diff --git a/msg/CMakeLists.txt b/msg/CMakeLists.txt
index 50dec9a95b..4b0181516d 100644
--- a/msg/CMakeLists.txt
+++ b/msg/CMakeLists.txt
@@ -41,6 +41,7 @@ set(msg_file_names
 	att_pos_mocap.msg
 	battery_status.msg
 	camera_trigger.msg
+	camera_capture.msg
 	collision_report.msg
 	commander_state.msg
 	control_state.msg
diff --git a/msg/camera_capture.msg b/msg/camera_capture.msg
new file mode 100644
index 0000000000..3f94a854d1
--- /dev/null
+++ b/msg/camera_capture.msg
@@ -0,0 +1,8 @@
+uint64 timestamp_utc		# Capture time in UTC / GPS time
+uint32 seq					# Image sequence number
+float64 lat					# Latitude in degrees (WGS84)
+float64 lon					# Longitude in degrees (WGS84)
+float32 alt					# Altitude (AMSL)
+float32 ground_distance			# Altitude above ground (meters)
+float32[4] q					# Attitude of the camera, zero rotation is facing towards front of vehicle
+int8 result					# 1 for success, 0 for failure, -1 if camera does not provide feedback