diff --git a/libs/mavlink/include/mavlink/v2.0 b/libs/mavlink/include/mavlink/v2.0
index d8fcf0a694dc11b3f83b89a0970e3d8c4e48d418..e5f6257dd005b6fb3bff23d45f2b3b417b52539b 160000
--- a/libs/mavlink/include/mavlink/v2.0
+++ b/libs/mavlink/include/mavlink/v2.0
@@ -1 +1 @@
-Subproject commit d8fcf0a694dc11b3f83b89a0970e3d8c4e48d418
+Subproject commit e5f6257dd005b6fb3bff23d45f2b3b417b52539b
diff --git a/src/ui/MAVLinkDecoder.cc b/src/ui/MAVLinkDecoder.cc
index b68eb1b8e1f811221ee15e3ea878647077b3fe12..c7cc4a0d1940a29057cd589999f5c2c14f24b424 100644
--- a/src/ui/MAVLinkDecoder.cc
+++ b/src/ui/MAVLinkDecoder.cc
@@ -36,6 +36,7 @@ MAVLinkDecoder::MAVLinkDecoder(MAVLinkProtocol* protocol) :
 
     textMessageFilter.insert(MAVLINK_MSG_ID_DEBUG, false);
     textMessageFilter.insert(MAVLINK_MSG_ID_DEBUG_VECT, false);
+    textMessageFilter.insert(MAVLINK_MSG_ID_DEBUG_FLOAT_ARRAY, false);
     textMessageFilter.insert(MAVLINK_MSG_ID_NAMED_VALUE_FLOAT, false);
     textMessageFilter.insert(MAVLINK_MSG_ID_NAMED_VALUE_INT, false);
 //    textMessageFilter.insert(MAVLINK_MSG_ID_HIGHRES_IMU, false);
@@ -238,6 +239,16 @@ void MAVLinkDecoder::emitFieldValue(mavlink_message_t* msg, int fieldid, quint64
         name = QString("%1.%2").arg(buf).arg(fieldName);
         time = getUnixTimeFromMs(msg->sysid, (debug.time_usec+500)/1000); // Scale to milliseconds, round up/down correctly
     }
+    else if (msgid == MAVLINK_MSG_ID_DEBUG_FLOAT_ARRAY)
+    {
+        mavlink_debug_float_array_t debug;
+        mavlink_msg_debug_float_array_decode(msg, &debug);
+        char buf[11];
+        strncpy(buf, debug.name, 10);
+        buf[10] = '\0';
+        name = QString("%1.%2").arg(buf).arg(fieldName);
+        time = getUnixTimeFromMs(msg->sysid, (debug.time_usec+500)/1000); // Scale to milliseconds, round up/down correctly
+    }
     else if (msgid == MAVLINK_MSG_ID_DEBUG)
     {
         mavlink_debug_t debug;