diff --git a/APMrover2/GCS_Mavlink.cpp b/APMrover2/GCS_Mavlink.cpp
index 6ee7a4ec08..c644b15e79 100644
--- a/APMrover2/GCS_Mavlink.cpp
+++ b/APMrover2/GCS_Mavlink.cpp
@@ -463,7 +463,8 @@ static const ap_message STREAM_RAW_CONTROLLER_msgs[] = {
 };
 static const ap_message STREAM_RC_CHANNELS_msgs[] = {
     MSG_SERVO_OUTPUT_RAW,
-    MSG_RADIO_IN
+    MSG_RC_CHANNELS,
+    MSG_RC_CHANNELS_RAW, // only sent on a mavlink1 connection
 };
 static const ap_message STREAM_EXTRA1_msgs[] = {
     MSG_ATTITUDE,