diff --git a/ArduSub/GCS_Mavlink.cpp b/ArduSub/GCS_Mavlink.cpp
index fc2b5c0227..66411bb577 100644
--- a/ArduSub/GCS_Mavlink.cpp
+++ b/ArduSub/GCS_Mavlink.cpp
@@ -248,12 +248,16 @@ bool GCS_MAVLINK_Sub::try_send_message(enum ap_message id)
         send_info();
         break;
 
-    case MSG_TERRAIN:
 #if AP_TERRAIN_AVAILABLE
+    case MSG_TERRAIN_REQUEST:
         CHECK_PAYLOAD_SIZE(TERRAIN_REQUEST);
         sub.terrain.send_request(chan);
-#endif
         break;
+    case MSG_TERRAIN_REPORT:
+        CHECK_PAYLOAD_SIZE(TERRAIN_REPORT);
+        sub.terrain.send_report(chan);
+        break;
+#endif
 
     default:
         return GCS_MAVLINK::try_send_message(id);
@@ -407,7 +411,8 @@ static const ap_message STREAM_EXTRA3_msgs[] = {
 #endif
     MSG_DISTANCE_SENSOR,
 #if AP_TERRAIN_AVAILABLE
-    MSG_TERRAIN,
+    MSG_TERRAIN_REQUEST,
+    MSG_TERRAIN_REPORT,
 #endif
 #if AP_BATTERY_ENABLED
     MSG_BATTERY_STATUS,