diff --git a/src/modules/mavlink/mavlink_main.cpp b/src/modules/mavlink/mavlink_main.cpp
index 18df577fea..16c27baa9a 100644
--- a/src/modules/mavlink/mavlink_main.cpp
+++ b/src/modules/mavlink/mavlink_main.cpp
@@ -1783,6 +1783,8 @@ Mavlink::task_main(int argc, char *argv[])
 		configure_stream("LOCAL_POSITION_NED", 3.0f * rate_mult);
 		configure_stream("RC_CHANNELS_RAW", 1.0f * rate_mult);
 		configure_stream("NAMED_VALUE_FLOAT", 1.0f * rate_mult);
+		configure_stream("GLOBAL_POSITION_SETPOINT_INT", 3.0f * rate_mult);
+		configure_stream("ROLL_PITCH_YAW_THRUST_SETPOINT", 3.0f * rate_mult);
 		break;
 
 	case MAVLINK_MODE_CAMERA: