diff --git a/msg/vehicle_command.msg b/msg/vehicle_command.msg
index 9d47ebaf7d..ae311f1663 100644
--- a/msg/vehicle_command.msg
+++ b/msg/vehicle_command.msg
@@ -75,6 +75,7 @@ uint16 VEHICLE_CMD_MISSION_START = 300			# start running a mission |first_item:
 uint16 VEHICLE_CMD_ACTUATOR_TEST = 310			# Actuator testing command|value [-1,1]|timeout [s]|Empty|Empty|output function|
 uint16 VEHICLE_CMD_CONFIGURE_ACTUATOR = 311		# Actuator configuration command|configuration|Empty|Empty|Empty|output function|
 uint16 VEHICLE_CMD_COMPONENT_ARM_DISARM = 400		# Arms / Disarms a component |1 to arm, 0 to disarm
+uint16 VEHICLE_CMD_RUN_PREARM_CHECKS = 401      	# Instructs a target system to run pre-arm checks.
 uint16 VEHICLE_CMD_INJECT_FAILURE = 420			# Inject artificial failure for testing purposes
 uint16 VEHICLE_CMD_START_RX_PAIR = 500			# Starts receiver pairing |0:Spektrum| 0:Spektrum DSM2, 1:Spektrum DSMX|
 uint16 VEHICLE_CMD_REQUEST_MESSAGE = 512    		# Request to send a single instance of the specified message
diff --git a/src/modules/commander/Commander.cpp b/src/modules/commander/Commander.cpp
index 41089463e3..faf887c826 100644
--- a/src/modules/commander/Commander.cpp
+++ b/src/modules/commander/Commander.cpp
@@ -1584,6 +1584,11 @@ Commander::handle_command(const vehicle_command_s &cmd)
 			break;
 		}
 
+	case vehicle_command_s::VEHICLE_CMD_RUN_PREARM_CHECKS:
+		_health_and_arming_checks.update(true);
+		answer_command(cmd, vehicle_command_ack_s::VEHICLE_CMD_RESULT_ACCEPTED);
+		break;
+
 	case vehicle_command_s::VEHICLE_CMD_START_RX_PAIR:
 	case vehicle_command_s::VEHICLE_CMD_CUSTOM_0:
 	case vehicle_command_s::VEHICLE_CMD_CUSTOM_1: