diff --git a/src/Vehicle/Vehicle.cc b/src/Vehicle/Vehicle.cc
index 078be78e99da0bf63c6652a1ac9be8317bf1cfd7..a441da788a00ef0a2e4644b9ecfc4ffc8bbf33f5 100644
--- a/src/Vehicle/Vehicle.cc
+++ b/src/Vehicle/Vehicle.cc
@@ -464,9 +464,11 @@ void Vehicle::resetCounters()
 
 void Vehicle::_mavlinkMessageReceived(LinkInterface* link, mavlink_message_t message)
 {
-
     if (message.sysid != _id && message.sysid != 0) {
-        return;
+        // We allow RADIO_STATUS messages which come from a link the vehicle is using to pass through and be handled
+        if (!(message.msgid == MAVLINK_MSG_ID_RADIO_STATUS && _containsLink(link))) {
+            return;
+        }
     }
 
     if (!_containsLink(link)) {