diff --git a/msg/fw_virtual_rates_setpoint.msg b/msg/fw_virtual_rates_setpoint.msg
new file mode 100644
index 0000000000..834113c798
--- /dev/null
+++ b/msg/fw_virtual_rates_setpoint.msg
@@ -0,0 +1,6 @@
+uint64 timestamp    # in microseconds since system start
+
+float32 roll	    # body angular rates in NED frame
+float32 pitch	    # body angular rates in NED frame
+float32 yaw	    # body angular rates in NED frame
+float32 thrust	    # thrust normalized to 0..1