diff --git a/libraries/AP_Mission/AP_Mission.cpp b/libraries/AP_Mission/AP_Mission.cpp
index 60ea931218..c8d142bc62 100644
--- a/libraries/AP_Mission/AP_Mission.cpp
+++ b/libraries/AP_Mission/AP_Mission.cpp
@@ -726,6 +726,10 @@ MAV_MISSION_RESULT AP_Mission::mavlink_to_mission_cmd(const mavlink_mission_item
     case MAV_CMD_NAV_VTOL_LAND:
         copy_location = true;
         break;
+
+    case MAV_CMD_DO_VTOL_TRANSITION:
+        cmd.content.do_vtol_transition.target_state = packet.param1;
+        break;
         
     default:
         // unrecognised command
@@ -1067,6 +1071,10 @@ bool AP_Mission::mission_cmd_to_mavlink(const AP_Mission::Mission_Command& cmd,
     case MAV_CMD_NAV_VTOL_LAND:
         copy_location = true;
         break;
+
+    case MAV_CMD_DO_VTOL_TRANSITION:
+        packet.param1 = cmd.content.do_vtol_transition.target_state;
+        break;
         
     default:
         // unrecognised command
diff --git a/libraries/AP_Mission/AP_Mission.h b/libraries/AP_Mission/AP_Mission.h
index ad6c9faf1f..51a4f16956 100644
--- a/libraries/AP_Mission/AP_Mission.h
+++ b/libraries/AP_Mission/AP_Mission.h
@@ -156,6 +156,11 @@ public:
         float horiz_max;        // max horizontal distance the vehicle can move before the command will be aborted.  0 for no horizontal limit
     };
 
+    // do VTOL transition
+    struct PACKED Do_VTOL_Transition {
+        uint8_t target_state;
+    };
+
     union PACKED Content {
         // jump structure
         Jump_Command jump;
@@ -205,6 +210,9 @@ public:
         // cam trigg distance
         Altitude_Wait altitude_wait;
 
+        // do vtol transition
+        Do_VTOL_Transition do_vtol_transition;
+        
         // location
         Location location;      // Waypoint location