From f4db4bdb08e650391234a307710790a6cefb82d8 Mon Sep 17 00:00:00 2001
From: Randy Mackay <rmackay9@yahoo.com>
Date: Thu, 21 Jul 2016 21:45:00 +0900
Subject: [PATCH] Copter: GCS_MAVLink passes packets to AP_Avoidance

This allows treating GLOBAL_POSITION_INT packets from other vehicles in the same way as ADSB packets
---
 ArduCopter/GCS_Mavlink.cpp | 7 +++++++
 ArduCopter/GCS_Mavlink.h   | 2 ++
 2 files changed, 9 insertions(+)

diff --git a/ArduCopter/GCS_Mavlink.cpp b/ArduCopter/GCS_Mavlink.cpp
index 4bf3cec298..b71c1e9824 100644
--- a/ArduCopter/GCS_Mavlink.cpp
+++ b/ArduCopter/GCS_Mavlink.cpp
@@ -955,6 +955,13 @@ void GCS_MAVLINK_Copter::handle_change_alt_request(AP_Mission::Mission_Command &
     // To-Do: update target altitude for loiter or waypoint controller depending upon nav mode
 }
 
+void GCS_MAVLINK_Copter::packetReceived(const mavlink_status_t &status,
+                                        mavlink_message_t &msg)
+{
+    copter.avoidance_adsb.handle_msg(msg);
+    GCS_MAVLINK::packetReceived(status, msg);
+}
+
 void GCS_MAVLINK_Copter::handleMessage(mavlink_message_t* msg)
 {
     uint8_t result = MAV_RESULT_FAILED;         // assume failure.  Each messages id is responsible for return ACK or NAK if required
diff --git a/ArduCopter/GCS_Mavlink.h b/ArduCopter/GCS_Mavlink.h
index bee241f320..9d9400441c 100644
--- a/ArduCopter/GCS_Mavlink.h
+++ b/ArduCopter/GCS_Mavlink.h
@@ -20,4 +20,6 @@ private:
     void handle_change_alt_request(AP_Mission::Mission_Command &cmd) override;
     bool try_send_message(enum ap_message id) override;
 
+    void packetReceived(const mavlink_status_t &status,
+                        mavlink_message_t &msg) override;
 };