diff --git a/src/modules/mavlink/mavlink_messages.cpp b/src/modules/mavlink/mavlink_messages.cpp
index a8f956ad05..a68381f9f8 100644
--- a/src/modules/mavlink/mavlink_messages.cpp
+++ b/src/modules/mavlink/mavlink_messages.cpp
@@ -1358,7 +1358,10 @@ protected:
 			/* scale outputs depending on system type */
 			if (system_type == MAV_TYPE_QUADROTOR ||
 				system_type == MAV_TYPE_HEXAROTOR ||
-				system_type == MAV_TYPE_OCTOROTOR) {
+				system_type == MAV_TYPE_OCTOROTOR ||
+				system_type == MAV_TYPE_VTOL_DUOROTOR ||
+				system_type == MAV_TYPE_VTOL_QUADROTOR) {
+
 				/* multirotors: set number of rotor outputs depending on type */
 
 				unsigned n;
@@ -1372,6 +1375,14 @@ protected:
 					n = 6;
 					break;
 
+				case MAV_TYPE_VTOL_DUOROTOR:
+					n = 2;
+					break;
+
+				case MAV_TYPE_VTOL_QUADROTOR:
+					n = 4;
+					break;
+
 				default:
 					n = 8;
 					break;