diff --git a/src/modules/mavlink/mavlink_receiver.cpp b/src/modules/mavlink/mavlink_receiver.cpp
index de603c6b17..2e08bd265d 100644
--- a/src/modules/mavlink/mavlink_receiver.cpp
+++ b/src/modules/mavlink/mavlink_receiver.cpp
@@ -2063,6 +2063,19 @@ MavlinkReceiver::handle_message_manual_control(mavlink_message_t *msg)
 	// For backwards compatibility at the moment interpret throttle in range [0,1000]
 	manual_control_setpoint.throttle = ((mavlink_manual_control.z / 1000.f) * 2.f) - 1.f;
 	manual_control_setpoint.yaw = mavlink_manual_control.r / 1000.f;
+
+	if (mavlink_manual_control.enabled_extensions & (1u << 2)) { manual_control_setpoint.aux1 = mavlink_manual_control.aux1; }
+
+	if (mavlink_manual_control.enabled_extensions & (1u << 3)) { manual_control_setpoint.aux2 = mavlink_manual_control.aux2; }
+
+	if (mavlink_manual_control.enabled_extensions & (1u << 4)) { manual_control_setpoint.aux3 = mavlink_manual_control.aux3; }
+
+	if (mavlink_manual_control.enabled_extensions & (1u << 5)) { manual_control_setpoint.aux4 = mavlink_manual_control.aux4; }
+
+	if (mavlink_manual_control.enabled_extensions & (1u << 6)) { manual_control_setpoint.aux5 = mavlink_manual_control.aux5; }
+
+	if (mavlink_manual_control.enabled_extensions & (1u << 7)) { manual_control_setpoint.aux6 = mavlink_manual_control.aux6; }
+
 	manual_control_setpoint.data_source = manual_control_setpoint_s::SOURCE_MAVLINK_0 + _mavlink->get_instance_id();
 	manual_control_setpoint.timestamp = manual_control_setpoint.timestamp_sample = hrt_absolute_time();
 	manual_control_setpoint.valid = true;
diff --git a/src/modules/mavlink/streams/MANUAL_CONTROL.hpp b/src/modules/mavlink/streams/MANUAL_CONTROL.hpp
index 8be68fdc3f..3feabf124d 100644
--- a/src/modules/mavlink/streams/MANUAL_CONTROL.hpp
+++ b/src/modules/mavlink/streams/MANUAL_CONTROL.hpp
@@ -68,10 +68,10 @@ private:
 			mavlink_manual_control_t msg{};
 
 			msg.target = mavlink_system.sysid;
-			msg.x = manual_control_setpoint.pitch * 1000;
-			msg.y = manual_control_setpoint.roll * 1000;
-			msg.z = manual_control_setpoint.throttle * 1000;
-			msg.r = manual_control_setpoint.yaw * 1000;
+			msg.x = manual_control_setpoint.pitch * 1000.f;
+			msg.y = manual_control_setpoint.roll * 1000.f;
+			msg.z = manual_control_setpoint.throttle * 1000.f;
+			msg.r = manual_control_setpoint.yaw * 1000.f;
 
 			manual_control_switches_s manual_control_switches{};
 
@@ -84,6 +84,36 @@ private:
 				msg.buttons |= (manual_control_switches.kill_switch << (shift * 6));
 			}
 
+			if (PX4_ISFINITE(manual_control_setpoint.aux1)) {
+				msg.enabled_extensions |= (1u << 2);
+				msg.aux1 = manual_control_setpoint.aux1 * 1000.f;
+			}
+
+			if (PX4_ISFINITE(manual_control_setpoint.aux2)) {
+				msg.enabled_extensions |= (1u << 3);
+				msg.aux2 = manual_control_setpoint.aux2 * 1000.f;
+			}
+
+			if (PX4_ISFINITE(manual_control_setpoint.aux3)) {
+				msg.enabled_extensions |= (1u << 4);
+				msg.aux3 = manual_control_setpoint.aux3 * 1000.f;
+			}
+
+			if (PX4_ISFINITE(manual_control_setpoint.aux4)) {
+				msg.enabled_extensions |= (1u << 5);
+				msg.aux4 = manual_control_setpoint.aux4 * 1000.f;
+			}
+
+			if (PX4_ISFINITE(manual_control_setpoint.aux5)) {
+				msg.enabled_extensions |= (1u << 6);
+				msg.aux5 = manual_control_setpoint.aux5 * 1000.f;
+			}
+
+			if (PX4_ISFINITE(manual_control_setpoint.aux6)) {
+				msg.enabled_extensions |= (1u << 7);
+				msg.aux6 = manual_control_setpoint.aux6 * 1000.f;
+			}
+
 			mavlink_msg_manual_control_send_struct(_mavlink->get_channel(), &msg);
 
 			return true;