From 9b2ad5577335ae3ae896e77cc9b123701cc1434b Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <tridge@samba.org>
Date: Fri, 31 Aug 2012 12:09:24 +1000
Subject: [PATCH] APM: added forwarding of unknown MAVLink types

---
 ArduPlane/GCS_Mavlink.pde | 12 ++++++++++++
 1 file changed, 12 insertions(+)

diff --git a/ArduPlane/GCS_Mavlink.pde b/ArduPlane/GCS_Mavlink.pde
index d5169eef52..a21687bca7 100644
--- a/ArduPlane/GCS_Mavlink.pde
+++ b/ArduPlane/GCS_Mavlink.pde
@@ -1937,6 +1937,18 @@ mission_failed:
         break;
     }
 
+    default:
+        // forward unknown messages to the other link if there is one
+        if ((chan == MAVLINK_COMM_1 && gcs0.initialised) ||
+            (chan == MAVLINK_COMM_0 && gcs3.initialised)) {
+            mavlink_channel_t out_chan = (mavlink_channel_t)(((uint8_t)chan)^1);
+            // only forward if it would fit in our transmit buffer
+            if (comm_get_txspace(out_chan) > msg->len + MAVLINK_NUM_NON_PAYLOAD_BYTES) {
+                _mavlink_resend_uart(out_chan, msg);
+            }
+        }
+        break;
+
     } // end switch
 } // end handle mavlink