diff --git a/src/modules/mavlink/mavlink_receiver.cpp b/src/modules/mavlink/mavlink_receiver.cpp
index 44d0311758..8813dae851 100644
--- a/src/modules/mavlink/mavlink_receiver.cpp
+++ b/src/modules/mavlink/mavlink_receiver.cpp
@@ -128,6 +128,7 @@ MavlinkReceiver::MavlinkReceiver(Mavlink *parent) :
 	_telemetry_status_pub(nullptr),
 	_rc_pub(nullptr),
 	_manual_pub(nullptr),
+	_obstacle_distance_pub(nullptr),
 	_land_detector_pub(nullptr),
 	_time_offset_pub(nullptr),
 	_follow_target_pub(nullptr),
@@ -321,6 +322,10 @@ MavlinkReceiver::handle_message(mavlink_message_t *msg)
 		handle_message_play_tune(msg);
 		break;
 
+	case MAVLINK_MSG_ID_OBSTACLE_DISTANCE:
+		handle_message_obstacle_distance(msg);
+		break;
+
 	case MAVLINK_MSG_ID_NAMED_VALUE_FLOAT:
 		handle_message_named_value_float(msg);
 		break;
@@ -1480,6 +1485,28 @@ MavlinkReceiver::handle_message_play_tune(mavlink_message_t *msg)
 	}
 }
 
+void
+MavlinkReceiver::handle_message_obstacle_distance(mavlink_message_t *msg)
+{
+	mavlink_obstacle_distance_t mavlink_obstacle_distance;
+	mavlink_msg_obstacle_distance_decode(msg, &mavlink_obstacle_distance);
+
+	obstacle_distance_s obstacle_distance = {};
+	obstacle_distance.timestamp = hrt_absolute_time();
+	obstacle_distance.sensor_type = mavlink_obstacle_distance.sensor_type;
+	memcpy(obstacle_distance.distances, mavlink_obstacle_distance.distances, sizeof(obstacle_distance.distances));
+	obstacle_distance.increment = mavlink_obstacle_distance.increment;
+	obstacle_distance.min_distance = mavlink_obstacle_distance.min_distance;
+	obstacle_distance.max_distance = mavlink_obstacle_distance.max_distance;
+
+	if (_obstacle_distance_pub == nullptr) {
+		_obstacle_distance_pub = orb_advertise(ORB_ID(obstacle_distance), &obstacle_distance);
+
+	} else {
+		orb_publish(ORB_ID(obstacle_distance), _obstacle_distance_pub, &obstacle_distance);
+	}
+}
+
 switch_pos_t
 MavlinkReceiver::decode_switch_pos(uint16_t buttons, unsigned sw)
 {
diff --git a/src/modules/mavlink/mavlink_receiver.h b/src/modules/mavlink/mavlink_receiver.h
index 0da1c3ae05..1f3c2d127a 100644
--- a/src/modules/mavlink/mavlink_receiver.h
+++ b/src/modules/mavlink/mavlink_receiver.h
@@ -77,6 +77,7 @@
 #include <uORB/topics/transponder_report.h>
 #include <uORB/topics/gps_inject_data.h>
 #include <uORB/topics/collision_report.h>
+#include <uORB/topics/obstacle_distance.h>
 
 #include "mavlink_mission.h"
 #include "mavlink_parameters.h"
@@ -155,6 +156,7 @@ private:
 	void handle_message_serial_control(mavlink_message_t *msg);
 	void handle_message_logging_ack(mavlink_message_t *msg);
 	void handle_message_play_tune(mavlink_message_t *msg);
+	void handle_message_obstacle_distance(mavlink_message_t *msg);
 	void handle_message_named_value_float(mavlink_message_t *msg);
 	void handle_message_debug(mavlink_message_t *msg);
 	void handle_message_debug_vect(mavlink_message_t *msg);
@@ -236,6 +238,7 @@ private:
 	orb_advert_t _telemetry_status_pub;
 	orb_advert_t _rc_pub;
 	orb_advert_t _manual_pub;
+	orb_advert_t _obstacle_distance_pub;
 	orb_advert_t _land_detector_pub;
 	orb_advert_t _time_offset_pub;
 	orb_advert_t _follow_target_pub;