diff --git a/CMakeLists.txt b/CMakeLists.txt
index 610284abee..636cc07e34 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -47,7 +47,9 @@ find_package(catkin REQUIRED COMPONENTS
 ## Generate messages in the 'msg' folder
 add_message_files(
   FILES
-  rc_channels.msg
+  px4_msgs/rc_channels.msg
+  px4_msgs/vehicle_attitude.msg
+  px4_msgs/rc_channels.msg
 )
 
 ## Generate services in the 'srv' folder
diff --git a/msg/px4_msgs/vehicle_attitude.msg b/msg/px4_msgs/vehicle_attitude.msg
new file mode 100644
index 0000000000..98018a1df0
--- /dev/null
+++ b/msg/px4_msgs/vehicle_attitude.msg
@@ -0,0 +1,18 @@
+# This is similar to the mavlink message ATTITUDE, but for onboard use */
+uint64 timestamp	# in microseconds since system start
+# @warning roll, pitch and yaw have always to be valid, the rotation matrix and quaternion are optional
+float32 roll		# Roll angle (rad, Tait-Bryan, NED)
+float32 pitch		# Pitch angle (rad, Tait-Bryan, NED)
+float32 yaw		# Yaw angle (rad, Tait-Bryan, NED)
+float32 rollspeed	# Roll angular speed (rad/s, Tait-Bryan, NED)
+float32 pitchspeed	# Pitch angular speed (rad/s, Tait-Bryan, NED)
+float32 yawspeed	# Yaw angular speed (rad/s, Tait-Bryan, NED)
+float32 rollacc		# Roll angular accelration (rad/s, Tait-Bryan, NED)
+float32 pitchacc	# Pitch angular acceleration (rad/s, Tait-Bryan, NED)
+float32 yawacc		# Yaw angular acceleration (rad/s, Tait-Bryan, NED)
+float32[3] rate_offsets	# Offsets of the body angular rates from zero
+float32[9] R		# Rotation matrix, body to world, (Tait-Bryan, NED)
+float32[4] q		# Quaternion (NED)
+float32[3] g_comp		# Compensated gravity vector
+bool R_valid		# Rotation matrix valid
+bool q_valid		# Quaternion valid