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 fd8745653d2389f2bbb3ab6be904a67211edef88..9d038cc5cef93c1fedca5e75ffc24ea7ad3e9524 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
@@ -71,6 +71,7 @@ enum packet_type {
   hoverType         = 5,
   fullStateType     = 6,
   positionType      = 7,
+  attitudeRateType  = 8,
 };
 
 /* ---===== 2 - Decoding functions =====--- */
@@ -367,6 +368,37 @@ static void positionDecoder(setpoint_t *setpoint, uint8_t type, const void *data
   setpoint->attitude.yaw = values->yaw;
 }
 
+/*
+ * Attitude rate decoder,
+ * packet contains the desired attitude rate in addition to the thrust value
+ */
+struct attitudeRatePacket_s{
+  float rollRate;   // deg/s
+  float pitchRate;  // deg/s
+  float yawRate;    // deg/s
+  float thrust;     // thrust percentage 0 - 60,000 
+} __attribute__((packed));
+static void attitudeRateDecoder(setpoint_t *setpoint, uint8_t type, const void *data, size_t datalen){
+  
+  const struct attitudeRatePacket_s *values = data;
+
+  ASSERT(datalen == sizeof(struct attitudeRatePacket_s));
+
+  setpoint->mode.x = modeDisable;
+  setpoint->mode.y = modeDisable;
+  setpoint->mode.z = modeDisable;
+
+  setpoint->mode.roll = modeVelocity;
+  setpoint->mode.pitch = modeVelocity;
+  setpoint->mode.yaw = modeVelocity;
+  
+  setpoint->attitudeRate.roll = values->rollRate;
+  setpoint->attitudeRate.pitch = values->pitchRate;
+  setpoint->attitudeRate.yaw = values->yawRate;
+  
+  setpoint->thrust = values->thrust;
+}
+
  /* ---===== 3 - packetDecoders array =====--- */
 const static packetDecoder_t packetDecoders[] = {
   [stopType]          = stopDecoder,
@@ -377,6 +409,7 @@ const static packetDecoder_t packetDecoders[] = {
   [hoverType]         = hoverDecoder,
   [fullStateType]     = fullStateDecoder,
   [positionType]      = positionDecoder,
+  [attitudeRateType]  = attitudeRateDecoder,
 };
 
 /* Decoder switch */