diff --git a/crazyflie_software/crazyflie-firmware-2021.06/src/modules/src/crtp_commander_generic.c b/crazyflie_software/crazyflie-firmware-2021.06/src/modules/src/crtp_commander_generic.c
index a4b1f55c47b4b46387a0a6fd2fb5348b3465c9e1..f690d24e267310340ea0524f2e2dd54d2bf647d3 100644
--- a/crazyflie_software/crazyflie-firmware-2021.06/src/modules/src/crtp_commander_generic.c
+++ b/crazyflie_software/crazyflie-firmware-2021.06/src/modules/src/crtp_commander_generic.c
@@ -73,6 +73,7 @@ enum packet_type {
   positionType      = 7,
   attitudeRateType  = 8,
   attitudeType      = 9,
+  mixedAttitudeType = 10,
 };
 
 /* ---===== 2 - Decoding functions =====--- */
@@ -431,6 +432,39 @@ static void attitudeDecoder(setpoint_t *setpoint, uint8_t type, const void *data
   setpoint->thrust = values->thrust;
 }
 
+
+/*
+ * Custom mixed Attitude decoder, bypasses the normal attitude control path,
+ * packet contains the roll and pitch as attitude angles and the 
+ * yaw as an attitude rate in addition to the thrust value
+ */
+struct mixedAttitudePacket_s{
+  float rollAngle;        // deg
+  float pitchAngle;       // deg
+  float yawAngleRate;     // deg/s
+  float thrust;           // thrust percentage 0 - 60,000 
+} __attribute__((packed));
+static void mixedAttitudeDecoder(setpoint_t *setpoint, uint8_t type, const void *data, size_t datalen){
+  
+  const struct mixedAttitudePacket_s *values = data;
+
+  ASSERT(datalen == sizeof(struct mixedAttitudePacket_s));
+
+  setpoint->mode.x = modeDisable;
+  setpoint->mode.y = modeDisable;
+  setpoint->mode.z = modeDisable;
+
+  setpoint->mode.roll = modeAbs;
+  setpoint->mode.pitch = modeAbs;
+  setpoint->mode.yaw = modeVelocity;
+  
+  setpoint->attitude.roll = values->rollAngle;
+  setpoint->attitude.pitch = values->pitchAngle;
+  setpoint->attitudeRate.yaw = values->yawAngleRate;
+  
+  setpoint->thrust = values->thrust;
+}
+
  /* ---===== 3 - packetDecoders array =====--- */
 const static packetDecoder_t packetDecoders[] = {
   [stopType]          = stopDecoder,
@@ -443,6 +477,7 @@ const static packetDecoder_t packetDecoders[] = {
   [positionType]      = positionDecoder,
   [attitudeRateType]  = attitudeRateDecoder,
   [attitudeType]      = attitudeDecoder,
+  [mixedAttitudeType] = mixedAttitudeDecoder,
 };
 
 /* Decoder switch */