diff --git a/msg/CMakeLists.txt b/msg/CMakeLists.txt
index 1e791b57ab..4091d2b718 100644
--- a/msg/CMakeLists.txt
+++ b/msg/CMakeLists.txt
@@ -77,6 +77,7 @@ set(msg_files
 	offboard_control_mode.msg
 	optical_flow.msg
 	parameter_update.msg
+	ping.msg
 	position_setpoint.msg
 	position_setpoint_triplet.msg
 	power_button_state.msg
diff --git a/msg/ping.msg b/msg/ping.msg
new file mode 100644
index 0000000000..c839e2bb3a
--- /dev/null
+++ b/msg/ping.msg
@@ -0,0 +1,6 @@
+uint64 ping_time			# Timestamp of the ping packet
+uint32 ping_sequence		# Sequence number of the ping packet
+uint32 dropped_packets		# Number of dropped ping packets
+float32 rtt_ms				# Round trip time (in ms)
+uint8 system_id				# System ID of the remote system
+uint8 component_id			# Component ID of the remote system