diff --git a/ArduCopter/GCS_Mavlink.pde b/ArduCopter/GCS_Mavlink.pde
index afe3d71526..d7d80f63d8 100644
--- a/ArduCopter/GCS_Mavlink.pde
+++ b/ArduCopter/GCS_Mavlink.pde
@@ -1283,6 +1283,50 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
         break;
     }
 
+    case MAVLINK_MSG_ID_SET_POSITION_TARGET_LOCAL_NED:     // MAV ID: 84
+    {
+        // decode packet
+        mavlink_set_position_target_local_ned_t packet;
+        mavlink_msg_set_position_target_local_ned_decode(msg, &packet);
+
+        // exit immediately if this command is not meant for this vehicle
+        if (mavlink_check_target(packet.target_system, packet.target_component)) {
+            break;
+        }
+
+        // exit if vehicle is not in guided mode
+        if (control_mode != GUIDED) {
+            break;
+        }
+
+        // create 3-axis velocity vector and sent to guided controller
+        guided_set_velocity(Vector3f(packet.vx * 100.0f, packet.vy * 100.0f, -packet.vz * 100.0f));
+
+        break;
+    }
+
+    case MAVLINK_MSG_ID_SET_POSITION_TARGET_GLOBAL_INT:    // MAV ID: 86
+    {
+        // decode packet
+        mavlink_set_position_target_global_int_t packet;
+        mavlink_msg_set_position_target_global_int_decode(msg, &packet);
+
+        // exit immediately if this command is not meant for this vehicle
+        if (mavlink_check_target(packet.target_system, packet.target_component)) {
+            break;
+        }
+
+        // exit if vehicle is not in guided mode
+        if (control_mode != GUIDED) {
+            break;
+        }
+
+        // create 3-axis velocity vector and sent to guided controller
+        guided_set_velocity(Vector3f(packet.vx * 100.0f, packet.vy * 100.0f, -packet.vz * 100.0f));
+
+        break;
+    }
+
 #if HIL_MODE != HIL_MODE_DISABLED
     case MAVLINK_MSG_ID_HIL_STATE:          // MAV ID: 90
     {