diff --git a/flix/mavlink.ino b/flix/mavlink.ino
index 5054070..b3f508a 100644
--- a/flix/mavlink.ino
+++ b/flix/mavlink.ino
@@ -13,6 +13,7 @@ int mavlinkSysId = 1;
 
 Rate telemetrySlow(2);
 Rate telemetryAttitude(20);
+Rate telemetryAttitudeTarget(0);
 Rate telemetryRC(10);
 Rate telemetryMotors(10);
 Rate telemetryIMU(15);
@@ -65,6 +66,15 @@ void sendMavlink() {
 		sendMessage(&msg);
 	}
 
+	if (telemetryAttitudeTarget) {
+		const float att[] = {attitudeTarget.w, attitudeTarget.x, -attitudeTarget.y, -attitudeTarget.z};
+		Vector rt = attitudeTarget.invalid() ? ratesTarget : ratesExtra;
+		mavlink_msg_attitude_target_pack(mavlinkSysId, MAV_COMP_ID_AUTOPILOT1, &msg, time,
+			attitudeTarget.invalid() ? ATTITUDE_TARGET_TYPEMASK_ATTITUDE_IGNORE : 0,
+			att, rt.x, -rt.y, -rt.z, thrustTarget);
+		sendMessage(&msg);
+	}
+
 	if (telemetryRC && channels[0]) { // 0 means no RC input
 		mavlink_msg_rc_channels_raw_pack(mavlinkSysId, MAV_COMP_ID_AUTOPILOT1, &msg, controlTime * 1000, 0,
 			channels[0], channels[1], channels[2], channels[3], channels[4], channels[5], channels[6], channels[7], UINT8_MAX);
diff --git a/flix/parameters.ino b/flix/parameters.ino
index 1bcbf2e..f84637a 100644
--- a/flix/parameters.ino
+++ b/flix/parameters.ino
@@ -125,6 +125,7 @@ Parameter parameters[] = {
 	{"MAV_SYS_ID", &mavlinkSysId},
 	{"MAV_RATE_SLOW", &telemetrySlow.rate},
 	{"MAV_RATE_ATT", &telemetryAttitude.rate},
+	{"MAV_RATE_ATT_TG", &telemetryAttitudeTarget.rate},
 	{"MAV_RATE_RC", &telemetryRC.rate},
 	{"MAV_RATE_MOT", &telemetryMotors.rate},
 	{"MAV_RATE_IMU", &telemetryIMU.rate},