You can request a message by sending this command: https://mavlink.io/en/messages/common.html#MAV_CMD_SET_MESSAGE_INTERVAL
Alternatively, you can look at the configuration: https://dev.px4.io/en/companion_computer/pixhawk_companion.html and you set the correct mode which includes the message you need. You can see the modes with their messages here: https://github.com/PX4/Firmware/blob/b7b5b89969935acd57133f327f640dc1db657fed/src/modules/mavlink/mavlink_main.cpp#L1746-L1904