diff --git a/ArduPlane/GCS_Mavlink.cpp b/ArduPlane/GCS_Mavlink.cpp
index f2c65707a0..e2571439b0 100644
--- a/ArduPlane/GCS_Mavlink.cpp
+++ b/ArduPlane/GCS_Mavlink.cpp
@@ -1510,6 +1510,14 @@ void GCS_MAVLINK_Plane::handleMessage(mavlink_message_t* msg)
                 result = MAV_RESULT_ACCEPTED;
             }
             break;
+
+        case MAV_CMD_ACCELCAL_VEHICLE_POS:
+            result = MAV_RESULT_FAILED;
+
+            if (plane.ins.get_acal()->gcs_vehicle_position(packet.param1)) {
+                result = MAV_RESULT_ACCEPTED;
+            }
+            break;
             
         default:
             break;