diff --git a/src/modules/mavlink/mavlink_messages.cpp b/src/modules/mavlink/mavlink_messages.cpp
index 1753aaec4e..a333fb8529 100644
--- a/src/modules/mavlink/mavlink_messages.cpp
+++ b/src/modules/mavlink/mavlink_messages.cpp
@@ -130,6 +130,12 @@ void get_mavlink_mode_state(struct vehicle_status_s *status, struct position_set
 			custom_mode.main_mode = PX4_CUSTOM_MAIN_MODE_ACRO;
 			break;
 
+		case vehicle_status_s::NAVIGATION_STATE_STAB:
+			*mavlink_base_mode |= MAV_MODE_FLAG_MANUAL_INPUT_ENABLED
+								  | MAV_MODE_FLAG_STABILIZE_ENABLED;
+			custom_mode.main_mode = PX4_CUSTOM_MAIN_MODE_STABILIZED;
+			break;
+
 		case vehicle_status_s::NAVIGATION_STATE_ALTCTL:
 			*mavlink_base_mode |= MAV_MODE_FLAG_MANUAL_INPUT_ENABLED
 			                      | MAV_MODE_FLAG_STABILIZE_ENABLED;