diff --git a/src/modules/mavlink/mavlink_receiver.cpp b/src/modules/mavlink/mavlink_receiver.cpp
index cb330bb9d8..b692010d0f 100644
--- a/src/modules/mavlink/mavlink_receiver.cpp
+++ b/src/modules/mavlink/mavlink_receiver.cpp
@@ -508,6 +508,7 @@ MavlinkReceiver::handle_message_command_long(mavlink_message_t *msg)
 	vcmd.param5 = (double)cmd_mavlink.param5;
 	vcmd.param6 = (double)cmd_mavlink.param6;
 	vcmd.param7 = cmd_mavlink.param7;
+	vcmd.frame = vehicle_command_s::FRAME_GLOBAL; // COMMAND_LONG has no frame field; default to AMSL
 	vcmd.command = cmd_mavlink.command;
 	vcmd.target_system = cmd_mavlink.target_system;
 	vcmd.target_component = cmd_mavlink.target_component;
@@ -553,6 +554,7 @@ MavlinkReceiver::handle_message_command_int(mavlink_message_t *msg)
 	}
 
 	vcmd.param7 = cmd_mavlink.z;
+	vcmd.frame = cmd_mavlink.frame;
 	vcmd.command = cmd_mavlink.command;
 	vcmd.target_system = cmd_mavlink.target_system;
 	vcmd.target_component = cmd_mavlink.target_component;