diff --git a/ArduCopter/GCS_Mavlink.pde b/ArduCopter/GCS_Mavlink.pde
index d8946ea5ee3..9e11aaabb18 100644
--- a/ArduCopter/GCS_Mavlink.pde
+++ b/ArduCopter/GCS_Mavlink.pde
@@ -91,7 +91,19 @@ static NOINLINE void send_heartbeat(mavlink_channel_t chan)
 
     mavlink_msg_heartbeat_send(
         chan,
+#if (FRAME_CONFIG == QUAD_FRAME)
         MAV_TYPE_QUADROTOR,
+#elif (FRAME_CONFIG == TRI_FRAME)
+        MAV_TYPE_TRICOPTER,
+#elif (FRAME_CONFIG == HEXA_FRAME || FRAME_CONFIG == Y6_FRAME)
+        MAV_TYPE_HEXAROTOR,
+#elif (FRAME_CONFIG == OCTA_FRAME || FRAME_CONFIG == OCTA_QUAD_FRAME)
+        MAV_TYPE_OCTOROTOR,
+#elif (FRAME_CONFIG == HELI_FRAME)
+        MAV_TYPE_HELICOPTER,
+#else
+  #error Unrecognised frame type
+#endif
         MAV_AUTOPILOT_ARDUPILOTMEGA,
         base_mode,
         custom_mode,