diff --git a/posix-configs/rpi/px4.config b/posix-configs/rpi/px4.config
index 1fce866cae0e..eb982afeca2b 100644
--- a/posix-configs/rpi/px4.config
+++ b/posix-configs/rpi/px4.config
@@ -45,9 +45,12 @@ mc_rate_control start
 
 mavlink start -x -u 14556 -r 1000000
 
-if [ -f /dev/ttyUSB0 ]
+if [ -c /dev/ttyUSB0 ]
 then
 	mavlink start -x -d /dev/ttyUSB0
+elif [ -c /dev/ttyAMA0 ]
+then
+	mavlink start -x -d /dev/ttyAMA0
 fi
 
 navio_sysfs_rc_in start
diff --git a/posix-configs/rpi/px4_fw.config b/posix-configs/rpi/px4_fw.config
index 1b768507467e..6952c3d8022b 100644
--- a/posix-configs/rpi/px4_fw.config
+++ b/posix-configs/rpi/px4_fw.config
@@ -44,9 +44,12 @@ fw_pos_control_l1 start
 
 mavlink start -x -u 14556 -r 1000000
 
-if [ -f /dev/ttyUSB0 ]
+if [ -c /dev/ttyUSB0 ]
 then
 	mavlink start -x -d /dev/ttyUSB0
+elif [ -c /dev/ttyAMA0 ]
+then
+	mavlink start -x -d /dev/ttyAMA0
 fi
 
 navio_sysfs_rc_in start
diff --git a/posix-configs/rpi/px4_test.config b/posix-configs/rpi/px4_test.config
index 4790ffa06da2..354338e85fd0 100644
--- a/posix-configs/rpi/px4_test.config
+++ b/posix-configs/rpi/px4_test.config
@@ -44,9 +44,12 @@ mc_att_control start
 
 mavlink start -x -u 14556 -r 1000000
 
-if [ -f /dev/ttyUSB0 ]
+if [ -c /dev/ttyUSB0 ]
 then
 	mavlink start -x -d /dev/ttyUSB0
+elif [ -c /dev/ttyAMA0 ]
+then
+	mavlink start -x -d /dev/ttyAMA0
 fi
 
 navio_sysfs_rc_in start