diff --git a/libraries/GCS_MAVLink/GCS_Common.cpp b/libraries/GCS_MAVLink/GCS_Common.cpp
index bd3027072d..75ae487b11 100644
--- a/libraries/GCS_MAVLink/GCS_Common.cpp
+++ b/libraries/GCS_MAVLink/GCS_Common.cpp
@@ -1060,7 +1060,10 @@ ap_message GCS_MAVLINK::mavlink_id_to_ap_message_id(const uint32_t mavlink_id) c
         { MAVLINK_MSG_ID_CAMERA_SETTINGS,       MSG_CAMERA_SETTINGS},
         { MAVLINK_MSG_ID_CAMERA_FOV_STATUS,     MSG_CAMERA_FOV_STATUS},
         { MAVLINK_MSG_ID_CAMERA_CAPTURE_STATUS, MSG_CAMERA_CAPTURE_STATUS},
-#endif
+#if AP_CAMERA_SEND_THERMAL_RANGE_ENABLED
+        { MAVLINK_MSG_ID_CAMERA_THERMAL_RANGE,  MSG_CAMERA_THERMAL_RANGE},
+#endif // AP_CAMERA_SEND_THERMAL_RANGE_ENABLED
+#endif // AP_CAMERA_ENABLED
 #if HAL_MOUNT_ENABLED
         { MAVLINK_MSG_ID_GIMBAL_DEVICE_ATTITUDE_STATUS, MSG_GIMBAL_DEVICE_ATTITUDE_STATUS},
         { MAVLINK_MSG_ID_AUTOPILOT_STATE_FOR_GIMBAL_DEVICE, MSG_AUTOPILOT_STATE_FOR_GIMBAL_DEVICE},
@@ -6131,6 +6134,9 @@ bool GCS_MAVLINK::try_send_message(const enum ap_message id)
     case MSG_CAMERA_FOV_STATUS:
 #endif
     case MSG_CAMERA_CAPTURE_STATUS:
+#if AP_CAMERA_SEND_THERMAL_RANGE_ENABLED
+    case MSG_CAMERA_THERMAL_RANGE:
+#endif
         {
             AP_Camera *camera = AP::camera();
             if (camera == nullptr) {
diff --git a/libraries/GCS_MAVLink/ap_message.h b/libraries/GCS_MAVLink/ap_message.h
index 4923317266..d041127dfa 100644
--- a/libraries/GCS_MAVLink/ap_message.h
+++ b/libraries/GCS_MAVLink/ap_message.h
@@ -57,6 +57,7 @@ enum ap_message : uint8_t {
     MSG_CAMERA_SETTINGS,
     MSG_CAMERA_FOV_STATUS,
     MSG_CAMERA_CAPTURE_STATUS,
+    MSG_CAMERA_THERMAL_RANGE,
     MSG_GIMBAL_DEVICE_ATTITUDE_STATUS,
     MSG_GIMBAL_MANAGER_INFORMATION,
     MSG_GIMBAL_MANAGER_STATUS,