diff --git a/src/modules/mavlink/mavlink_receiver.cpp b/src/modules/mavlink/mavlink_receiver.cpp
index 1a6494ad93..8ebbe47052 100644
--- a/src/modules/mavlink/mavlink_receiver.cpp
+++ b/src/modules/mavlink/mavlink_receiver.cpp
@@ -194,6 +194,10 @@ MavlinkReceiver::handle_message(mavlink_message_t *msg)
 		handle_message_manual_control(msg);
 		break;
 
+	case MAVLINK_MSG_ID_RC_CHANNELS_OVERRIDE:
+		handle_message_rc_channels_override(msg);
+		break;
+
 	case MAVLINK_MSG_ID_HEARTBEAT:
 		handle_message_heartbeat(msg);
 		break;
@@ -912,6 +916,48 @@ static int decode_switch_pos_n(uint16_t buttons, int sw) {
 	}
 }
 
+void
+MavlinkReceiver::handle_message_rc_channels_override(mavlink_message_t *msg)
+{
+	mavlink_rc_channels_override_t man;
+	mavlink_msg_rc_channels_override_decode(msg, &man);
+
+	// Check target
+	if (man.target_system != 0 && man.target_system != _mavlink->get_system_id()) {
+		return;
+	}
+
+	struct rc_input_values rc = {};
+	rc.timestamp_publication = hrt_absolute_time();
+	rc.timestamp_last_signal = rc.timestamp_publication;
+
+	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 = RC_INPUT_SOURCE_MAVLINK;
+	rc.rssi = RC_INPUT_RSSI_MAX;
+
+	/* 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;
+
+	if (_rc_pub <= 0) {
+		_rc_pub = orb_advertise(ORB_ID(input_rc), &rc);
+
+	} else {
+		orb_publish(ORB_ID(input_rc), _rc_pub, &rc);
+	}
+}
+
 void
 MavlinkReceiver::handle_message_manual_control(mavlink_message_t *msg)
 {
diff --git a/src/modules/mavlink/mavlink_receiver.h b/src/modules/mavlink/mavlink_receiver.h
index fe217f3c3b..18a3dc208a 100644
--- a/src/modules/mavlink/mavlink_receiver.h
+++ b/src/modules/mavlink/mavlink_receiver.h
@@ -126,6 +126,7 @@ private:
 	void handle_message_set_attitude_target(mavlink_message_t *msg);
 	void handle_message_radio_status(mavlink_message_t *msg);
 	void handle_message_manual_control(mavlink_message_t *msg);
+	void handle_message_rc_channels_override(mavlink_message_t *msg);
 	void handle_message_heartbeat(mavlink_message_t *msg);
 	void handle_message_ping(mavlink_message_t *msg);
 	void handle_message_request_data_stream(mavlink_message_t *msg);