diff --git a/msg/CMakeLists.txt b/msg/CMakeLists.txt
index 0542639650..d154039e41 100644
--- a/msg/CMakeLists.txt
+++ b/msg/CMakeLists.txt
@@ -80,6 +80,7 @@ set(msg_files
 	multirotor_motor_limits.msg
 	obstacle_distance.msg
 	offboard_control_mode.msg
+	onboard_computer_status.msg
 	optical_flow.msg
 	orbit_status.msg
 	parameter_update.msg
diff --git a/msg/onboard_computer_status.msg b/msg/onboard_computer_status.msg
new file mode 100644
index 0000000000..5e429d42f8
--- /dev/null
+++ b/msg/onboard_computer_status.msg
@@ -0,0 +1,22 @@
+uint64 timestamp # time since system start (microseconds)
+uint32 uptime	 # time since system boot  (miliseconds)
+
+uint8 type	 # type of onboard computer
+
+uint8[8] cpu_cores
+uint8 cpu_combined
+uint8[4] gpu_cores
+uint8[10] gpu_combined
+int8 temperature_board
+int8 tempearture_core
+int16 fan_speed
+uint32 ram_usage
+uint32 ram_total
+uint32[4] storage_type
+uint32[4] storage_usage
+uint32[4] storage_total
+uint32 link_type
+uint32 link_tx_rate
+uint32 link_rx_rate
+uint32 link_tx_max
+uint32 link_rx_max
diff --git a/src/modules/mavlink/mavlink_receiver.cpp b/src/modules/mavlink/mavlink_receiver.cpp
index 953ea4066e..442e28f04f 100644
--- a/src/modules/mavlink/mavlink_receiver.cpp
+++ b/src/modules/mavlink/mavlink_receiver.cpp
@@ -2545,6 +2545,9 @@ MavlinkReceiver::handle_message_onboard_computer_status(mavlink_message_t *msg)
 	mavlink_onboard_computer_status_t status_msg;
 	mavlink_msg_onboard_computer_status_decode(msg, &status_msg);
 
+	onboard_computer_status_s onboard_computer_status_topic{};
+
+	_onboard_computer_status_pub.publish(onboard_computer_status_topic);
 }
 
 /**
diff --git a/src/modules/mavlink/mavlink_receiver.h b/src/modules/mavlink/mavlink_receiver.h
index 1d39f5a63b..f826883051 100644
--- a/src/modules/mavlink/mavlink_receiver.h
+++ b/src/modules/mavlink/mavlink_receiver.h
@@ -71,6 +71,7 @@
 #include <uORB/topics/manual_control_setpoint.h>
 #include <uORB/topics/obstacle_distance.h>
 #include <uORB/topics/offboard_control_mode.h>
+#include <uORB/topics/onboard_computer_status.h>
 #include <uORB/topics/optical_flow.h>
 #include <uORB/topics/ping.h>
 #include <uORB/topics/position_setpoint_triplet.h>
@@ -228,6 +229,7 @@ private:
 	uORB::Publication<landing_target_pose_s>		_landing_target_pose_pub{ORB_ID(landing_target_pose)};
 	uORB::Publication<obstacle_distance_s>			_obstacle_distance_pub{ORB_ID(obstacle_distance)};
 	uORB::Publication<offboard_control_mode_s>		_offboard_control_mode_pub{ORB_ID(offboard_control_mode)};
+	uORB::Publication<onboard_computer_status_s>		_onboard_computer_status_pub{ORB_ID(onboard_computer_status)};
 	uORB::Publication<optical_flow_s>			_flow_pub{ORB_ID(optical_flow)};
 	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)};