Hi,
I use Mavlink telemetry for ground station with tracking antena.
Station need just global position mssage. But in Bethaflight, Mavlink dosn't support messages adjustment (MAV_CMD_SET_MESSAGE_INTERVAL).
To adjust Mavlink, I manualy change code in file telemetry/mavlink.c and compile my firmware.

For example what settings I use now:

/* MAVLink datastream rates in Hz */
static const uint8_t mavRates[] = {
[MAV_DATA_STREAM_EXTENDED_STATUS] = 0, //original 2Hz
[MAV_DATA_STREAM_RC_CHANNELS] = 0, //original 5Hz
[MAV_DATA_STREAM_POSITION] = 10, //original 2Hz
[MAV_DATA_STREAM_EXTRA1] = 0, //original 10Hz
[MAV_DATA_STREAM_EXTRA2] = 0 //original 2Hz
};

And I need to do It with every new firmware.
My offer is to add support of Mavlink adjustment, like a table with supported messages and rates.

Thanks
Alex

PS sorry for my bad english