diff --git a/msg/CMakeLists.txt b/msg/CMakeLists.txt
index 3f44e466f2..5632214188 100644
--- a/msg/CMakeLists.txt
+++ b/msg/CMakeLists.txt
@@ -132,6 +132,7 @@ set(msg_files
 	vehicle_status_flags.msg
 	vtol_vehicle_status.msg
 	wind_estimate.msg
+	vehicle_constraints.msg
 	)
 
 if(NOT EXTERNAL_MODULES_LOCATION STREQUAL "")
diff --git a/msg/vehicle_constraints.msg b/msg/vehicle_constraints.msg
new file mode 100644
index 0000000000..50d3526868
--- /dev/null
+++ b/msg/vehicle_constraints.msg
@@ -0,0 +1,8 @@
+# Local setpoint constraints in NED frame
+# setting something to NaN means that no limit is provided
+
+float32 yawspeed	# in radians/sec
+float32 speed_xy	# in meters/sec
+float32 speed_up	# in meters/sec
+float32 speed_down	# in meters/sec
+float32 tilt    # in radians [-Pi, Pi]