diff --git a/libraries/GCS_MAVLink/GCS.h b/libraries/GCS_MAVLink/GCS.h
index fb4ce1a699..77d305f432 100644
--- a/libraries/GCS_MAVLink/GCS.h
+++ b/libraries/GCS_MAVLink/GCS.h
@@ -177,6 +177,7 @@ public:
     virtual void send_scaled_pressure3(); // allow sub to override this
     void send_scaled_pressure();
     void send_sensor_offsets();
+    virtual void send_simstate() const;
     void send_ahrs();
     void send_battery2();
 #if AP_AHRS_NAVEKF_AVAILABLE
diff --git a/libraries/GCS_MAVLink/GCS_Common.cpp b/libraries/GCS_MAVLink/GCS_Common.cpp
index 967ac4a747..aac1ec9766 100644
--- a/libraries/GCS_MAVLink/GCS_Common.cpp
+++ b/libraries/GCS_MAVLink/GCS_Common.cpp
@@ -36,6 +36,10 @@
 #include <AP_BoardConfig/AP_BoardConfig.h>
 #endif
 
+#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
+#include <SITL/SITL.h>
+#endif
+
 extern const AP_HAL::HAL& hal;
 
 uint32_t GCS_MAVLINK::last_radio_status_remrssi_ms;
@@ -2352,6 +2356,17 @@ void GCS_MAVLINK::send_banner()
 }
 
 
+void GCS_MAVLINK::send_simstate() const
+{
+#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
+    SITL::SITL *sitl = AP::sitl();
+    if (sitl == nullptr) {
+        return;
+    }
+    sitl->simstate_send(get_chan());
+#endif
+}
+
 MAV_RESULT GCS_MAVLINK::handle_command_preflight_set_sensor_offsets(const mavlink_command_long_t &packet)
 {
     Compass *compass = get_compass();
@@ -2873,6 +2888,13 @@ bool GCS_MAVLINK::try_send_message(const enum ap_message id)
         send_servo_output_raw();
         break;
 
+    case MSG_SIMSTATE:
+        CHECK_PAYLOAD_SIZE(SIMSTATE);
+        send_simstate();
+        CHECK_PAYLOAD_SIZE(AHRS2);
+        send_ahrs2();
+        break;
+
     case MSG_AHRS:
         CHECK_PAYLOAD_SIZE(AHRS);
         send_ahrs();