diff --git a/msg/CMakeLists.txt b/msg/CMakeLists.txt
index 0110445f4c..569e810aea 100644
--- a/msg/CMakeLists.txt
+++ b/msg/CMakeLists.txt
@@ -128,6 +128,7 @@ set(msg_files
 	vehicle_magnetometer.msg
 	vehicle_rates_setpoint.msg
 	vehicle_roi.msg
+	vehicle_trajectory_waypoint.msg
 	vehicle_status.msg
 	vehicle_status_flags.msg
 	vtol_vehicle_status.msg
diff --git a/msg/vehicle_trajectory_waypoint.msg b/msg/vehicle_trajectory_waypoint.msg
new file mode 100644
index 0000000000..fe712a11ca
--- /dev/null
+++ b/msg/vehicle_trajectory_waypoint.msg
@@ -0,0 +1,19 @@
+# Vehicle Waypoints Trajectory description. See also Mavlink TRAJECTORY msg
+# The topic vehicle_trajectory_waypoint_desired is used to send the user desired waypoints from the position controller to the companion computer / avoidance module.
+# The topic vehicle_trajectory_waypoint is used to send the adjusted waypoints from the companion computer / avoidance module to the position controller.
+
+uint8 MAV_TRAJECTORY_REPRESENTATION_WAYPOINTS = 0
+
+uint8 type # Type from MAV_TRAJECTORY_REPRESENTATION enum.
+
+uint8 POINT_0 = 0
+uint8 POINT_1 = 1
+uint8 POINT_2 = 2
+uint8 POINT_3 = 3
+uint8 POINT_4 = 4
+
+uint8 NUMBER_POINTS = 5
+
+trajectory_waypoint[5] waypoints
+
+# TOPICS vehicle_trajectory_waypoint vehicle_trajectory_waypoint_desired
\ No newline at end of file