diff --git a/libraries/GCS_MAVLink/GCS.h b/libraries/GCS_MAVLink/GCS.h
index 7c945a446f..75bc7fa376 100644
--- a/libraries/GCS_MAVLink/GCS.h
+++ b/libraries/GCS_MAVLink/GCS.h
@@ -193,6 +193,7 @@ public:
     // found.  Rover overrides this!
     virtual void send_rangefinder() const;
     void send_proximity() const;
+    virtual void send_nav_controller_output() const = 0;
     void send_ahrs2();
     void send_ahrs3();
     void send_system_time();
diff --git a/libraries/GCS_MAVLink/GCS_Common.cpp b/libraries/GCS_MAVLink/GCS_Common.cpp
index f719402453..40cf3e493e 100644
--- a/libraries/GCS_MAVLink/GCS_Common.cpp
+++ b/libraries/GCS_MAVLink/GCS_Common.cpp
@@ -4091,6 +4091,11 @@ bool GCS_MAVLINK::try_send_message(const enum ap_message id)
         send_ahrs3();
         break;
 
+    case MSG_NAV_CONTROLLER_OUTPUT:
+        CHECK_PAYLOAD_SIZE(NAV_CONTROLLER_OUTPUT);
+        send_nav_controller_output();
+        break;
+
     case MSG_AHRS:
         CHECK_PAYLOAD_SIZE(AHRS);
         send_ahrs();
diff --git a/libraries/GCS_MAVLink/GCS_Dummy.h b/libraries/GCS_MAVLink/GCS_Dummy.h
index 400eaa6537..2ee10934cd 100644
--- a/libraries/GCS_MAVLink/GCS_Dummy.h
+++ b/libraries/GCS_MAVLink/GCS_Dummy.h
@@ -36,6 +36,8 @@ protected:
 
     bool set_home_to_current_location(bool lock) override { return false; }
     bool set_home(const Location& loc, bool lock) override { return false; }
+
+    void send_nav_controller_output() const override {};
 };
 
 /*
diff --git a/libraries/GCS_MAVLink/examples/routing/routing.cpp b/libraries/GCS_MAVLink/examples/routing/routing.cpp
index fc93c1890d..8a4f7b9f89 100644
--- a/libraries/GCS_MAVLink/examples/routing/routing.cpp
+++ b/libraries/GCS_MAVLink/examples/routing/routing.cpp
@@ -39,6 +39,7 @@ protected:
     uint32_t custom_mode() const override { return 3; } // magic number
     MAV_STATE system_status() const override { return MAV_STATE_CALIBRATING; }
     void get_sensor_status_flags(uint32_t &present, uint32_t &enabled, uint32_t &health) override { present = 0; enabled = 0; health = 0; }
+    void send_nav_controller_output() const override {};
 
     bool set_home_to_current_location(bool lock) override { return false; }
     bool set_home(const Location& loc, bool lock) override { return false; }