No data streaming upon connection

[tltanlum]

When I connect with APM Planner to my drone running ArduPilot I get no telemetry data and it is the same behavior with mavsdk_server_bin. I connect through the serial port in both cases.

Once I connect with QGroundControl through the serial port, all the data starts streaming. From there on I can connect with either APM Planner or mavsdk_server_bin and they both receive the data.

APM-Planner v2-2.0.30-rc3
QGrountControl v4.3.0
MAVSDK-Server v2.9.1

I am not sure what triggers the data to start streaming through QGroundControl and I would expect this to be the norm to be honest. Is there a setting to be set on the ArduPilot to have this behaviour by default for all clients connecting to mavlink through serial port or tcp or udp?

Thank you!