diff --git a/src/modules/mavlink/mavlink_receiver.cpp b/src/modules/mavlink/mavlink_receiver.cpp
index aa8e9ca27e..90fcf79611 100644
--- a/src/modules/mavlink/mavlink_receiver.cpp
+++ b/src/modules/mavlink/mavlink_receiver.cpp
@@ -137,6 +137,7 @@ MavlinkReceiver::MavlinkReceiver(Mavlink *parent) :
 	_transponder_report_pub(nullptr),
 	_collision_report_pub(nullptr),
 	_control_state_pub(nullptr),
+	_debug_key_value_pub(nullptr),
 	_gps_inject_data_pub(nullptr),
 	_command_ack_pub(nullptr),
 	_control_mode_sub(orb_subscribe(ORB_ID(vehicle_control_mode))),
@@ -307,6 +308,10 @@ MavlinkReceiver::handle_message(mavlink_message_t *msg)
 		handle_message_play_tune(msg);
 		break;
 
+	case MAVLINK_MSG_ID_NAMED_VALUE_FLOAT:
+		handle_message_named_value_float(msg);
+		break;
+
 	default:
 		break;
 	}
@@ -2358,6 +2363,27 @@ MavlinkReceiver::handle_message_hil_state_quaternion(mavlink_message_t *msg)
 	}
 }
 
+void MavlinkReceiver::handle_message_named_value_float(mavlink_message_t *msg)
+{
+	mavlink_named_value_float_t debug_msg;
+	debug_key_value_s debug_topic = {};
+
+	mavlink_msg_named_value_float_decode(msg, &debug_msg);
+
+	debug_topic.timestamp = hrt_absolute_time();
+	debug_topic.timestamp_ms = debug_msg.time_boot_ms;
+	memcpy(debug_topic.key, debug_msg.name, sizeof(debug_topic.key));
+	debug_topic.key[sizeof(debug_topic.key) - 1] = '\0'; // enforce null termination
+	debug_topic.value = debug_msg.value;
+
+	if (_debug_key_value_pub == nullptr) {
+		_debug_key_value_pub = orb_advertise(ORB_ID(debug_key_value), &debug_topic);
+
+	} else {
+		orb_publish(ORB_ID(debug_key_value), _debug_key_value_pub, &debug_topic);
+	}
+}
+
 /**
  * Receive data from UART.
  */
diff --git a/src/modules/mavlink/mavlink_receiver.h b/src/modules/mavlink/mavlink_receiver.h
index 2322037cc3..147426b80c 100644
--- a/src/modules/mavlink/mavlink_receiver.h
+++ b/src/modules/mavlink/mavlink_receiver.h
@@ -151,6 +151,7 @@ private:
 	void handle_message_serial_control(mavlink_message_t *msg);
 	void handle_message_logging_ack(mavlink_message_t *msg);
 	void handle_message_play_tune(mavlink_message_t *msg);
+	void handle_message_named_value_float(mavlink_message_t *msg);
 
 	void *receive_thread(void *arg);
 
@@ -236,6 +237,7 @@ private:
 	orb_advert_t _transponder_report_pub;
 	orb_advert_t _collision_report_pub;
 	orb_advert_t _control_state_pub;
+	orb_advert_t _debug_key_value_pub;
 	static const int _gps_inject_data_queue_size = 6;
 	orb_advert_t _gps_inject_data_pub;
 	orb_advert_t _command_ack_pub;