diff --git a/MAVProxy/modules/mavproxy_SIYI/__init__.py b/MAVProxy/modules/mavproxy_SIYI/__init__.py
index 063eb64d80..aef8287afa 100644
--- a/MAVProxy/modules/mavproxy_SIYI/__init__.py
+++ b/MAVProxy/modules/mavproxy_SIYI/__init__.py
@@ -212,7 +212,7 @@ def __init__(self, mpstate):
                                                      ('target_rate', float, 10),
                                                      ('telem_hz', float, 5),
                                                      ('telem_rate', float, 4),
-                                                     ('att_send_hz', float, 10),
+                                                     ('att_send_hz', float, 0),
                                                      ('temp_hz', float, 5),
                                                      ('rtsp_rgb', str, 'rtsp://192.168.144.25:8554/video1'),
                                                      ('rtsp_thermal', str, 'rtsp://192.168.144.25:8554/video2'),
@@ -1152,7 +1152,7 @@ def idle_task(self):
         self.update_target()
         self.send_rates()
         self.request_telem()
-        #self.send_attitude()
+        self.send_attitude()
         self.check_thermal_events()
 
 def init(mpstate):
diff --git a/MAVProxy/modules/mavproxy_SIYI/camera_view.py b/MAVProxy/modules/mavproxy_SIYI/camera_view.py
index a067164a79..b0d501cb85 100644
--- a/MAVProxy/modules/mavproxy_SIYI/camera_view.py
+++ b/MAVProxy/modules/mavproxy_SIYI/camera_view.py
@@ -51,6 +51,7 @@ def __init__(self, siyi, rtsp_url, filename, res, thermal=False, fps=10):
         if self.thermal:
             colormaps = [
                 "Threshold",
+                "GloryHot",
                 "AUTUMN",
                 "BONE",
                 "JET",
@@ -200,8 +201,13 @@ def check_events(self):
                 if event.returnkey.startswith("COLORMAP_Threshold"):
                     d = self.create_colormap_dict()
                     self.im.set_colormap(d)
+                    self.siyi.cmd_palette(["WhiteHot"])
+                if event.returnkey.startswith("COLORMAP_GloryHot"):
+                    self.im.set_colormap("None")
+                    self.siyi.cmd_palette(["GloryHot"])
                 elif event.returnkey.startswith("COLORMAP_"):
                     self.im.set_colormap(event.returnkey[9:])
+                    self.siyi.cmd_palette(["WhiteHot"])
                 elif event.returnkey.startswith("Mode:"):
                     self.mode = event.returnkey[5:]
                     print("ViewMode: %s" % self.mode)