diff --git a/src/modules/mavlink/mavlink_mission.cpp b/src/modules/mavlink/mavlink_mission.cpp
index 073c5afcfc..26384d521e 100644
--- a/src/modules/mavlink/mavlink_mission.cpp
+++ b/src/modules/mavlink/mavlink_mission.cpp
@@ -856,15 +856,23 @@ MavlinkMissionManager::format_mavlink_mission_item(const struct mission_item_s *
 		break;
 
 	case NAV_CMD_DO_SET_SERVO:
+		mavlink_mission_item->frame = MAV_FRAME_MISSION;
 		mavlink_mission_item->param1 = mission_item->actuator_num;
 		mavlink_mission_item->param2 = mission_item->actuator_value;
 		break;
 
 	case NAV_CMD_DO_JUMP:
+		mavlink_mission_item->frame = MAV_FRAME_MISSION;
 		mavlink_mission_item->param1 = mission_item->do_jump_mission_index;
 		mavlink_mission_item->param2 = mission_item->do_jump_repeat_count - mission_item->do_jump_current_count;
 		break;
 
+	case NAV_CMD_DO_VTOL_TRANSITION:
+		mavlink_mission_item->frame = MAV_FRAME_MISSION;
+		mavlink_mission_item->param1 = mission_item->params[0];
+		break;
+
+
 	default:
 		mavlink_mission_item->param2 = mission_item->acceptance_radius;
 		mavlink_mission_item->param1 = mission_item->time_inside;
diff --git a/src/modules/navigator/navigation.h b/src/modules/navigator/navigation.h
index b768de5ac5..1539e63052 100644
--- a/src/modules/navigator/navigation.h
+++ b/src/modules/navigator/navigation.h
@@ -64,6 +64,7 @@ enum NAV_CMD {
 	NAV_CMD_DO_JUMP = 177,
 	NAV_CMD_DO_SET_SERVO=183,
 	NAV_CMD_DO_REPEAT_SERVO=184,
+	NAV_CMD_DO_VTOL_TRANSITION=3000,
 	NAV_CMD_INVALID=UINT16_MAX /* ensure that casting a large number results in a specific error */
 };