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;
 };