diff --git a/libraries/GCS_MAVLink/GCS_Common.cpp b/libraries/GCS_MAVLink/GCS_Common.cpp
index 05c2d8f85c..a564972a67 100644
--- a/libraries/GCS_MAVLink/GCS_Common.cpp
+++ b/libraries/GCS_MAVLink/GCS_Common.cpp
@@ -1063,6 +1063,9 @@ ap_message GCS_MAVLINK::mavlink_id_to_ap_message_id(const uint32_t mavlink_id) c
 #if AP_CAMERA_SEND_THERMAL_RANGE_ENABLED
         { MAVLINK_MSG_ID_CAMERA_THERMAL_RANGE,  MSG_CAMERA_THERMAL_RANGE},
 #endif // AP_CAMERA_SEND_THERMAL_RANGE_ENABLED
+#if AP_MAVLINK_MSG_VIDEO_STREAM_INFORMATION_ENABLED
+        { MAVLINK_MSG_ID_VIDEO_STREAM_INFORMATION, MSG_VIDEO_STREAM_INFORMATION},
+#endif // AP_MAVLINK_MSG_VIDEO_STREAM_INFORMATION_ENABLED
 #endif // AP_CAMERA_ENABLED
 #if HAL_MOUNT_ENABLED
         { MAVLINK_MSG_ID_GIMBAL_DEVICE_ATTITUDE_STATUS, MSG_GIMBAL_DEVICE_ATTITUDE_STATUS},
@@ -6189,6 +6192,9 @@ bool GCS_MAVLINK::try_send_message(const enum ap_message id)
 #if AP_CAMERA_SEND_THERMAL_RANGE_ENABLED
     case MSG_CAMERA_THERMAL_RANGE:
 #endif
+#if AP_MAVLINK_MSG_VIDEO_STREAM_INFORMATION_ENABLED
+    case MSG_VIDEO_STREAM_INFORMATION:
+#endif // AP_MAVLINK_MSG_VIDEO_STREAM_INFORMATION_ENABLED
         {
             AP_Camera *camera = AP::camera();
             if (camera == nullptr) {
diff --git a/libraries/GCS_MAVLink/GCS_config.h b/libraries/GCS_MAVLink/GCS_config.h
index 0bf028f64f..5f059cb9a1 100644
--- a/libraries/GCS_MAVLink/GCS_config.h
+++ b/libraries/GCS_MAVLink/GCS_config.h
@@ -135,3 +135,7 @@
 #ifndef AP_MAVLINK_MAV_CMD_SET_HAGL_ENABLED
 #define AP_MAVLINK_MAV_CMD_SET_HAGL_ENABLED (BOARD_FLASH_SIZE > 1024)
 #endif
+
+#ifndef AP_MAVLINK_MSG_VIDEO_STREAM_INFORMATION_ENABLED
+#define AP_MAVLINK_MSG_VIDEO_STREAM_INFORMATION_ENABLED HAL_GCS_ENABLED
+#endif
diff --git a/libraries/GCS_MAVLink/ap_message.h b/libraries/GCS_MAVLink/ap_message.h
index 347e85d797..570c708f68 100644
--- a/libraries/GCS_MAVLink/ap_message.h
+++ b/libraries/GCS_MAVLink/ap_message.h
@@ -63,6 +63,7 @@ enum ap_message : uint8_t {
     MSG_GIMBAL_DEVICE_ATTITUDE_STATUS,
     MSG_GIMBAL_MANAGER_INFORMATION,
     MSG_GIMBAL_MANAGER_STATUS,
+    MSG_VIDEO_STREAM_INFORMATION,
     MSG_OPTICAL_FLOW,
     MSG_MAG_CAL_PROGRESS,
     MSG_MAG_CAL_REPORT,