diff --git a/libraries/GCS_MAVLink/MAVLink_routing.cpp b/libraries/GCS_MAVLink/MAVLink_routing.cpp
index 54d922f81e..934d55d268 100644
--- a/libraries/GCS_MAVLink/MAVLink_routing.cpp
+++ b/libraries/GCS_MAVLink/MAVLink_routing.cpp
@@ -97,14 +97,15 @@ bool MAVLink_routing::check_and_forward(mavlink_channel_t in_channel, const mavl
         return true;
     }
 
+    // learn new routes including private channels
+    // so that find_mav_type works for all channels
+    learn_route(in_channel, msg);
+
     // don't ever forward data from a private channel
     if ((GCS_MAVLINK::is_private(in_channel))) {
         return true;
     }
 
-    // learn new routes
-    learn_route(in_channel, msg);
-
     if (msg.msgid == MAVLINK_MSG_ID_RADIO ||
         msg.msgid == MAVLINK_MSG_ID_RADIO_STATUS) {
         // don't forward RADIO packets