 20
 	then
 		syslink start
@@ -672,11 +678,6 @@ then
 		fi
 	fi
 
-	if ver hwcmp PX4FMU_V4 MINDPX_V2
-	then
-		frsky_telemetry start -d /dev/ttyS6
-	fi
-
 	if ver hwcmp PX4FMU_V2 PX4FMU_V4 PX4FMU_V4PRO MINDPX_V2 PX4FMU_V5
 	then
 		# Check for flow sensor - as it is a background task, launch it last