diff --git a/src/modules/mavlink/mavlink_receiver.cpp b/src/modules/mavlink/mavlink_receiver.cpp
index 4b8ac66105..f9eea363e8 100644
--- a/src/modules/mavlink/mavlink_receiver.cpp
+++ b/src/modules/mavlink/mavlink_receiver.cpp
@@ -620,6 +620,20 @@ MavlinkReceiver::handle_message_command_ack(mavlink_message_t *msg)
 
 	MavlinkCommandSender::instance().handle_mavlink_command_ack(ack, msg->sysid, msg->compid);
 
+	vehicle_command_ack_s command_ack = {};
+	command_ack.command = ack.command;
+	command_ack.result = ack.result;
+	command_ack.timestamp = hrt_absolute_time();
+
+	if (_command_ack_pub == nullptr) {
+		_command_ack_pub = orb_advertise_queue(ORB_ID(vehicle_command_ack), &command_ack,
+						       vehicle_command_ack_s::ORB_QUEUE_LENGTH);
+
+	} else {
+		orb_publish(ORB_ID(vehicle_command_ack), _command_ack_pub, &command_ack);
+	}
+
+	// TODO: move it to the same place that sent the command
 	if (ack.result != MAV_RESULT_ACCEPTED && ack.result != MAV_RESULT_IN_PROGRESS) {
 		if (msg->compid == MAV_COMP_ID_CAMERA) {
 			PX4_WARN("Got unsuccessful result %d from camera", ack.result);