diff --git a/src/uas/UAS.cc b/src/uas/UAS.cc
index 570f39c967ca2673d396128cd7fc4a6b808ebb6f..347244ea1b2252fa1676514d3a9d54f8420346a5 100644
--- a/src/uas/UAS.cc
+++ b/src/uas/UAS.cc
@@ -556,6 +556,22 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
                 emit textMessageReceived(uasId, message.compid, severity, text);
             }
             break;
+#ifdef MAVLINK_ENABLED_PIXHAWK
+            case MAVLINK_MSG_ID_POINT_OF_INTEREST:
+            {
+                mavlink_point_of_interest_t poi;
+                mavlink_msg_point_of_interest_decode(&message, &poi);
+                emit poiFound(this, poi.type, poi.color, QString((QChar*)poi.name, MAVLINK_MSG_POINT_OF_INTEREST_FIELD_NAME_LEN), poi.x, poi.y, poi.z);
+            }
+            break;
+            case MAVLINK_MSG_ID_POINT_OF_INTEREST_CONNECTION:
+            {
+                mavlink_point_of_interest_connection_t poi;
+                mavlink_msg_point_of_interest_connection_decode(&message, &poi);
+                emit poiConnectionFound(this, poi.type, poi.color, QString((QChar*)poi.name, MAVLINK_MSG_POINT_OF_INTEREST_CONNECTION_FIELD_NAME_LEN), poi.x1, poi.y1, poi.z1, poi.x2, poi.y2, poi.z2);
+            }
+            break;
+#endif
 #ifdef MAVLINK_ENABLED_UALBERTA
         case MAVLINK_MSG_ID_NAV_FILTER_BIAS:
             {
diff --git a/src/uas/UASInterface.h b/src/uas/UASInterface.h
index 7141405745ff0628a3d6e99e9a9ee30968c4cee0..d1129895014d11262b6e6d209e680bac4050f3e6 100644
--- a/src/uas/UASInterface.h
+++ b/src/uas/UASInterface.h
@@ -258,6 +258,10 @@ signals:
      * @param text the status text
      * @param severity The severity of the message, 0 for plain debug messages, 10 for very critical messages
      */
+
+    void poiFound(UASInterface* uas, int type, int colorIndex, QString message, float x, float y, float z);
+    void poiConnectionFound(UASInterface* uas, int type, int colorIndex, QString message, float x1, float y1, float z1, float x2, float y2, float z2);
+
     void textMessageReceived(int uasid, int componentid, int severity, QString text);
     /**
      * @brief Update the error count of a device