diff --git a/src/modules/mavlink/mavlink_main.cpp b/src/modules/mavlink/mavlink_main.cpp
index a6c701b178..903c09f645 100644
--- a/src/modules/mavlink/mavlink_main.cpp
+++ b/src/modules/mavlink/mavlink_main.cpp
@@ -1287,6 +1287,8 @@ void Mavlink::send_autopilot_capabilites()
 		msg.capabilities |= MAV_PROTOCOL_CAPABILITY_SET_POSITION_TARGET_LOCAL_NED;
 		msg.capabilities |= MAV_PROTOCOL_CAPABILITY_SET_ACTUATOR_TARGET;
 		msg.capabilities |= MAV_PROTOCOL_CAPABILITY_MAVLINK2;
+		msg.capabilities |= MAV_PROTOCOL_CAPABILITY_MISSION_FENCE;
+		msg.capabilities |= MAV_PROTOCOL_CAPABILITY_MISSION_RALLY;
 		msg.flight_sw_version = px4_firmware_version();
 		msg.middleware_sw_version = px4_firmware_version();
 		msg.os_sw_version = px4_os_version();