code: def allow_unsigned(self, mav, msgId):
          '''see if an unsigned packet should be allowed'''
          if self.allow is None:
              self.allow = {
                  mavutil.mavlink.MAVLINK_MSG_ID_RADIO : True,
                  mavutil.mavlink.MAVLINK_MSG_ID_RADIO_STATUS : True
                  }
          if msgId in self.allow:
              return True
          if self.settings.allow_unsigned:
              return True
          return Falsf allow_unsigned(self, mav, msgId):
          '''see if an unsigned packet should be allowed'''
          if self.allow is None:
              self.allow = {
                  mavutil.mavlink.MAVLINK_MSG_ID_RADIO : True,
                  mavutil.mavlink.MAVLINK_MSG_ID_RADIO_STATUS : True
                  }
          if msgId in self.allow:
              return True
          if self.settings.allow_unsigned:
              return True
          return False
docs: see if an unsigned packet should be allowed