diff --git a/CMakeLists.txt b/CMakeLists.txt
index 4e91fb3bee..c3e8943886 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -77,6 +77,7 @@ add_message_files(
   vehicle_local_position_setpoint.msg
   vehicle_global_velocity_setpoint.msg
   offboard_control_mode.msg
+  vehicle_force_setpoint.msg
 )
 
 ## Generate services in the 'srv' folder
diff --git a/msg/vehicle_force_setpoint.msg b/msg/vehicle_force_setpoint.msg
new file mode 100644
index 0000000000..9e2322005d
--- /dev/null
+++ b/msg/vehicle_force_setpoint.msg
@@ -0,0 +1,8 @@
+# Definition of force (NED) setpoint uORB topic. Typically this can be used
+# by a position control app together with an attitude control app.
+
+
+float32 x		# in N NED
+float32 y		# in N NED
+float32 z		# in N NED
+float32 yaw		# right-hand rotation around downward axis (rad, equivalent to Tait-Bryan yaw)
diff --git a/src/platforms/px4_includes.h b/src/platforms/px4_includes.h
index 364a5f31b9..0e98783fda 100644
--- a/src/platforms/px4_includes.h
+++ b/src/platforms/px4_includes.h
@@ -67,6 +67,7 @@
 #include <px4_vehicle_local_position.h>
 #include <px4_position_setpoint_triplet.h>
 #include <px4_offboard_control_mode.h>
+#include <px4_vehicle_force_setpoint.h>
 #endif
 
 #else
@@ -95,6 +96,7 @@
 #include <platforms/nuttx/px4_messages/px4_vehicle_local_position.h>
 #include <platforms/nuttx/px4_messages/px4_position_setpoint_triplet.h>
 #include <platforms/nuttx/px4_messages/px4_offboard_control_mode.h>
+#include <platforms/nuttx/px4_messages/px4_vehicle_force_setpoint.h>
 #endif
 #include <systemlib/err.h>
 #include <systemlib/param/param.h>