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I think the problem may be that a 5.1 digital audio feed is only available via the optical output rather than on HDMI, which is 2.1 only. Try connecting your AV receiver to your set top box using an optical cable for audio, and check in the sound menu of both your STB and AVR that 5.1 audio is enabled. I have my Onkyo TX-NR515 working well with BBC HD via a Humax Freeview HD STB using this connection method
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On Tivo and V+ boxes, you get 5.1 via HDMI as well as optical.