Hold down the Q.MENU button for about 5 seconds, then what you see on the camera LCD screen will be duplicated on a TV. Works for the AV cable, not HDMI. This change stays after a power cycle; so you don't need to do this each and every time. You can disable it the same way - hold the Q.MENU button for 5 seconds.
Too bad, once you press the record button, live view becomes black on the TV until recording is stopped. So it is still useless during video recording.