diff --git a/src/modules/mavlink/mavlink_messages.cpp b/src/modules/mavlink/mavlink_messages.cpp
index 47603b3903..37929edac6 100644
--- a/src/modules/mavlink/mavlink_messages.cpp
+++ b/src/modules/mavlink/mavlink_messages.cpp
@@ -640,6 +640,47 @@ protected:
 };
 
 
+
+class MavlinkStreamViconPositionEstimate : public MavlinkStream
+{
+public:
+    const char *get_name()
+    {
+        return "VICON_POSITION_ESTIMATE";
+    }
+
+    MavlinkStream *new_instance()
+    {
+        return new MavlinkStreamViconPositionEstimate();
+    }
+
+private:
+    MavlinkOrbSubscription *pos_sub;
+    struct vehicle_vicon_position_s *pos;
+
+protected:
+    void subscribe(Mavlink *mavlink)
+    {
+        pos_sub = mavlink->add_orb_subscription(ORB_ID(vehicle_vicon_position));
+        pos = (struct vehicle_vicon_position_s *)pos_sub->get_data();
+    }
+
+    void send(const hrt_abstime t)
+    {
+        if (pos_sub->update(t)) {
+            mavlink_msg_vicon_position_estimate_send(_channel,
+                                pos->timestamp / 1000,
+                                pos->x,
+                                pos->y,
+                                pos->z,
+                                pos->roll,
+                                pos->pitch,
+                                pos->yaw);
+        }
+    }
+};
+
+
 class MavlinkStreamGPSGlobalOrigin : public MavlinkStream
 {
 public:
@@ -1297,5 +1338,6 @@ MavlinkStream *streams_list[] = {
 	new MavlinkStreamAttitudeControls(),
 	new MavlinkStreamNamedValueFloat(),
 	new MavlinkStreamCameraCapture(),
+    new MavlinkStreamViconPositionEstimate(),
 	nullptr
 };