diff --git a/libraries/GCS_MAVLink/message_definitions/ardupilotmega.xml b/libraries/GCS_MAVLink/message_definitions/ardupilotmega.xml
index ab6f670fbe..31e5370bc3 100644
--- a/libraries/GCS_MAVLink/message_definitions/ardupilotmega.xml
+++ b/libraries/GCS_MAVLink/message_definitions/ardupilotmega.xml
@@ -264,6 +264,8 @@
             <field type="float" name="xgyro">Angular speed around X axis rad/s</field>
             <field type="float" name="ygyro">Angular speed around Y axis rad/s</field>
             <field type="float" name="zgyro">Angular speed around Z axis rad/s</field>
+            <field type="float" name="lat">Latitude in degrees</field>
+            <field type="float" name="lng">Longitude in degrees</field>
 	  </message>
 
 	  <message name="HWSTATUS" id="165">