diff --git a/msg/CMakeLists.txt b/msg/CMakeLists.txt
index 60b240d127..f808105ab3 100644
--- a/msg/CMakeLists.txt
+++ b/msg/CMakeLists.txt
@@ -131,6 +131,7 @@ set(msg_files
 	vehicle_acceleration.msg
 	vehicle_air_data.msg
 	vehicle_angular_acceleration.msg
+	vehicle_angular_acceleration_setpoint.msg
 	vehicle_angular_velocity.msg
 	vehicle_attitude.msg
 	vehicle_attitude_setpoint.msg
@@ -149,6 +150,8 @@ set(msg_files
 	vehicle_roi.msg
 	vehicle_status.msg
 	vehicle_status_flags.msg
+	vehicle_thrust_setpoint.msg
+	vehicle_torque_setpoint.msg
 	vehicle_trajectory_waypoint.msg
 	vtol_vehicle_status.msg
 	wheel_encoders.msg
diff --git a/msg/tools/uorb_rtps_message_ids.yaml b/msg/tools/uorb_rtps_message_ids.yaml
index 91164ca810..3c333d9700 100644
--- a/msg/tools/uorb_rtps_message_ids.yaml
+++ b/msg/tools/uorb_rtps_message_ids.yaml
@@ -265,6 +265,14 @@ rtps:
     id: 116
   - msg: cellular_status
     id: 117
+  - msg: vehicle_angular_acceleration
+    id: 118
+  - msg: vehicle_angular_acceleration_setpoint
+    id: 119
+  - msg: vehicle_torque_setpoint
+    id: 120
+  - msg: vehicle_thrust_setpoint
+    id: 121
   ########## multi topics: begin ##########
   - msg: actuator_controls_0
     id: 150
diff --git a/msg/vehicle_angular_acceleration_setpoint.msg b/msg/vehicle_angular_acceleration_setpoint.msg
new file mode 100644
index 0000000000..69f5b0bae3
--- /dev/null
+++ b/msg/vehicle_angular_acceleration_setpoint.msg
@@ -0,0 +1,5 @@
+
+uint64 timestamp	# time since system start (microseconds)
+uint64 timestamp_sample # timestamp of the data sample on which this message is based (microseconds)
+
+float32[3] xyz		# angular acceleration about X, Y, Z body axis in rad/s^2
diff --git a/msg/vehicle_thrust_setpoint.msg b/msg/vehicle_thrust_setpoint.msg
new file mode 100644
index 0000000000..c84bd87a08
--- /dev/null
+++ b/msg/vehicle_thrust_setpoint.msg
@@ -0,0 +1,5 @@
+
+uint64 timestamp	# time since system start (microseconds)
+uint64 timestamp_sample # timestamp of the data sample on which this message is based (microseconds)
+
+float32[3] xyz		# thrust setpoint along X, Y, Z body axis (in N)
diff --git a/msg/vehicle_torque_setpoint.msg b/msg/vehicle_torque_setpoint.msg
new file mode 100644
index 0000000000..83b733dd83
--- /dev/null
+++ b/msg/vehicle_torque_setpoint.msg
@@ -0,0 +1,5 @@
+
+uint64 timestamp	# time since system start (microseconds)
+uint64 timestamp_sample # timestamp of the data sample on which this message is based (microseconds)
+
+float32[3] xyz		# torque setpoint about X, Y, Z body axis (in N.m)