diff --git a/src/modules/mavlink/mavlink_receiver.cpp b/src/modules/mavlink/mavlink_receiver.cpp
index 2c79c775cd..511b011d2e 100644
--- a/src/modules/mavlink/mavlink_receiver.cpp
+++ b/src/modules/mavlink/mavlink_receiver.cpp
@@ -85,6 +85,20 @@ MavlinkReceiver::MavlinkReceiver(Mavlink *parent) :
 	_parameters_manager(parent),
 	_mavlink_timesync(parent)
 {
+	unsigned int system_type = _mavlink->get_system_type();
+
+	if (system_type == MAV_TYPE_VTOL_DUOROTOR ||
+	    system_type == MAV_TYPE_VTOL_QUADROTOR ||
+	    system_type == MAV_TYPE_VTOL_TILTROTOR ||
+	    system_type == MAV_TYPE_VTOL_RESERVED2 ||
+	    system_type == MAV_TYPE_VTOL_RESERVED3 ||
+	    system_type == MAV_TYPE_VTOL_RESERVED4 ||
+	    system_type == MAV_TYPE_VTOL_RESERVED5) {
+		_is_vtol = true;
+
+	} else {
+		_is_vtol = false;
+	}
 }
 
 void
@@ -1411,7 +1425,12 @@ MavlinkReceiver::handle_message_set_attitude_target(mavlink_message_t *msg)
 						}
 					}
 
-					_att_sp_pub.publish(att_sp);
+					if (!_is_vtol) {
+						_att_sp_pub.publish(att_sp);
+
+					} else {
+						_mc_virtual_att_sp_pub.publish(att_sp);
+					}
 				}
 
 				/* Publish attitude rate setpoint if bodyrate and thrust ignore bits are not set */
diff --git a/src/modules/mavlink/mavlink_receiver.h b/src/modules/mavlink/mavlink_receiver.h
index 1b9051724a..14cfde2055 100644
--- a/src/modules/mavlink/mavlink_receiver.h
+++ b/src/modules/mavlink/mavlink_receiver.h
@@ -229,6 +229,7 @@ private:
 	uORB::Publication<position_setpoint_triplet_s>		_pos_sp_triplet_pub{ORB_ID(position_setpoint_triplet)};
 	uORB::Publication<vehicle_attitude_s>			_attitude_pub{ORB_ID(vehicle_attitude)};
 	uORB::Publication<vehicle_attitude_setpoint_s>		_att_sp_pub{ORB_ID(vehicle_attitude_setpoint)};
+	uORB::Publication<vehicle_attitude_setpoint_s>		_mc_virtual_att_sp_pub{ORB_ID(mc_virtual_attitude_setpoint)};
 	uORB::Publication<vehicle_global_position_s>		_global_pos_pub{ORB_ID(vehicle_global_position)};
 	uORB::Publication<vehicle_gps_position_s>		_gps_pub{ORB_ID(vehicle_gps_position)};
 	uORB::Publication<vehicle_land_detected_s>		_land_detector_pub{ORB_ID(vehicle_land_detected)};
@@ -275,6 +276,8 @@ private:
 
 	hrt_abstime			_last_utm_global_pos_com{0};
 
+	bool _is_vtol{false};
+
 	DEFINE_PARAMETERS(
 		(ParamFloat<px4::params::BAT_CRIT_THR>)     _param_bat_crit_thr,
 		(ParamFloat<px4::params::BAT_EMERGEN_THR>)  _param_bat_emergen_thr,