diff --git a/msg/CMakeLists.txt b/msg/CMakeLists.txt
index 3bee66456a..7f15a87295 100644
--- a/msg/CMakeLists.txt
+++ b/msg/CMakeLists.txt
@@ -171,6 +171,7 @@ set(msg_files
 	vehicle_attitude_setpoint.msg
 	vehicle_command.msg
 	vehicle_command_ack.msg
+	vehicle_command_cancel.msg
 	vehicle_constraints.msg
 	vehicle_control_mode.msg
 	vehicle_global_position.msg
diff --git a/msg/vehicle_command_cancel.msg b/msg/vehicle_command_cancel.msg
new file mode 100644
index 0000000000..183e2822fa
--- /dev/null
+++ b/msg/vehicle_command_cancel.msg
@@ -0,0 +1,7 @@
+uint64 timestamp		# time since system start (microseconds)
+
+uint8 ORB_QUEUE_LENGTH = 3
+
+uint16 command
+uint8 target_system
+uint8 target_component