diff --git a/ROMFS/px4fmu_common/init.d/rc.vtol_defaults b/ROMFS/px4fmu_common/init.d/rc.vtol_defaults
index 425d10c378..5440ee5a70 100644
--- a/ROMFS/px4fmu_common/init.d/rc.vtol_defaults
+++ b/ROMFS/px4fmu_common/init.d/rc.vtol_defaults
@@ -7,7 +7,7 @@
 
 set VEHICLE_TYPE vtol
 
-# MAV_TYPE_VTOL_RESERVED2 22
+# MAV_TYPE_VTOL_FIXEDROTOR 22
 param set-default MAV_TYPE 22
 
 param set-default MIS_TAKEOFF_ALT 20
diff --git a/src/modules/commander/commander_helper.cpp b/src/modules/commander/commander_helper.cpp
index a574b6a716..eb4a5a125c 100644
--- a/src/modules/commander/commander_helper.cpp
+++ b/src/modules/commander/commander_helper.cpp
@@ -74,10 +74,11 @@
 #define VEHICLE_TYPE_HEXAROTOR 13
 #define VEHICLE_TYPE_OCTOROTOR 14
 #define VEHICLE_TYPE_TRICOPTER 15
-#define VEHICLE_TYPE_VTOL_DUOROTOR 19
-#define VEHICLE_TYPE_VTOL_QUADROTOR 20
+#define VEHICLE_TYPE_VTOL_TAILSITTER_DUOROTOR 19
+#define VEHICLE_TYPE_VTOL_TAILSITTER_QUADROTOR 20
 #define VEHICLE_TYPE_VTOL_TILTROTOR 21
-#define VEHICLE_TYPE_VTOL_RESERVED2 22 // VTOL standard
+#define VEHICLE_TYPE_VTOL_FIXEDROTOR 22 // VTOL standard
+#define VEHICLE_TYPE_VTOL_TAILSITTER 23
 
 #define BLINK_MSG_TIME	700000	// 3 fast blinks (in us)
 
@@ -91,22 +92,25 @@ bool is_multirotor(const vehicle_status_s &current_status)
 
 bool is_rotary_wing(const vehicle_status_s &current_status)
 {
-	return is_multirotor(current_status) || (current_status.system_type == VEHICLE_TYPE_HELICOPTER)
+	return is_multirotor(current_status)
+	       || (current_status.system_type == VEHICLE_TYPE_HELICOPTER)
 	       || (current_status.system_type == VEHICLE_TYPE_COAXIAL);
 }
 
 bool is_vtol(const vehicle_status_s &current_status)
 {
-	return (current_status.system_type == VEHICLE_TYPE_VTOL_DUOROTOR ||
-		current_status.system_type == VEHICLE_TYPE_VTOL_QUADROTOR ||
+	return (current_status.system_type == VEHICLE_TYPE_VTOL_TAILSITTER_DUOROTOR ||
+		current_status.system_type == VEHICLE_TYPE_VTOL_TAILSITTER_QUADROTOR ||
 		current_status.system_type == VEHICLE_TYPE_VTOL_TILTROTOR ||
-		current_status.system_type == VEHICLE_TYPE_VTOL_RESERVED2);
+		current_status.system_type == VEHICLE_TYPE_VTOL_FIXEDROTOR ||
+		current_status.system_type == VEHICLE_TYPE_VTOL_TAILSITTER);
 }
 
 bool is_vtol_tailsitter(const vehicle_status_s &current_status)
 {
-	return (current_status.system_type == VEHICLE_TYPE_VTOL_DUOROTOR ||
-		current_status.system_type == VEHICLE_TYPE_VTOL_QUADROTOR);
+	return (current_status.system_type == VEHICLE_TYPE_VTOL_TAILSITTER_DUOROTOR ||
+		current_status.system_type == VEHICLE_TYPE_VTOL_TAILSITTER_QUADROTOR ||
+		current_status.system_type == VEHICLE_TYPE_VTOL_TAILSITTER);
 }
 
 bool is_fixed_wing(const vehicle_status_s &current_status)
diff --git a/src/modules/mavlink/mavlink b/src/modules/mavlink/mavlink
index b568a60fca..0133e5db7f 160000
--- a/src/modules/mavlink/mavlink
+++ b/src/modules/mavlink/mavlink
@@ -1 +1 @@
-Subproject commit b568a60fca42599d9998434e606f6e38e0b5e298
+Subproject commit 0133e5db7fd640dcf250f3ba7817d6f0f7bb7589
diff --git a/src/modules/mavlink/mavlink_params.c b/src/modules/mavlink/mavlink_params.c
index aa9a5e8404..59078c9525 100644
--- a/src/modules/mavlink/mavlink_params.c
+++ b/src/modules/mavlink/mavlink_params.c
@@ -90,10 +90,11 @@ PARAM_DEFINE_INT32(MAV_SIK_RADIO_ID, 0);
  * @value 13 Hexarotor
  * @value 14 Octorotor
  * @value 15 Tricopter
- * @value 19 VTOL Tailsitter Duo
- * @value 20 VTOL Tailsitter Quad
+ * @value 19 VTOL Two-rotor Tailsitter
+ * @value 20 VTOL Quad-rotor Tailsitter
  * @value 21 VTOL Tiltrotor
- * @value 22 VTOL Standard (quadplane)
+ * @value 22 VTOL Standard (separate fixed rotors for hover and cruise flight)
+ * @value 23 VTOL Tailsitter
  * @group MAVLink
  */
 PARAM_DEFINE_INT32(MAV_TYPE, 0);
diff --git a/src/modules/mavlink/mavlink_receiver.cpp b/src/modules/mavlink/mavlink_receiver.cpp
index 28e0b96766..d3c4a8fc47 100644
--- a/src/modules/mavlink/mavlink_receiver.cpp
+++ b/src/modules/mavlink/mavlink_receiver.cpp
@@ -1513,11 +1513,11 @@ void MavlinkReceiver::fill_thrust(float *thrust_body_array, uint8_t vehicle_type
 		thrust_body_array[0] = thrust;
 		break;
 
