diff --git a/src/modules/mavlink/mavlink_receiver.cpp b/src/modules/mavlink/mavlink_receiver.cpp
index 3bd03170de..760d9bf596 100644
--- a/src/modules/mavlink/mavlink_receiver.cpp
+++ b/src/modules/mavlink/mavlink_receiver.cpp
@@ -1821,51 +1821,43 @@ MavlinkReceiver::handle_message_rc_channels_override(mavlink_message_t *msg)
 		return;
 	}
 
+	// fill uORB message
 	struct input_rc_s rc = {};
-
+	// metadata
 	rc.timestamp = hrt_absolute_time();
-
 	rc.timestamp_last_signal = rc.timestamp;
-
-	rc.channel_count = 8;
-
-	rc.rc_failsafe = false;
-
-	rc.rc_lost = false;
-
-	rc.rc_lost_frame_count = 0;
-
-	rc.rc_total_frame_count = 1;
-
-	rc.rc_ppm_frame_length = 0;
-
-	rc.input_source = input_rc_s::RC_INPUT_SOURCE_MAVLINK;
-
+	rc.channel_count = 18;
 	rc.rssi = RC_INPUT_RSSI_MAX;
-
-	/* channels */
+	rc.rc_failsafe = false;
+	rc.rc_lost = false;
+	rc.rc_lost_frame_count = 0;
+	rc.rc_total_frame_count = 1;
+	rc.rc_ppm_frame_length = 0;
+	rc.input_source = input_rc_s::RC_INPUT_SOURCE_MAVLINK;
+	// channels
 	rc.values[0] = man.chan1_raw;
-
 	rc.values[1] = man.chan2_raw;
-
 	rc.values[2] = man.chan3_raw;
-
 	rc.values[3] = man.chan4_raw;
-
 	rc.values[4] = man.chan5_raw;
-
 	rc.values[5] = man.chan6_raw;
-
 	rc.values[6] = man.chan7_raw;
-
 	rc.values[7] = man.chan8_raw;
+	rc.values[8] = man.chan9_raw;
+	rc.values[9] = man.chan10_raw;
+	rc.values[10] = man.chan11_raw;
+	rc.values[11] = man.chan12_raw;
+	rc.values[12] = man.chan13_raw;
+	rc.values[13] = man.chan14_raw;
+	rc.values[14] = man.chan15_raw;
+	rc.values[15] = man.chan16_raw;
+	rc.values[16] = man.chan17_raw;
+	rc.values[17] = man.chan18_raw;
 
-	if (_rc_pub == nullptr) {
-		_rc_pub = orb_advertise(ORB_ID(input_rc), &rc);
-
-	} else {
-		orb_publish(ORB_ID(input_rc), _rc_pub, &rc);
-	}
+	// publish uORB message
+	int instance; // provides the instance ID or the publication
+	ORB_PRIO priority = ORB_PRIO_HIGH; // since it is an override, set priority high
+	orb_publish_auto(ORB_ID(input_rc), &_rc_pub, &rc, &instance, priority);
 }
 
 void