diff --git a/msg/vehicle_status.msg b/msg/vehicle_status.msg
index 5b52b534f2..ea25211308 100644
--- a/msg/vehicle_status.msg
+++ b/msg/vehicle_status.msg
@@ -67,6 +67,7 @@ bool high_latency_data_link_active 		# all low latency datalinks to GCS lost
 uint8 data_link_lost_counter			# counts unique data link lost events
 bool engine_failure				# Set to true if an engine failure is detected
 bool mission_failure				# Set to true if mission could not continue/finish
+bool attitude_failure 				# Set to true if attitude failure has been detected
 
 # see SYS_STATUS mavlink message for the following
 uint32 onboard_control_sensors_present
diff --git a/src/modules/commander/Commander.cpp b/src/modules/commander/Commander.cpp
index 9adbb05a09..2e8a3c6715 100644
--- a/src/modules/commander/Commander.cpp
+++ b/src/modules/commander/Commander.cpp
@@ -2295,6 +2295,7 @@ Commander::run()
 					failure_status.pitch) {
 
 					armed.force_failsafe = true;
+					status.attitude_failure = true;
 					status_changed = true;
 
 					// Only display an user message if the circuit-breaker is disabled