diff --git a/message_definitions/v1.0/messages.xml b/message_definitions/v1.0/messages.xml
index 4c4c3d2..39659de 100644
--- a/message_definitions/v1.0/messages.xml
+++ b/message_definitions/v1.0/messages.xml
@@ -2003,7 +2003,12 @@
     <field name="imageBuffer" type="uint8[]"/>
   </message>
 
-  <!--230 is free -->
+  <message name="SWASHPLATE_ADVANCE" id="230">
+    <field name="roll1" type="int16"/>
+    <field name="roll2" type="int16"/>
+    <field name="pitch1" type="int16"/>
+    <field name="pitch2" type="int16"/>
+  </message>
 
   <message name="ROTORCRAFT_STATUS" id="231">
     <field name="link_imu_nb_err" type="uint32"/>