diff --git a/libraries/GCS_MAVLink/GCS.h b/libraries/GCS_MAVLink/GCS.h
index e2ce3fef1a..05462829df 100644
--- a/libraries/GCS_MAVLink/GCS.h
+++ b/libraries/GCS_MAVLink/GCS.h
@@ -81,6 +81,7 @@ enum ap_message : uint8_t {
     MSG_BATTERY_STATUS,
     MSG_AOA_SSA,
     MSG_LANDING,
+    MSG_ESC_TELEMETRY,
     MSG_NAMED_FLOAT,
     MSG_LAST // MSG_LAST must be the last entry in this enum
 };
diff --git a/libraries/GCS_MAVLink/GCS_Common.cpp b/libraries/GCS_MAVLink/GCS_Common.cpp
index d9fbdce7b4..2fc2d9625d 100644
--- a/libraries/GCS_MAVLink/GCS_Common.cpp
+++ b/libraries/GCS_MAVLink/GCS_Common.cpp
@@ -21,6 +21,7 @@
 #include <AP_RangeFinder/RangeFinder_Backend.h>
 #include <AP_Airspeed/AP_Airspeed.h>
 #include <AP_Gripper/AP_Gripper.h>
+#include <AP_BLHeli/AP_BLHeli.h>
 
 #include "GCS.h"
 
@@ -2985,6 +2986,17 @@ bool GCS_MAVLINK::try_send_message(const enum ap_message id)
         send_vibration();
         break;
 
+#ifdef HAVE_AP_BLHELI_SUPPORT
+    case MSG_ESC_TELEMETRY: {
+        CHECK_PAYLOAD_SIZE(ESC_TELEMETRY_1_TO_4);
+        AP_BLHeli *blheli = AP_BLHeli::get_instance();
+        if (blheli) {
+            blheli->send_esc_telemetry_mavlink(uint8_t(chan));
+        }
+        break;
+    }
+#endif
+
     default:
         // try_send_message must always at some stage return true for
         // a message, or we will attempt to infinitely retry the