diff --git a/src/modules/systemlib/mavlink_log.h b/src/modules/systemlib/mavlink_log.h
index 6613e18038..bb9d665355 100644
--- a/src/modules/systemlib/mavlink_log.h
+++ b/src/modules/systemlib/mavlink_log.h
@@ -80,6 +80,18 @@ __EXPORT void mavlink_vasprintf(int severity, orb_advert_t *mavlink_log_pub, con
  */
 #define mavlink_log_info(_pub, _text, ...)	mavlink_vasprintf(_MSG_PRIO_INFO, _pub, _text, ##__VA_ARGS__);
 
+/**
+ * Send a mavlink warning message and print to console.
+ *
+ * @param _pub		Pointer to the uORB advert;
+ * @param _text		The text to log;
+ */
+#define mavlink_log_warning(_pub, _text, ...) \
+	do { \
+		mavlink_vasprintf(_MSG_PRIO_WARNING, _pub, _text, ##__VA_ARGS__); \
+		PX4_WARN(_text, ##__VA_ARGS__); \
+	} while(0);
+
 /**
  * Send a mavlink emergency message and print to console.
  *