diff --git a/src/modules/commander/px4_custom_mode.h b/src/modules/commander/px4_custom_mode.h
index b60a7e0b9c..d69ab30677 100644
--- a/src/modules/commander/px4_custom_mode.h
+++ b/src/modules/commander/px4_custom_mode.h
@@ -13,6 +13,7 @@ enum PX4_CUSTOM_MAIN_MODE {
 	PX4_CUSTOM_MAIN_MODE_SEATBELT,
 	PX4_CUSTOM_MAIN_MODE_EASY,
 	PX4_CUSTOM_MAIN_MODE_AUTO,
+	PX4_CUSTOM_MAIN_MODE_ACRO,
 };
 
 enum PX4_CUSTOM_SUB_MODE_AUTO {
diff --git a/src/modules/mavlink/mavlink.c b/src/modules/mavlink/mavlink.c
index 4d975066f7..22465a3dae 100644
--- a/src/modules/mavlink/mavlink.c
+++ b/src/modules/mavlink/mavlink.c
@@ -212,6 +212,9 @@ get_mavlink_mode_and_state(uint8_t *mavlink_state, uint8_t *mavlink_base_mode, u
 		if (v_status.main_state == MAIN_STATE_MANUAL) {
 			*mavlink_base_mode |= MAV_MODE_FLAG_MANUAL_INPUT_ENABLED | (v_status.is_rotary_wing ? MAV_MODE_FLAG_STABILIZE_ENABLED : 0);
 			custom_mode.main_mode = PX4_CUSTOM_MAIN_MODE_MANUAL;
+		} else if (v_status.main_state == MAIN_STATE_ACRO) {
+			*mavlink_base_mode |= MAV_MODE_FLAG_MANUAL_INPUT_ENABLED | MAV_MODE_FLAG_STABILIZE_ENABLED;
+			custom_mode.main_mode = PX4_CUSTOM_MAIN_MODE_ACRO;
 		} else if (v_status.main_state == MAIN_STATE_SEATBELT) {
 			*mavlink_base_mode |= MAV_MODE_FLAG_MANUAL_INPUT_ENABLED | MAV_MODE_FLAG_STABILIZE_ENABLED;
 			custom_mode.main_mode = PX4_CUSTOM_MAIN_MODE_SEATBELT;