diff --git a/libraries/AP_Notify/AP_Notify.cpp b/libraries/AP_Notify/AP_Notify.cpp
index 3f316c7628..a872f03f7d 100644
--- a/libraries/AP_Notify/AP_Notify.cpp
+++ b/libraries/AP_Notify/AP_Notify.cpp
@@ -49,6 +49,13 @@ const AP_Param::GroupInfo AP_Notify::var_info[] = {
     // @User: Advanced
     AP_GROUPINFO("BUZZ_ENABLE", 1, AP_Notify, _buzzer_enable, BUZZER_ON),
 
+    // @Param: LED_OVERRIDE
+    // @DisplayName: Setup for MAVLink LED override
+    // @Description: This sets up the board RGB LED for override by MAVLink. Normal notify LED control is disabled
+    // @Values: 0:Disable,1:Enable
+    // @User: Advanced
+    AP_GROUPINFO("LED_OVERRIDE", 2, AP_Notify, _rgb_led_override, 0),
+    
     AP_GROUPEND
 };
 
diff --git a/libraries/AP_Notify/AP_Notify.h b/libraries/AP_Notify/AP_Notify.h
index 18663119b0..5055c4e400 100644
--- a/libraries/AP_Notify/AP_Notify.h
+++ b/libraries/AP_Notify/AP_Notify.h
@@ -114,5 +114,6 @@ private:
     static NotifyDevice* _devices[];
 
     AP_Int8 _rgb_led_brightness;
+    AP_Int8 _rgb_led_override;
     AP_Int8 _buzzer_enable;
 };
diff --git a/libraries/AP_Notify/RGBLed.cpp b/libraries/AP_Notify/RGBLed.cpp
index b3fa48807d..363a602b7c 100644
--- a/libraries/AP_Notify/RGBLed.cpp
+++ b/libraries/AP_Notify/RGBLed.cpp
@@ -48,13 +48,8 @@ bool RGBLed::init()
 }
 
 // set_rgb - set color as a combination of red, green and blue values
-void RGBLed::set_rgb(uint8_t red, uint8_t green, uint8_t blue)
+void RGBLed::_set_rgb(uint8_t red, uint8_t green, uint8_t blue)
 {
-    // return immediately if not enabled
-    if (!_healthy) {
-        return;
-    }
-
     if (red != _red_curr ||
         green != _green_curr ||
         blue != _blue_curr) {
@@ -67,6 +62,20 @@ void RGBLed::set_rgb(uint8_t red, uint8_t green, uint8_t blue)
     }
 }
 
+// set_rgb - set color as a combination of red, green and blue values
+void RGBLed::set_rgb(uint8_t red, uint8_t green, uint8_t blue)
+{
+    // return immediately if not enabled
+    if (!_healthy) {
+        return;
+    }
+    if (pNotify->_rgb_led_override) {
+        // don't set if in override mode
+        return;
+    }
+    _set_rgb(red, green, blue);
+}
+
 
 // _scheduled_update - updates _red, _green, _blue according to notify flags
 void RGBLed::update_colours(void)
@@ -323,6 +332,66 @@ void RGBLed::update()
     if (!_healthy) {
         return;
     }
-    update_colours();
-    set_rgb(_red_des, _green_des, _blue_des);
+    if (!pNotify->_rgb_led_override) {
+        update_colours();
+        set_rgb(_red_des, _green_des, _blue_des);
+    } else {
+        update_override();
+    }
+}
+
+/*
+  handle LED control, only used when LED_OVERRIDE=1
+*/
+void RGBLed::handle_led_control(mavlink_message_t *msg)
+{
+    if (!pNotify->_rgb_led_override) {
+        // ignore LED_CONTROL commands if not in LED_OVERRIDE mode
+        return;
+    }
+
+    // decode mavlink message
+    mavlink_led_control_t packet;
+    mavlink_msg_led_control_decode(msg, &packet);
+
+    _led_override.start_ms = AP_HAL::millis();
+    
+    switch (packet.custom_len) {
+    case 3:
+        _led_override.rate_hz = 0;
+        _led_override.r = packet.custom_bytes[0];
+        _led_override.g = packet.custom_bytes[1];
+        _led_override.b = packet.custom_bytes[2];
+        break;
+    case 4:
+        _led_override.rate_hz = packet.custom_bytes[3];
+        _led_override.r = packet.custom_bytes[0];
+        _led_override.g = packet.custom_bytes[1];
+        _led_override.b = packet.custom_bytes[2];
+        break;
+    default:
+        // not understood
+        break;
+    }
+}
+
+/*
+  update LED when in override mode
+ */
+void RGBLed::update_override(void)
+{
+    if (_led_override.rate_hz == 0) {
+        // solid colour
+        _set_rgb(_led_override.r, _led_override.g, _led_override.b);
+        return;
+    }
+    // blinking
+    uint32_t ms_per_cycle = 1000 / _led_override.rate_hz;
+    uint32_t cycle = (AP_HAL::millis() - _led_override.start_ms) % ms_per_cycle;
+    if (cycle > ms_per_cycle / 2) {
+        // on
+        _set_rgb(_led_override.r, _led_override.g, _led_override.b);
+    } else {
+        _set_rgb(0, 0, 0);
+    }
 }
diff --git a/libraries/AP_Notify/RGBLed.h b/libraries/AP_Notify/RGBLed.h
index 5879a12fd3..d070c5216d 100644
--- a/libraries/AP_Notify/RGBLed.h
+++ b/libraries/AP_Notify/RGBLed.h
@@ -39,11 +39,19 @@ public:
     // called at 50Hz
     virtual void update();
 
+    // handle LED control, only used when LED_OVERRIDE=1
+    virtual void handle_led_control(mavlink_message_t *msg) override;
+    
 protected:
     // methods implemented in hardware specific classes
     virtual bool hw_init(void) = 0;
     virtual bool hw_set_rgb(uint8_t red, uint8_t green, uint8_t blue) = 0;
 
+    // set_rgb - set color as a combination of red, green and blue levels from 0 ~ 15
+    virtual void _set_rgb(uint8_t red, uint8_t green, uint8_t blue);
+
+    virtual void update_override();
+    
     // meta-data common to all hw devices
     uint8_t counter;
     uint8_t step;
@@ -54,6 +62,13 @@ protected:
     uint8_t _led_bright;
     uint8_t _led_medium;
     uint8_t _led_dim;
+
+    struct {
+        uint8_t r, g, b;
+        uint8_t rate_hz;
+        uint32_t start_ms;
+    } _led_override;
+    
 private:
     virtual void update_colours();
 };