diff --git a/APMrover2/GCS_Mavlink.cpp b/APMrover2/GCS_Mavlink.cpp
index d8966b30ee..7e33acb66d 100644
--- a/APMrover2/GCS_Mavlink.cpp
+++ b/APMrover2/GCS_Mavlink.cpp
@@ -54,7 +54,8 @@ void Rover::send_heartbeat(mavlink_channel_t chan)
     // indicate we have set a custom mode
     base_mode |= MAV_MODE_FLAG_CUSTOM_MODE_ENABLED;
 
-    gcs().chan(chan-MAVLINK_COMM_0).send_heartbeat(MAV_TYPE_GROUND_ROVER,
+    gcs().chan(chan-MAVLINK_COMM_0).send_heartbeat(
+                                            is_boat() ? MAV_TYPE_SURFACE_BOAT : MAV_TYPE_GROUND_ROVER,
                                             base_mode,
                                             control_mode->mode_number(),
                                             system_status);
diff --git a/APMrover2/system.cpp b/APMrover2/system.cpp
index a22007c9e2..90b1b7179b 100644
--- a/APMrover2/system.cpp
+++ b/APMrover2/system.cpp
@@ -80,7 +80,7 @@ void Rover::init_ardupilot()
 
     // setup frsky telemetry
 #if FRSKY_TELEM_ENABLED == ENABLED
-    frsky_telemetry.init(serial_manager, fwver.fw_string, MAV_TYPE_GROUND_ROVER);
+    frsky_telemetry.init(serial_manager, fwver.fw_string, (is_boat() ? MAV_TYPE_SURFACE_BOAT : MAV_TYPE_GROUND_ROVER));
 #endif
 
 #if LOGGING_ENABLED == ENABLED