diff --git a/libraries/GCS_MAVLink/GCS.h b/libraries/GCS_MAVLink/GCS.h
index 964fc4584c..b36c305442 100644
--- a/libraries/GCS_MAVLink/GCS.h
+++ b/libraries/GCS_MAVLink/GCS.h
@@ -233,6 +233,7 @@ public:
     void send_scaled_imu(uint8_t instance, void (*send_fn)(mavlink_channel_t chan, uint32_t time_ms, int16_t xacc, int16_t yacc, int16_t zacc, int16_t xgyro, int16_t ygyro, int16_t zgyro, int16_t xmag, int16_t ymag, int16_t zmag));
     void send_sys_status();
     void send_set_position_target_global_int(uint8_t target_system, uint8_t target_component, const Location& loc);
+    void send_rpm() const;
 
     // return a bitmap of active channels. Used by libraries to loop
     // over active channels to send to all active channels    
diff --git a/libraries/GCS_MAVLink/GCS_Common.cpp b/libraries/GCS_MAVLink/GCS_Common.cpp
index ec13f59e9c..cf6839b73b 100644
--- a/libraries/GCS_MAVLink/GCS_Common.cpp
+++ b/libraries/GCS_MAVLink/GCS_Common.cpp
@@ -3817,6 +3817,22 @@ void GCS_MAVLINK::send_hwstatus()
         0);
 }
 
+void GCS_MAVLINK::send_rpm() const
+{
+    AP_RPM *rpm = AP::rpm();
+    if (rpm == nullptr) {
+        return;
+    }
+
+    if (!rpm->enabled(0) && !rpm->enabled(1)) {
+        return;
+    }
+
+    mavlink_msg_rpm_send(
+        chan,
+        rpm->get_rpm(0),
+        rpm->get_rpm(1));
+}
 
 void GCS_MAVLINK::send_sys_status()
 {
@@ -4000,6 +4016,11 @@ bool GCS_MAVLINK::try_send_message(const enum ap_message id)
         send_gps_global_origin();
         break;
 
+    case MSG_RPM:
+        CHECK_PAYLOAD_SIZE(RPM);
+        send_rpm();
+        break;
+
     case MSG_CURRENT_WAYPOINT:
     case MSG_MISSION_ITEM_REACHED:
     case MSG_NEXT_MISSION_REQUEST: