diff --git a/posix-configs/SITL/init/rcS b/posix-configs/SITL/init/rcS
index 2af14522d2..c303335c3e 100644
--- a/posix-configs/SITL/init/rcS
+++ b/posix-configs/SITL/init/rcS
@@ -43,8 +43,11 @@ position_estimator_inav start
 mc_pos_control start
 mc_att_control start
 mixer load /dev/pwm_output0 ../../ROMFS/px4fmu_common/mixers/quad_x.main.mix
-mavlink start -u 14556 -r 60000
-mavlink stream -r 50 -s POSITION_TARGET_LOCAL_NED -u 14556
-mavlink stream -r 50 -s LOCAL_POSITION_NED -u 14556
-mavlink stream -r 50 -s ATTITUDE -u 14556
-mavlink stream -r 50 -s ATTITUDE_TARGET -u 14556
+mavlink start -u 14556 -r 2000000
+mavlink stream -r 80 -s POSITION_TARGET_LOCAL_NED -u 14556
+mavlink stream -r 80 -s LOCAL_POSITION_NED -u 14556
+mavlink stream -r 80 -s GLOBAL_POSITION_INT -u 14556
+mavlink stream -r 80 -s ATTITUDE -u 14556
+mavlink stream -r 80 -s ATTITUDE_TARGET -u 14556
+mavlink stream -r 20 -s RC_CHANNELS -u 14556
+mavlink stream -r 250 -s HIGHRES_IMU -u 14556