diff --git a/libraries/GCS_MAVLink/GCS.h b/libraries/GCS_MAVLink/GCS.h
index 43680f9372..d1a01b0b58 100644
--- a/libraries/GCS_MAVLink/GCS.h
+++ b/libraries/GCS_MAVLink/GCS.h
@@ -773,6 +773,7 @@ private:
                                                      const float yaw,
                                                      const uint8_t reset_counter,
                                                      const uint16_t payload_size);
+    void handle_vision_speed_estimate(const mavlink_message_t &msg);
 
     void lock_channel(const mavlink_channel_t chan, bool lock);
 
diff --git a/libraries/GCS_MAVLink/GCS_Common.cpp b/libraries/GCS_MAVLink/GCS_Common.cpp
index 8a0c2f7b07..56c14ffa40 100644
--- a/libraries/GCS_MAVLink/GCS_Common.cpp
+++ b/libraries/GCS_MAVLink/GCS_Common.cpp
@@ -2992,6 +2992,21 @@ void GCS_MAVLINK::handle_att_pos_mocap(const mavlink_message_t &msg)
 #endif
 }
 
+void GCS_MAVLINK::handle_vision_speed_estimate(const mavlink_message_t &msg)
+{
+#if HAL_VISUALODOM_ENABLED
+    AP_VisualOdom *visual_odom = AP::visualodom();
+    if (visual_odom == nullptr) {
+        return;
+    }
+    mavlink_vision_speed_estimate_t m;
+    mavlink_msg_vision_speed_estimate_decode(&msg, &m);
+    const Vector3f vel = {m.x, m.y, m.z};
+    uint32_t timestamp_ms = correct_offboard_timestamp_usec_to_ms(m.usec, PAYLOAD_SIZE(chan, VISION_SPEED_ESTIMATE));
+    visual_odom->handle_vision_speed_estimate(m.usec, timestamp_ms, vel, m.reset_counter);
+#endif
+}
+
 void GCS_MAVLINK::handle_command_ack(const mavlink_message_t &msg)
 {
     AP_AccelCal *accelcal = AP::ins().get_acal();
@@ -3247,6 +3262,10 @@ void GCS_MAVLINK::handle_common_message(const mavlink_message_t &msg)
         handle_att_pos_mocap(msg);
         break;
 
+    case MAVLINK_MSG_ID_VISION_SPEED_ESTIMATE:
+        handle_vision_speed_estimate(msg);
+        break;
+
     case MAVLINK_MSG_ID_SYSTEM_TIME:
         handle_system_time_message(msg);
         break;