diff --git a/src/modules/vtol_att_control/vtol_att_control_main.cpp b/src/modules/vtol_att_control/vtol_att_control_main.cpp
index 4e65aec2c1..b1b5fded3a 100644
--- a/src/modules/vtol_att_control/vtol_att_control_main.cpp
+++ b/src/modules/vtol_att_control/vtol_att_control_main.cpp
@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (c) 2013, 2014 PX4 Development Team. All rights reserved.
+ *   Copyright (c) 2013 - 2017 PX4 Development Team. All rights reserved.
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions
@@ -88,6 +88,7 @@ VtolAttitudeControl::VtolAttitudeControl() :
 	_vtol_vehicle_status_pub(nullptr),
 	_v_rates_sp_pub(nullptr),
 	_v_att_sp_pub(nullptr),
+	_v_cmd_ack_pub(nullptr),
 	_transition_command(vtol_vehicle_status_s::VEHICLE_VTOL_STATE_MC),
 	_abort_front_transition(false)
 
@@ -483,6 +484,31 @@ VtolAttitudeControl::handle_command()
 	// update transition command if necessary
 	if (_vehicle_cmd.command == vehicle_command_s::VEHICLE_CMD_DO_VTOL_TRANSITION) {
 		_transition_command = int(_vehicle_cmd.param1 + 0.5f);
+
+		// Report that we have received the command no matter what we actually do with it.
+		// This might not be optimal but is better than no response at all.
+
+		if (_vehicle_cmd.from_external) {
+			vehicle_command_ack_s command_ack = {
+				.timestamp = hrt_absolute_time(),
+				.result_param2 = 0,
+				.command = _vehicle_cmd.command,
+				.result = (uint8_t)vehicle_command_ack_s::VEHICLE_RESULT_ACCEPTED,
+				.from_external = false,
+				.result_param1 = 0,
+				.target_system = _vehicle_cmd.source_system,
+				.target_component = _vehicle_cmd.source_component
+			};
+
+			if (_v_cmd_ack_pub == nullptr) {
+				_v_cmd_ack_pub = orb_advertise_queue(ORB_ID(vehicle_command_ack), &command_ack,
+								     vehicle_command_ack_s::ORB_QUEUE_LENGTH);
+
+			} else {
+				orb_publish(ORB_ID(vehicle_command_ack), _v_cmd_ack_pub, &command_ack);
+
+			}
+		}
 	}
 }
 
diff --git a/src/modules/vtol_att_control/vtol_att_control_main.h b/src/modules/vtol_att_control/vtol_att_control_main.h
index 8a34aca282..80c16eeb02 100644
--- a/src/modules/vtol_att_control/vtol_att_control_main.h
+++ b/src/modules/vtol_att_control/vtol_att_control_main.h
@@ -72,6 +72,7 @@
 #include <uORB/topics/vehicle_attitude.h>
 #include <uORB/topics/vehicle_attitude_setpoint.h>
 #include <uORB/topics/vehicle_command.h>
+#include <uORB/topics/vehicle_command_ack.h>
 #include <uORB/topics/vehicle_control_mode.h>
 #include <uORB/topics/vehicle_land_detected.h>
 #include <uORB/topics/vehicle_local_position.h>
@@ -159,6 +160,7 @@ private:
 	orb_advert_t	_vtol_vehicle_status_pub;
 	orb_advert_t	_v_rates_sp_pub;
 	orb_advert_t	_v_att_sp_pub;
+	orb_advert_t	_v_cmd_ack_pub;
 
 //*******************data containers***********************************************************
 	struct vehicle_attitude_s			_v_att;				//vehicle attitude