diff --git a/CMakeLists.txt b/CMakeLists.txt
index d81180a820d6fc6bccb9244ffc3067206c75305d..cde13c99b6c43506e5e714f95630ab06b4f06c1e 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -42,6 +42,7 @@ LQEstimatedState.msg
 LQSound.msg
 LQState.msg
 LQHeadToPointData.msg
+LQPtuCommandData.msg
 LQPositionData.msg
 MPFlyingInfo.msg
 MPParams.msg
diff --git a/msg/LQPtuCommandData.msg b/msg/LQPtuCommandData.msg
new file mode 100644
index 0000000000000000000000000000000000000000..96db46251f768d573e2ca2ae1d0f16cbf2229bda
--- /dev/null
+++ b/msg/LQPtuCommandData.msg
@@ -0,0 +1,5 @@
+# pan, tilt, roll values in degrees
+float64 pan
+float64 tilt
+float64 roll
+int32 mode