From 6f4bbd3f579de448febda084bd9d50c1f8fd3df6 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Sun, 16 Aug 2020 14:09:13 +1000
Subject: [PATCH] GCS_MAVLink: for high RC_CHANNELS_OVERRIDE channels zero
 means ignore the field

---
 libraries/GCS_MAVLink/GCS_Common.cpp | 9 ++++++++-
 1 file changed, 8 insertions(+), 1 deletion(-)

diff --git a/libraries/GCS_MAVLink/GCS_Common.cpp b/libraries/GCS_MAVLink/GCS_Common.cpp
index a6445544bf..7957c84bd2 100644
--- a/libraries/GCS_MAVLink/GCS_Common.cpp
+++ b/libraries/GCS_MAVLink/GCS_Common.cpp
@@ -3126,12 +3126,19 @@ void GCS_MAVLINK::handle_rc_channels_override(const mavlink_message_t &msg)
         packet.chan16_raw
     };
 
-    for (uint8_t i=0; i<ARRAY_SIZE(override_data); i++) {
+    for (uint8_t i=0; i<8; i++) {
         // Per MAVLink spec a value of UINT16_MAX means to ignore this field.
         if (override_data[i] != UINT16_MAX) {
             RC_Channels::set_override(i, override_data[i], tnow);
         }
     }
+    for (uint8_t i=8; i<ARRAY_SIZE(override_data); i++) {
+        // Per MAVLink spec a value of zero or UINT16_MAX means to
+        // ignore this field.
+        if (override_data[i] != 0 && override_data[i] != UINT16_MAX) {
+            RC_Channels::set_override(i, override_data[i], tnow);
+        }
+    }
 }
 
 // allow override of RC channel values for HIL or for complete GCS