diff --git a/ArduCopter/GCS_Mavlink.cpp b/ArduCopter/GCS_Mavlink.cpp
index f814f981f4..de5bf0bc32 100644
--- a/ArduCopter/GCS_Mavlink.cpp
+++ b/ArduCopter/GCS_Mavlink.cpp
@@ -1791,6 +1791,13 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
         break;
     }
 
+    case MAVLINK_MSG_ID_DISTANCE_SENSOR:
+    {
+        result = MAV_RESULT_ACCEPTED;
+        copter.sonar.handle_msg(msg);
+        break;
+    }
+
 #if HIL_MODE != HIL_MODE_DISABLED
     case MAVLINK_MSG_ID_HIL_STATE:          // MAV ID: 90
     {