diff --git a/msg/ControlAllocatorStatus.msg b/msg/ControlAllocatorStatus.msg
index 3eed13b27d..8ddc357c11 100644
--- a/msg/ControlAllocatorStatus.msg
+++ b/msg/ControlAllocatorStatus.msg
@@ -18,5 +18,7 @@ int8[16] actuator_saturation            # Indicates actuator saturation status.
                                         # Note 1: actuator saturation does not necessarily imply that the thrust setpoint or the torque setpoint were not achieved.
                                         # Note 2: an actuator with limited dynamics can be indicated as upper-saturated even if it as not reached its maximum value.
 
-uint16 handled_motor_failure_mask        # Bitmask of failed motors that were removed from the allocation / effectiveness matrix. Not necessarily identical to the report from FailureDetector
-uint16 motor_stop_mask                   # Bitmaks of motors stopped by failure injection
+uint16 handled_motor_failure_mask       # Bitmask of failed motors that were removed from the allocation / effectiveness matrix. Not necessarily identical to the report from FailureDetector
+uint16 motor_stop_mask                  # Bitmaks of motors stopped by failure injection
+
+bool actuator_group_preflight_check_active   # True while an actuator group preflight check (VEHICLE_CMD_ACTUATOR_GROUP_TEST) is overriding the torque/thrust setpoint or collective-tilt
diff --git a/msg/versioned/VehicleCommand.msg b/msg/versioned/VehicleCommand.msg
index 61707409f0..380c931c97 100644
--- a/msg/versioned/VehicleCommand.msg
+++ b/msg/versioned/VehicleCommand.msg
@@ -78,6 +78,7 @@ uint16 VEHICLE_CMD_DO_SET_STANDARD_MODE=262 # Enable the specified standard MAVL
 uint16 VEHICLE_CMD_GIMBAL_DEVICE_INFORMATION = 283 # Command to ask information about a low level gimbal.
 
 uint16 VEHICLE_CMD_MISSION_START = 300 # Start running a mission. |first_item: the first mission item to run|last_item: the last mission item to run (after this item is run, the mission ends)|
+uint16 VEHICLE_CMD_ACTUATOR_GROUP_TEST = 309 # Test groups of related actuators (e.g. all actuators contributing to roll torque). |[@enum ACTUATOR_TEST_GROUP] Group|[@range -1,1] Value|Unused|Unused|Unused|Unused|Unused|
 uint16 VEHICLE_CMD_ACTUATOR_TEST = 310 # Actuator testing command. |[@range -1,1] value|[s] timeout|Unused|Unused|output function|
 uint16 VEHICLE_CMD_CONFIGURE_ACTUATOR = 311 # Actuator configuration command. |configuration|Unused|Unused|Unused|output function|
 uint16 VEHICLE_CMD_ESC_REQUEST_EEPROM = 312 # Request EEPROM data from an ESC. |ESC Index|Firmware Type|Unused|Unused|Unused|
@@ -210,6 +211,15 @@ uint8 GRIPPER_ACTION_GRAB = 1
 uint8 SAFETY_OFF = 0
 uint8 SAFETY_ON = 1
 
+# param1 in VEHICLE_CMD_ACTUATOR_GROUP_TEST (matches MAVLink ACTUATOR_TEST_GROUP enum)
+uint8 ACTUATOR_TEST_GROUP_ROLL_TORQUE = 0
+uint8 ACTUATOR_TEST_GROUP_PITCH_TORQUE = 1
+uint8 ACTUATOR_TEST_GROUP_YAW_TORQUE = 2
+uint8 ACTUATOR_TEST_GROUP_COLLECTIVE_TILT = 3
+uint8 ACTUATOR_TEST_GROUP_X_THRUST = 4
+uint8 ACTUATOR_TEST_GROUP_Y_THRUST = 5
+uint8 ACTUATOR_TEST_GROUP_Z_THRUST = 6
+
 uint8 ORB_QUEUE_LENGTH = 8
 
 float32 param1 # Parameter 1, as defined by MAVLink uint16 VEHICLE_CMD enum.