-	case MAV_TYPE_VTOL_DUOROTOR:
-	case MAV_TYPE_VTOL_QUADROTOR:
+	case MAV_TYPE_VTOL_TAILSITTER_DUOROTOR:
+	case MAV_TYPE_VTOL_TAILSITTER_QUADROTOR:
 	case MAV_TYPE_VTOL_TILTROTOR:
-	case MAV_TYPE_VTOL_RESERVED2:
-	case MAV_TYPE_VTOL_RESERVED3:
+	case MAV_TYPE_VTOL_FIXEDROTOR:
+	case MAV_TYPE_VTOL_TAILSITTER:
 	case MAV_TYPE_VTOL_RESERVED4:
 	case MAV_TYPE_VTOL_RESERVED5:
 		switch (vehicle_type) {
diff --git a/src/modules/mavlink/streams/HIL_ACTUATOR_CONTROLS.hpp b/src/modules/mavlink/streams/HIL_ACTUATOR_CONTROLS.hpp
index d5cf88afd5..b528920b2f 100644
--- a/src/modules/mavlink/streams/HIL_ACTUATOR_CONTROLS.hpp
+++ b/src/modules/mavlink/streams/HIL_ACTUATOR_CONTROLS.hpp
@@ -93,9 +93,9 @@ private:
 				if (system_type == MAV_TYPE_QUADROTOR ||
 				    system_type == MAV_TYPE_HEXAROTOR ||
 				    system_type == MAV_TYPE_OCTOROTOR ||
-				    system_type == MAV_TYPE_VTOL_DUOROTOR ||
-				    system_type == MAV_TYPE_VTOL_QUADROTOR ||
-				    system_type == MAV_TYPE_VTOL_RESERVED2) {
+				    system_type == MAV_TYPE_VTOL_TAILSITTER_DUOROTOR ||
+				    system_type == MAV_TYPE_VTOL_TAILSITTER_QUADROTOR ||
+				    system_type == MAV_TYPE_VTOL_FIXEDROTOR) {
 
 					/* multirotors: set number of rotor outputs depending on type */
 
@@ -110,15 +110,15 @@ private:
 						n = 6;
 						break;
 
-					case MAV_TYPE_VTOL_DUOROTOR:
+					case MAV_TYPE_VTOL_TAILSITTER_DUOROTOR:
 						n = 2;
 						break;
 
-					case MAV_TYPE_VTOL_QUADROTOR:
+					case MAV_TYPE_VTOL_TAILSITTER_QUADROTOR:
 						n = 4;
 						break;
 
-					case MAV_TYPE_VTOL_RESERVED2:
+					case MAV_TYPE_VTOL_FIXEDROTOR:
 						n = 8;
 						break;
 
diff --git a/src/modules/simulator/simulator_mavlink.cpp b/src/modules/simulator/simulator_mavlink.cpp
index 83f1ff9a39..2e2ea3c69b 100644
--- a/src/modules/simulator/simulator_mavlink.cpp
+++ b/src/modules/simulator/simulator_mavlink.cpp
@@ -114,7 +114,7 @@ void Simulator::actuator_controls_from_outputs(mavlink_hil_actuator_controls_t *
 
 		switch (_system_type) {
 		case MAV_TYPE_AIRSHIP:
-		case MAV_TYPE_VTOL_DUOROTOR:
+		case MAV_TYPE_VTOL_TAILSITTER_DUOROTOR:
 		case MAV_TYPE_COAXIAL:
 			pos_thrust_motors_count = 2;
 			is_fixed_wing = false;
@@ -126,13 +126,13 @@ void Simulator::actuator_controls_from_outputs(mavlink_hil_actuator_controls_t *
 			break;
 
 		case MAV_TYPE_QUADROTOR:
-		case MAV_TYPE_VTOL_QUADROTOR:
+		case MAV_TYPE_VTOL_TAILSITTER_QUADROTOR:
 		case MAV_TYPE_VTOL_TILTROTOR:
 			pos_thrust_motors_count = 4;
 			is_fixed_wing = false;
 			break;
 
-		case MAV_TYPE_VTOL_RESERVED2:
+		case MAV_TYPE_VTOL_FIXEDROTOR:
 			pos_thrust_motors_count = 5;
 			is_fixed_wing = false;
 			break;
@@ -142,7 +142,7 @@ void Simulator::actuator_controls_from_outputs(mavlink_hil_actuator_controls_t *
 			is_fixed_wing = false;
 			break;
 
-		case MAV_TYPE_VTOL_RESERVED3:
+		case MAV_TYPE_VTOL_TAILSITTER:
 			// this is the tricopter VTOL / quad plane with 3 motors and 2 servos
 			pos_thrust_motors_count = 3;
 			is_fixed_wing = false;