diff --git a/ArduPlane/GCS_Mavlink.cpp b/ArduPlane/GCS_Mavlink.cpp
index 88498e8a79..223bc6615a 100644
--- a/ArduPlane/GCS_Mavlink.cpp
+++ b/ArduPlane/GCS_Mavlink.cpp
@@ -2030,6 +2030,12 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
         handle_gps_inject(msg, plane.gps);
         break;
 
+#if RANGEFINDER_ENABLED == ENABLED
+    case MAVLINK_MSG_ID_DISTANCE_SENSOR:
+        plane.rangefinder.handle_msg(msg);
+        break;
+#endif
+
     case MAVLINK_MSG_ID_TERRAIN_DATA:
     case MAVLINK_MSG_ID_TERRAIN_CHECK:
 #if AP_TERRAIN_AVAILABLE