diff --git a/libraries/GCS_MAVLink/GCS.h b/libraries/GCS_MAVLink/GCS.h
index 215658a0da..479a04a8ea 100644
--- a/libraries/GCS_MAVLink/GCS.h
+++ b/libraries/GCS_MAVLink/GCS.h
@@ -162,7 +162,7 @@ public:
     bool send_proximity(const AP_Proximity &proximity) const;
     void send_ahrs2();
     void send_system_time();
-    void send_radio_in(uint8_t receiver_rssi);
+    void send_radio_in();
     void send_raw_imu(const AP_InertialSensor &ins, const Compass &compass);
     void send_scaled_pressure();
     void send_sensor_offsets(const AP_InertialSensor &ins, const Compass &compass);
diff --git a/libraries/GCS_MAVLink/GCS_Common.cpp b/libraries/GCS_MAVLink/GCS_Common.cpp
index df922a3e3e..8ada9f3877 100644
--- a/libraries/GCS_MAVLink/GCS_Common.cpp
+++ b/libraries/GCS_MAVLink/GCS_Common.cpp
@@ -951,8 +951,14 @@ void GCS_MAVLINK::send_system_time()
 /*
   send RC_CHANNELS messages
  */
-void GCS_MAVLINK::send_radio_in(uint8_t receiver_rssi)
+void GCS_MAVLINK::send_radio_in()
 {
+    AP_RSSI *rssi = AP::rssi();
+    uint8_t receiver_rssi = 0;
+    if (rssi != nullptr) {
+        receiver_rssi = rssi->read_receiver_rssi_uint8();
+    }
+
     uint32_t now = AP_HAL::millis();
     mavlink_status_t *status = mavlink_get_channel_status(chan);
 
@@ -2674,6 +2680,11 @@ bool GCS_MAVLINK::try_send_message(const enum ap_message id)
         send_local_position();
         break;
 
+    case MSG_RADIO_IN:
+        CHECK_PAYLOAD_SIZE(RC_CHANNELS_RAW);
+        send_radio_in();
+        break;
+
     case MSG_AHRS:
         CHECK_PAYLOAD_SIZE(AHRS);
         send_ahrs();