diff --git a/ROMFS/px4fmu_common/init.d/rc.usb b/ROMFS/px4fmu_common/init.d/rc.usb
index 76593881db..d6e638c0ab 100644
--- a/ROMFS/px4fmu_common/init.d/rc.usb
+++ b/ROMFS/px4fmu_common/init.d/rc.usb
@@ -17,6 +17,8 @@ mavlink stream -d /dev/ttyACM0 -s ATTITUDE_CONTROLS -r 30
 usleep 100000
 mavlink stream -d /dev/ttyACM0 -s SERVO_OUTPUT_RAW_0 -r 20
 usleep 100000
+mavlink stream -d /dev/ttyACM0 -s GLOBAL_POSITION_SETPOINT_INT -r 20
+usleep 100000
 
 # Exit shell to make it available to MAVLink
 exit
diff --git a/src/modules/mavlink/mavlink_messages.cpp b/src/modules/mavlink/mavlink_messages.cpp
index 0430987ec1..e0a148b53c 100644
--- a/src/modules/mavlink/mavlink_messages.cpp
+++ b/src/modules/mavlink/mavlink_messages.cpp
@@ -1049,13 +1049,8 @@ public:
 
 private:
 	MavlinkOrbSubscription *pos_sp_triplet_sub;
-	uint64_t pos_sp_triplet_time;
 
 protected:
-	explicit MavlinkStreamGlobalPositionSetpointInt() : MavlinkStream(),
-		pos_sp_triplet_time(0)
-	{}
-
 	void subscribe(Mavlink *mavlink)
 	{
 		pos_sp_triplet_sub = mavlink->add_orb_subscription(ORB_ID(position_setpoint_triplet));
@@ -1065,7 +1060,7 @@ protected:
 	{
 		struct position_setpoint_triplet_s pos_sp_triplet;
 
-		if (pos_sp_triplet_sub->update(&pos_sp_triplet_time, &pos_sp_triplet)) {
+		if (pos_sp_triplet_sub->update(&pos_sp_triplet)) {
 			mavlink_msg_global_position_setpoint_int_send(_channel,
 					MAV_FRAME_GLOBAL,
 					(int32_t)(pos_sp_triplet.current.lat * 1e7),