diff --git a/msg/CMakeLists.txt b/msg/CMakeLists.txt
index e48e01ecfa..56e5523fbb 100644
--- a/msg/CMakeLists.txt
+++ b/msg/CMakeLists.txt
@@ -210,6 +210,7 @@ set(msg_files
 	TelemetryStatus.msg
 	TiltrotorExtraControls.msg
 	TimesyncStatus.msg
+	TrajectorySetpoint6dof.msg
 	TransponderReport.msg
 	TuneControl.msg
 	UavcanParameterRequest.msg
diff --git a/msg/TrajectorySetpoint6dof.msg b/msg/TrajectorySetpoint6dof.msg
new file mode 100644
index 0000000000..4374d1685e
--- /dev/null
+++ b/msg/TrajectorySetpoint6dof.msg
@@ -0,0 +1,13 @@
+# Trajectory setpoint in NED frame
+# Input to position controller.
+
+uint64 timestamp # time since system start (microseconds)
+
+# NED local world frame
+float32[3] position               # in meters
+float32[3] velocity               # in meters/second
+float32[3] acceleration           # in meters/second^2
+float32[3] jerk                   # in meters/second^3 (for logging only)
+
+float32[4] quaternion             # unit quaternion
+float32[3] angular_velocity       # angular velocity in radians/second