mavlink start -d /dev/ttyS6 -b 57600 -r 2000 -f -m custom

mavlink stream -d /dev/ttyS6 -s HEARTBEAT -r 2
mavlink stream -d /dev/ttyS6 -s ATTITUDE -r 25
mavlink stream -d /dev/ttyS6 -s GLOBAL_POSITION_INT -r 25


mavlink stream -d /dev/ttyS2 -s RC_CHANNELS -r 10


usleep 100000