diff --git a/libraries/AP_GPS/AP_GPS.cpp b/libraries/AP_GPS/AP_GPS.cpp
index f23efc5bb7..5c779daf01 100644
--- a/libraries/AP_GPS/AP_GPS.cpp
+++ b/libraries/AP_GPS/AP_GPS.cpp
@@ -737,6 +737,15 @@ void AP_GPS::update(void)
 
 }
 
+void AP_GPS::handle_gps_inject(const mavlink_message_t *msg)
+{
+    mavlink_gps_inject_data_t packet;
+    mavlink_msg_gps_inject_data_decode(msg, &packet);
+    //TODO: check target
+
+    inject_data(packet.data, packet.len);
+}
+
 /*
   pass along a mavlink message (for MAV type)
  */
@@ -747,6 +756,10 @@ void AP_GPS::handle_msg(const mavlink_message_t *msg)
         handle_gps_rtcm_data(msg);
         return;
     }
+    if (msg->msgid == MAVLINK_MSG_ID_GPS_INJECT_DATA) {
+        handle_gps_inject(msg);
+        return;
+    }
     uint8_t i;
     for (i=0; i<num_instances; i++) {
         if ((drivers[i] != nullptr) && (_type[i] != GPS_TYPE_NONE)) {
diff --git a/libraries/AP_GPS/AP_GPS.h b/libraries/AP_GPS/AP_GPS.h
index a58a64b290..c82f801865 100644
--- a/libraries/AP_GPS/AP_GPS.h
+++ b/libraries/AP_GPS/AP_GPS.h
@@ -346,10 +346,6 @@ public:
     // lock out a GPS port, allowing another application to use the port
     void lock_port(uint8_t instance, bool locked);
 
-    //Inject a packet of raw binary to a GPS
-    void inject_data(uint8_t *data, uint16_t len);
-    void inject_data(uint8_t instance, uint8_t *data, uint16_t len);
-
     //MAVLink Status Sending
     void send_mavlink_gps_raw(mavlink_channel_t chan);
     void send_mavlink_gps2_raw(mavlink_channel_t chan);
@@ -494,6 +490,12 @@ private:
 
     // re-assemble GPS_RTCM_DATA message
     void handle_gps_rtcm_data(const mavlink_message_t *msg);
+    void handle_gps_inject(const mavlink_message_t *msg);
+
+    //Inject a packet of raw binary to a GPS
+    void inject_data(uint8_t *data, uint16_t len);
+    void inject_data(uint8_t instance, uint8_t *data, uint16_t len);
+
 
     // GPS blending and switching
     Vector2f _NE_pos_offset_m[GPS_MAX_RECEIVERS]; // Filtered North,East position offset from GPS instance to blended solution in _output_state.location (m)