diff --git a/CMakeLists.txt b/CMakeLists.txt
index dfcbd4adc3..519afa0e29 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -58,6 +58,7 @@ add_message_files(
   actuator_controls_0.msg
   actuator_controls_virtual_mc.msg
   vehicle_rates_setpoint.msg
+  mc_virtual_rates_setpoint.msg
   vehicle_attitude.msg
   vehicle_control_mode.msg
   actuator_armed.msg
diff --git a/msg/mc_virtual_rates_setpoint.msg b/msg/mc_virtual_rates_setpoint.msg
new file mode 100644
index 0000000000..834113c798
--- /dev/null
+++ b/msg/mc_virtual_rates_setpoint.msg
@@ -0,0 +1,6 @@
+uint64 timestamp    # in microseconds since system start
+
+float32 roll	    # body angular rates in NED frame
+float32 pitch	    # body angular rates in NED frame
+float32 yaw	    # body angular rates in NED frame
+float32 thrust	    # thrust normalized to 0..1
diff --git a/src/platforms/px4_includes.h b/src/platforms/px4_includes.h
index 9c8c24764f..4d29bc3cd8 100644
--- a/src/platforms/px4_includes.h
+++ b/src/platforms/px4_includes.h
@@ -54,7 +54,9 @@
 #include <px4/manual_control_setpoint.h>
 #include <px4/actuator_controls.h>
 #include <px4/actuator_controls_0.h>
+#include <px4/actuator_controls_virtual_mc.h>
 #include <px4/vehicle_rates_setpoint.h>
+#include <px4/mc_virtual_rates_setpoint.h>
 #include <px4/vehicle_attitude.h>
 #include <px4/vehicle_control_mode.h>
 #include <px4/actuator_armed.h>