diff --git a/src/modules/mavlink/mavlink_main.cpp b/src/modules/mavlink/mavlink_main.cpp
index 8043fa84be..4378e05acf 100644
--- a/src/modules/mavlink/mavlink_main.cpp
+++ b/src/modules/mavlink/mavlink_main.cpp
@@ -1654,6 +1654,7 @@ Mavlink::task_main(int argc, char *argv[])
 		configure_stream("ATTITUDE_TARGET", 8.0f);
 		configure_stream("DISTANCE_SENSOR", 0.5f);
 		configure_stream("OPTICAL_FLOW_RAD", 5.0f);
+		configure_stream("VTOL_STATE", 0.5f);
 		break;
 
 	case MAVLINK_MODE_ONBOARD:
@@ -1676,6 +1677,7 @@ Mavlink::task_main(int argc, char *argv[])
 		configure_stream("ACTUATOR_CONTROL_TARGET0", 10.0f);
 		/* camera trigger is rate limited at the source, do not limit here */
 		configure_stream("CAMERA_TRIGGER", 500.0f);
+		configure_stream("VTOL_STATE", 2.0f);
 		break;
 
 	case MAVLINK_MODE_OSD:
@@ -1688,6 +1690,7 @@ Mavlink::task_main(int argc, char *argv[])
 		configure_stream("BATTERY_STATUS", 1.0f);
 		configure_stream("SYSTEM_TIME", 1.0f);
 		configure_stream("RC_CHANNELS", 5.0f);
+		configure_stream("VTOL_STATE", 0.5f);
 		break;
 
 	default:
diff --git a/src/modules/mavlink/mavlink_messages.cpp b/src/modules/mavlink/mavlink_messages.cpp
index 007e1ebb9b..9360ec23bf 100644
--- a/src/modules/mavlink/mavlink_messages.cpp
+++ b/src/modules/mavlink/mavlink_messages.cpp
@@ -2450,5 +2450,6 @@ const StreamListItem *streams_list[] = {
 	new StreamListItem(&MavlinkStreamCameraCapture::new_instance, &MavlinkStreamCameraCapture::get_name_static),
 	new StreamListItem(&MavlinkStreamCameraTrigger::new_instance, &MavlinkStreamCameraTrigger::get_name_static),
 	new StreamListItem(&MavlinkStreamDistanceSensor::new_instance, &MavlinkStreamDistanceSensor::get_name_static),
+	new StreamListItem(&MavlinkStreamVtolState::new_instance, &MavlinkStreamVtolState::get_name_static),
 	nullptr
 };