diff --git a/msg/CMakeLists.txt b/msg/CMakeLists.txt
index 5d0401a969..cc702a6757 100644
--- a/msg/CMakeLists.txt
+++ b/msg/CMakeLists.txt
@@ -74,6 +74,7 @@ set(msg_files
 	mission_result.msg
 	mount_orientation.msg
 	multirotor_motor_limits.msg
+	obstacle_avoidance.msg
 	obstacle_distance.msg
 	offboard_control_mode.msg
 	optical_flow.msg
diff --git a/msg/obstacle_avoidance.msg b/msg/obstacle_avoidance.msg
new file mode 100644
index 0000000000..9bb025fb16
--- /dev/null
+++ b/msg/obstacle_avoidance.msg
@@ -0,0 +1,16 @@
+# Output of a external avoidance. Obstacle avoidance message with trajectory points, PCA and FOV. See also Mavlink OBSTACLE_AVOIDANCE msg
+
+uint8 MAV_TRAJECTORY_REPRESENTATION_WAYPOINTS = 0
+uint8 MAV_TRAJECTORY_REPRESENTATION_BEZIER = 1
+
+uint8 type # Type from MAV_TRAJECTORY_REPRESENTATION enum.
+
+float32[11] point_1    # Depending on the type (see MAV_TRAJECTORY_REPRESENTATION)
+float32[11] point_2    # Depending on the type (see MAV_TRAJECTORY_REPRESENTATION)
+float32[11] point_3    # Depending on the type (see MAV_TRAJECTORY_REPRESENTATION)
+float32[11] point_4    # Depending on the type (see MAV_TRAJECTORY_REPRESENTATION)
+float32[11] point_5    # Depending on the type (see MAV_TRAJECTORY_REPRESENTATION)
+
+bool[5] point_valid   # States if respective point is valid
+
+int16[4] field_of_view    # Field of View of the sensor/s being used. The first two parameters are used to indicate the direction (Azimuth: 0 - 360 degrees and elevation: -90 - 90 degrees) and the last two indicate the range (Azimuth and elevation). The range is applied symmetrically in the direction. Set first element to -1 to mark as unknown.