diff --git a/msg/vehicle_command.msg b/msg/vehicle_command.msg
index 6d69141068..29516d6454 100644
--- a/msg/vehicle_command.msg
+++ b/msg/vehicle_command.msg
@@ -36,6 +36,7 @@ uint16 VEHICLE_CMD_DO_REPEAT_RELAY = 182		# Cycle a relay on and off for a desir
 uint16 VEHICLE_CMD_DO_SET_SERVO = 183			# Set a servo to a desired PWM value. |Servo number| PWM (microseconds, 1000 to 2000 typical)| Empty| Empty| Empty| Empty| Empty|
 uint16 VEHICLE_CMD_DO_REPEAT_SERVO = 184		# Cycle a between its nominal setting and a desired PWM for a desired number of cycles with a desired period. |Servo number| PWM (microseconds, 1000 to 2000 typical)| Cycle count| Cycle time (seconds)| Empty| Empty| Empty|
 uint16 VEHICLE_CMD_DO_FLIGHTTERMINATION = 185		# Terminate flight immediately |Flight termination activated if > 0.5| Empty| Empty| Empty| Empty| Empty| Empty|
+uint16 VEHICLE_CMD_DO_SET_ACTUATOR = 187		# Sets actuators (e.g. servos) to a desired value. |Actuator 1| Actuator 2| Actuator 3| Actuator 4| Actuator 5| Actuator 6| Index|
 uint16 VEHICLE_CMD_DO_LAND_START = 189			# Mission command to perform a landing. This is used as a marker in a mission to tell the autopilot where a sequence of mission items that represents a landing starts. It may also be sent via a COMMAND_LONG to trigger a landing, in which case the nearest (geographically) landing sequence in the mission will be used. The Latitude/Longitude is optional, and may be set to 0/0 if not needed. If specified then it will be used to help find the closest landing sequence. |Empty| Empty| Empty| Empty| Latitude| Longitude| Empty|  */
 uint16 VEHICLE_CMD_DO_GO_AROUND = 191			# Mission command to safely abort an autonmous landing. |Altitude (meters)| Empty| Empty| Empty| Empty| Empty| Empty|  */
 uint16 VEHICLE_CMD_DO_REPOSITION = 192