diff --git a/src/modules/mavlink/mavlink b/src/modules/mavlink/mavlink
index 1ba67b3c9c..c6c61a8936 160000
--- a/src/modules/mavlink/mavlink
+++ b/src/modules/mavlink/mavlink
@@ -1 +1 @@
-Subproject commit 1ba67b3c9c46f56a644e6f4e8a4c359172ed14bc
+Subproject commit c6c61a8936c5a336eb460edb30e2b9e46c09be8c
diff --git a/src/modules/mavlink/mavlink_main.cpp b/src/modules/mavlink/mavlink_main.cpp
index 2003189297..f5050fca1c 100644
--- a/src/modules/mavlink/mavlink_main.cpp
+++ b/src/modules/mavlink/mavlink_main.cpp
@@ -1123,6 +1123,18 @@ Mavlink::send_autopilot_capabilities()
 		board_get_uuid32(uid);
 		msg.uid = (((uint64_t)uid[PX4_CPU_UUID_WORD32_UNIQUE_M]) << 32) | uid[PX4_CPU_UUID_WORD32_UNIQUE_H];
 
+#if defined(GET_HW_BASE_ID)
+		msg.base_id = GET_HW_BASE_ID();
+#else
+		msg.base_id = 0;
+#endif
+
+#if defined(GET_HW_FMUM_ID)
+		msg.fmu_id = GET_HW_FMUM_ID();
+#else
+		msg.fmu_id = 0;
+#endif
+
 #ifndef BOARD_HAS_NO_UUID
 		px4_guid_t px4_guid;
 		board_get_px4_guid(px4_guid);