diff --git a/libraries/GCS_MAVLink/GCS.h b/libraries/GCS_MAVLink/GCS.h
index 92c863a286..26fc6ed74c 100644
--- a/libraries/GCS_MAVLink/GCS.h
+++ b/libraries/GCS_MAVLink/GCS.h
@@ -308,6 +308,7 @@ public:
     void send_gimbal_report() const;
     void send_home_position() const;
     void send_gps_global_origin() const;
+    virtual void send_attitude_target() {};
     virtual void send_position_target_global_int() { };
     virtual void send_position_target_local_ned() { };
     void send_servo_output_raw();
diff --git a/libraries/GCS_MAVLink/GCS_Common.cpp b/libraries/GCS_MAVLink/GCS_Common.cpp
index fd691cc071..7a4bd62a3e 100644
--- a/libraries/GCS_MAVLink/GCS_Common.cpp
+++ b/libraries/GCS_MAVLink/GCS_Common.cpp
@@ -886,6 +886,7 @@ ap_message GCS_MAVLINK::mavlink_id_to_ap_message_id(const uint32_t mavlink_id) c
         { MAVLINK_MSG_ID_VIBRATION,             MSG_VIBRATION},
         { MAVLINK_MSG_ID_RPM,                   MSG_RPM},
         { MAVLINK_MSG_ID_MISSION_ITEM_REACHED,  MSG_MISSION_ITEM_REACHED},
+        { MAVLINK_MSG_ID_ATTITUDE_TARGET,       MSG_ATTITUDE_TARGET},
         { MAVLINK_MSG_ID_POSITION_TARGET_GLOBAL_INT,  MSG_POSITION_TARGET_GLOBAL_INT},
         { MAVLINK_MSG_ID_POSITION_TARGET_LOCAL_NED,  MSG_POSITION_TARGET_LOCAL_NED},
         { MAVLINK_MSG_ID_ADSB_VEHICLE,          MSG_ADSB_VEHICLE},
@@ -5200,6 +5201,11 @@ bool GCS_MAVLINK::try_send_message(const enum ap_message id)
 #endif
         break;
 
+    case MSG_ATTITUDE_TARGET:
+        CHECK_PAYLOAD_SIZE(ATTITUDE_TARGET);
+        send_attitude_target();
+        break;
+
     case MSG_POSITION_TARGET_GLOBAL_INT:
         CHECK_PAYLOAD_SIZE(POSITION_TARGET_GLOBAL_INT);
         send_position_target_global_int();
diff --git a/libraries/GCS_MAVLink/ap_message.h b/libraries/GCS_MAVLink/ap_message.h
index a38c24b1ff..7e314fe69e 100644
--- a/libraries/GCS_MAVLink/ap_message.h
+++ b/libraries/GCS_MAVLink/ap_message.h
@@ -81,5 +81,6 @@ enum ap_message : uint8_t {
     MSG_AIS_VESSEL,
     MSG_MCU_STATUS,
     MSG_UAVIONIX_ADSB_OUT_STATUS,
+    MSG_ATTITUDE_TARGET,
     MSG_LAST // MSG_LAST must be the last entry in this enum
 };