diff --git a/src/modules/mavlink/mavlink_messages.cpp b/src/modules/mavlink/mavlink_messages.cpp
index 4a67fda0d9..933324c4dd 100644
--- a/src/modules/mavlink/mavlink_messages.cpp
+++ b/src/modules/mavlink/mavlink_messages.cpp
@@ -2786,6 +2786,7 @@ protected:
 			msg.y = pos_sp.y;
 			msg.z = pos_sp.z;
 			msg.yaw = pos_sp.yaw;
+			msg.yaw_rate = pos_sp.yawspeed;
 			msg.vx = pos_sp.vx;
 			msg.vy = pos_sp.vy;
 			msg.vz = pos_sp.vz;