diff --git a/libraries/GCS_MAVLink/GCS.h b/libraries/GCS_MAVLink/GCS.h
index a720766a4b9f7c..4c5fc5e9716c8d 100644
--- a/libraries/GCS_MAVLink/GCS.h
+++ b/libraries/GCS_MAVLink/GCS.h
@@ -510,6 +510,9 @@ class GCS_MAVLINK
     AP_Param *                  _queued_parameter;      ///< next parameter to
                                                         // be sent in queue
     mavlink_channel_t           chan;
+    uint32_t lost_msg_cnt;
+    uint32_t total_msg_cnt;
+    uint8_t last_gcs_msg_seq;
     uint8_t packet_overhead(void) const { return packet_overhead_chan(chan); }
 
     // saveable rate of each stream
diff --git a/libraries/GCS_MAVLink/GCS_Common.cpp b/libraries/GCS_MAVLink/GCS_Common.cpp
index 72b238d1ff03ea..7c2d9670fb521e 100644
--- a/libraries/GCS_MAVLink/GCS_Common.cpp
+++ b/libraries/GCS_MAVLink/GCS_Common.cpp
@@ -1831,6 +1831,19 @@ GCS_MAVLINK::update_receive(uint32_t max_time_us)
         if (mavlink_frame_char_buffer(channel_buffer(), channel_status(), c, &msg, &status) == MAVLINK_FRAMING_OK) {
             hal.util->persistent_data.last_mavlink_msgid = msg.msgid;
             packetReceived(status, msg);
+<<<<<<< HEAD
+=======
+            if (msg.sysid == sysid_my_gcs() && total_msg_cnt != 0) {
+                lost_msg_cnt += uint8_t(msg.seq - last_gcs_msg_seq - 1);
+                total_msg_cnt += uint8_t(msg.seq - last_gcs_msg_seq);
+                last_gcs_msg_seq = msg.seq;
+            } else if (total_msg_cnt == 0) {
+                lost_msg_cnt = 0;
+                total_msg_cnt = 1;
+                last_gcs_msg_seq = msg.seq;
+            }
+            hal.util->perf_end(_perf_packet);
+>>>>>>> f766a37e07 (GCS_MAVLink: report sequence based rx loss with SYS_STATUS)
             parsed_packet = true;
             gcs_alternative_active[chan] = false;
             alternative.last_mavlink_ms = now_ms;
@@ -5504,13 +5517,8 @@ void GCS_MAVLINK::send_sys_status()
         battery.gcs_voltage() * 1000,  // mV
         battery_current,        // in 10mA units
         battery_remaining,      // in %
-#else
-        0,
-        -1,
-        -1,
-#endif
-        0,  // comm drops %,
-        0,  // comm drops in pkts,
+        (lost_msg_cnt*100)/((total_msg_cnt==0)?1:total_msg_cnt),  // comm drops %,
+        lost_msg_cnt,  // comm drops in pkts,
         errors1,
         errors2,
         0,  // errors3