diff --git a/CMakeLists.txt b/CMakeLists.txt
index cde13c99b6c43506e5e714f95630ab06b4f06c1e..2780764e8082e36b350bd1c3985e1ce1e5034f5b 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -30,6 +30,7 @@ add_message_files(
   FILES 
 CameraValue.msg
 CFSetPoint.msg
+CFPositionVelocity.msg
 CScanUavInfo.msg
 ExtData.msg
 ExtConfig.msg
diff --git a/msg/CFPositionVelocity.msg b/msg/CFPositionVelocity.msg
new file mode 100644
index 0000000000000000000000000000000000000000..a8ff7d615ef10bab9c13c0c001d3817173e310ac
--- /dev/null
+++ b/msg/CFPositionVelocity.msg
@@ -0,0 +1,7 @@
+time stamp
+float64 x
+float64 y
+float64 z
+float64 vx
+float64 vy
+float64 vz