diff --git a/ArduCopter/GCS_Mavlink.pde b/ArduCopter/GCS_Mavlink.pde
index cfcc815fd9..fd0477726d 100644
--- a/ArduCopter/GCS_Mavlink.pde
+++ b/ArduCopter/GCS_Mavlink.pde
@@ -1851,6 +1851,28 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
 #if MAVLINK10 != ENABLED
         // This is used both as a sensor and to pass the location
         // in HIL_ATTITUDE mode.
+#if MAVLINK10 == ENABLED
+	case MAVLINK_MSG_ID_GPS_RAW_INT:
+        {
+            // decode
+            mavlink_gps_raw_int_t packet;
+            mavlink_msg_gps_raw_int_decode(msg, &packet);
+
+            // set gps hil sensor
+            g_gps->setHIL(packet.time_usec/1000.0,packet.lat/1.0e7,packet.lon/1.0e7,packet.alt/1000,
+                          packet.vel/100,packet.cog/100,0,0);
+            if (gps_base_alt == 0) {
+                gps_base_alt = packet.alt/10;
+            }
+            current_loc.lng = packet.lon;
+            current_loc.lat = packet.lat;
+            current_loc.alt = g_gps->altitude - gps_base_alt;
+            if (!home_is_set) {
+                init_home();
+            }
+            break;
+        }
+#else
 	case MAVLINK_MSG_ID_GPS_RAW: //32
         {
             // decode
@@ -1859,7 +1881,7 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
 
             // set gps hil sensor
             g_gps->setHIL(packet.usec/1000.0,packet.lat,packet.lon,packet.alt,
-            packet.v,packet.hdg,0,0);
+                          packet.v,packet.hdg,0,0);
             if (gps_base_alt == 0) {
                 gps_base_alt = packet.alt*100;
             }