From b80f003c98b69c64b87e0ef1cb34bee488129f34 Mon Sep 17 00:00:00 2001
From: Tom Pittenger <tom.pittenger@krausaerospace.com>
Date: Tue, 22 Dec 2020 11:43:42 -0800
Subject: [PATCH] Copter: extend Stream rates param count to match
 MAVLINK_COMM_NUM_BUFFER

---
 ArduCopter/Parameters.cpp | 24 ++++++++++++++++++++++++
 ArduCopter/Parameters.h   |  3 +++
 2 files changed, 27 insertions(+)

diff --git a/ArduCopter/Parameters.cpp b/ArduCopter/Parameters.cpp
index 2c41adb7eb..d879293e9a 100644
--- a/ArduCopter/Parameters.cpp
+++ b/ArduCopter/Parameters.cpp
@@ -539,17 +539,41 @@ const AP_Param::Info Copter::var_info[] = {
     // @Path: GCS_Mavlink.cpp
     GOBJECTN(_gcs.chan_parameters[0],  gcs0,       "SR0_",     GCS_MAVLINK_Parameters),
 
+#if MAVLINK_COMM_NUM_BUFFERS >= 2
     // @Group: SR1_
     // @Path: GCS_Mavlink.cpp
     GOBJECTN(_gcs.chan_parameters[1],  gcs1,       "SR1_",     GCS_MAVLINK_Parameters),
+#endif
 
+#if MAVLINK_COMM_NUM_BUFFERS >= 3
     // @Group: SR2_
     // @Path: GCS_Mavlink.cpp
     GOBJECTN(_gcs.chan_parameters[2],  gcs2,       "SR2_",     GCS_MAVLINK_Parameters),
+#endif
 
+#if MAVLINK_COMM_NUM_BUFFERS >= 4
     // @Group: SR3_
     // @Path: GCS_Mavlink.cpp
     GOBJECTN(_gcs.chan_parameters[3],  gcs3,       "SR3_",     GCS_MAVLINK_Parameters),
+#endif
+
+#if MAVLINK_COMM_NUM_BUFFERS >= 5
+    // @Group: SR4_
+    // @Path: GCS_Mavlink.cpp
+    GOBJECTN(_gcs.chan_parameters[4],  gcs4,       "SR4_",     GCS_MAVLINK_Parameters),
+#endif
+
+#if MAVLINK_COMM_NUM_BUFFERS >= 6
+    // @Group: SR5_
+    // @Path: GCS_Mavlink.cpp
+    GOBJECTN(_gcs.chan_parameters[5],  gcs5,       "SR5_",     GCS_MAVLINK_Parameters),
+#endif
+
+#if MAVLINK_COMM_NUM_BUFFERS >= 7
+    // @Group: SR6_
+    // @Path: GCS_Mavlink.cpp
+    GOBJECTN(_gcs.chan_parameters[6],  gcs6,       "SR6_",     GCS_MAVLINK_Parameters),
+#endif
 
     // @Group: AHRS_
     // @Path: ../libraries/AP_AHRS/AP_AHRS.cpp
diff --git a/ArduCopter/Parameters.h b/ArduCopter/Parameters.h
index 1ce292305d..581f869b18 100644
--- a/ArduCopter/Parameters.h
+++ b/ArduCopter/Parameters.h
@@ -218,6 +218,9 @@ public:
         k_param_takeoff_trigger_dz_old,
         k_param_gcs3,
         k_param_gcs_pid_mask,    // 126
+        k_param_gcs4,
+        k_param_gcs5,
+        k_param_gcs6,
 
         //
         // 135 : reserved for Solo until features merged with master