diff --git a/libraries/GCS_MAVLink/message_definitions/ardupilotmega.xml b/libraries/GCS_MAVLink/message_definitions/ardupilotmega.xml
index d6789700f0..4ab14b4312 100644
--- a/libraries/GCS_MAVLink/message_definitions/ardupilotmega.xml
+++ b/libraries/GCS_MAVLink/message_definitions/ardupilotmega.xml
@@ -479,5 +479,31 @@
       <field type="float" name="v4">test variable4</field>
     </message>
 
+    <message name="GIMBAL_REPORT" id="184">
+      <description>Report from MAVLink enabled gimbal to vehicle</description>
+      <field type="uint32_t" name="counter">Report counter</field>
+      <field type="float" name="delta_angle_x">Delta angle X, radians</field>
+      <field type="float" name="delta_angle_y">Delta angle Y, radians</field>
+      <field type="float" name="delta_angle_z">Delta angle Z, radians</field>
+      <field type="float" name="delta_velocity_x">Delta velocity X, m/s</field>
+      <field type="float" name="delta_velocity_y">Delta velocity Y, m/s</field>
+      <field type="float" name="delta_velocity_z">Delta velocity Z, m/s</field>
+      <field type="float" name="joint_yaw">Joint yaw, radians</field>
+      <field type="float" name="joint_roll">Joint roll, radians</field>
+      <field type="float" name="joint_pitch">Joint pitch, radians</field>
+    </message>
+
+    <message name="GIMBAL_CONTROL" id="185">
+      <description>Control packet from vehicle to MAVLink enabled gimbal</description>
+      <field type="uint8_t" name="target_system">System ID</field>
+      <field type="uint8_t" name="target_component">Component ID</field>
+      <field type="float" name="demanded_rate_x">Demanded angular rate X, radians/s</field>
+      <field type="float" name="demanded_rate_y">Demanded angular rate Y, radians/s</field>
+      <field type="float" name="demanded_rate_z">Demanded angular rate Z, radians/s</field>
+      <field type="float" name="gyro_bias_x">Gyro bias X, radians/s</field>
+      <field type="float" name="gyro_bias_y">Gyro bias Y, radians/s</field>
+      <field type="float" name="gyro_bias_z">Gyro bias Z, radians/s</field>
+    </message>
+
      </messages>
 </mavlink>
diff --git a/libraries/GCS_MAVLink/message_definitions/common.xml b/libraries/GCS_MAVLink/message_definitions/common.xml
index b83ace62ea..4647268906 100644
--- a/libraries/GCS_MAVLink/message_definitions/common.xml
+++ b/libraries/GCS_MAVLink/message_definitions/common.xml
@@ -124,6 +124,9 @@
                     <description>Quad-rotor VTOL using a V-shaped quad config in vertical operation. Tailsitter.</description>
                </entry>
                <!-- Entries up to 25 reserved for other VTOL airframes -->
+               <entry value="26" name="MAV_TYPE_GIMBAL">
+                    <description>Onboard gimbal</description>
+               </entry>
           </enum>
           <!-- WARNING: MAV_ACTION Enum is no longer supported - has been removed. Please use MAV_CMD -->
           <enum name="MAV_MODE_FLAG">
@@ -337,6 +340,9 @@
                <entry value="153" name="MAV_COMP_ID_SERVO14">
                     <description/>
                </entry>
+               <entry value="154" name="MAV_COMP_ID_GIMBAL">
+                    <description/>
+               </entry>
           </enum>
           <enum name="MAV_SYS_STATUS_SENSOR">
                <description>These encode the sensors whose status is sent as part of the SYS_STATUS message.</description>