diff --git a/ArduSub/GCS_Mavlink.cpp b/ArduSub/GCS_Mavlink.cpp
index 4f1d8bae86..8b7b5265c9 100644
--- a/ArduSub/GCS_Mavlink.cpp
+++ b/ArduSub/GCS_Mavlink.cpp
@@ -659,8 +659,10 @@ void GCS_MAVLINK_Sub::handleMessage(const mavlink_message_t &msg)
         mavlink_set_position_target_global_int_t packet;
         mavlink_msg_set_position_target_global_int_decode(&msg, &packet);
 
-        // exit if vehicle is not in Guided mode or Auto-Guided mode
-        if ((sub.control_mode != GUIDED) && !(sub.control_mode == AUTO && sub.auto_mode == Auto_NavGuided)) {
+        // exit if vehicle is not in Guided, Auto-Guided, or Depth Hold modes
+        if ((sub.control_mode != GUIDED)
+            && !(sub.control_mode == AUTO && sub.auto_mode == Auto_NavGuided)
+            && !(sub.control_mode == ALT_HOLD)) {
             break;
         }
 
@@ -675,6 +677,11 @@ void GCS_MAVLINK_Sub::handleMessage(const mavlink_message_t &msg)
          * bool yaw_rate_ignore = packet.type_mask & MAVLINK_SET_POS_TYPE_MASK_YAW_RATE_IGNORE;
          */
 
+        if (!pos_ignore && sub.control_mode == ALT_HOLD) { // Control only target depth when in ALT_HOLD
+            sub.pos_control.set_alt_target(packet.alt*100);
+            break;
+        }
+
         Vector3f pos_neu_cm;  // position (North, East, Up coordinates) in centimeters
 
         if (!pos_ignore) {