diff --git a/docs/development/msp/msp_messages.json b/docs/development/msp/msp_messages.json
index e1b128f305d..8368373bcc1 100644
--- a/docs/development/msp/msp_messages.json
+++ b/docs/development/msp/msp_messages.json
@@ -10371,6 +10371,106 @@
         "notes": "Requires `USE_ADSB`. Only a subset of `adsbVehicle_t` is transmitted (callsign, core values, heading in whole degrees, TSLC, emitter type, TTL).",
         "description": "Retrieves the list of currently tracked ADSB (Automatic Dependent Surveillance–Broadcast) vehicles. See `adsbVehicle_t` and `adsbVehicleValues_t` in `io/adsb.h` for the exact structure fields."
     },
+    "MSP2_ADSB_VEHICLE": {
+        "code": 8337,
+        "mspv": 2,
+        "request": {
+            "payload": [
+                {
+                    "name": "index",
+                    "ctype": "uint8_t",
+                    "desc": "Slot index to read, `0 .. (MSP2_ADSB_VEHICLE_COUNT - 1)`. WARNING: this is an iteration cursor over fixed slots, NOT a stable identifier. The same index may return a different aircraft (or an empty slot) on a later poll. Always identify the aircraft by the `icao` field in the reply; never cache or correlate data by index. Returns an error result if the index is out of range.",
+                    "units": ""
+                }
+            ]
+        },
+        "reply": {
+            "payload": [
+                {
+                    "name": "icao",
+                    "ctype": "uint32_t",
+                    "desc": "ICAO 24-bit address (`vehicleValues.icao`). This is the stable per-aircraft identifier; use it to correlate replies, not the request index. An empty slot reports `icao == 0` and `ttl == 0`.",
+                    "units": ""
+                },
+                {
+                    "name": "lat",
+                    "ctype": "int32_t",
+                    "desc": "Latitude (`vehicleValues.gps.lat`).",
+                    "units": "1e-7 deg"
+                },
+                {
+                    "name": "lon",
+                    "ctype": "int32_t",
+                    "desc": "Longitude (`vehicleValues.gps.lon`).",
+                    "units": "1e-7 deg"
+                },
+                {
+                    "name": "alt",
+                    "ctype": "int32_t",
+                    "desc": "Altitude above sea level (`vehicleValues.alt`).",
+                    "units": "cm"
+                },
+                {
+                    "name": "heading",
+                    "ctype": "uint16_t",
+                    "desc": "Course over ground at full resolution (`vehicleValues.heading`). Unlike `MSP2_ADSB_VEHICLE_LIST`, this is in centidegrees, not whole degrees.",
+                    "units": "1e-2 deg"
+                },
+                {
+                    "name": "horVelocity",
+                    "ctype": "uint16_t",
+                    "desc": "Horizontal (ground) speed (`vehicleValues.horVelocity`). Not present in `MSP2_ADSB_VEHICLE_LIST`.",
+                    "units": "cm/s"
+                },
+                {
+                    "name": "tslc",
+                    "ctype": "uint8_t",
+                    "desc": "Time since last communication (`vehicleValues.tslc`).",
+                    "units": "s"
+                },
+                {
+                    "name": "emitterType",
+                    "ctype": "uint8_t",
+                    "desc": "Emitter category (`vehicleValues.emitterType`).",
+                    "units": ""
+                },
+                {
+                    "name": "ttl",
+                    "ctype": "uint8_t",
+                    "desc": "Remaining time-to-live for this slot (`adsbVehicle->ttl`). `ttl == 0` means the slot is empty/expired and its contents are stale; skip such entries.",
+                    "units": "s"
+                },
+                {
+                    "name": "callsign",
+                    "desc": "Fixed-length callsign (`vehicleValues.callsign`), padded with NULs if shorter.",
+                    "ctype": "char",
+                    "array": true,
+                    "array_size": 9,
+                    "array_size_define": "ADSB_CALL_SIGN_MAX_LENGTH",
+                    "units": ""
+                }
+            ]
+        },
+        "notes": "Requires `USE_ADSB`. Reads a single ADSB vehicle slot by index. THE INDEX IS NOT A STABLE HANDLE: slots are reused, so a given index may hold a different aircraft (or be empty, `ttl == 0`) between polls. Correlate aircraft by the `icao` field in the reply, never by index. Compared with the bulk `MSP2_ADSB_VEHICLE_LIST`, this message adds horizontal velocity and reports heading at full (centidegree) resolution, and orders the callsign last. Returns an error result for an out-of-range index.",
+        "description": "Retrieves a single tracked ADSB (Automatic Dependent Surveillance-Broadcast) vehicle by slot index. Intended for polling one slot at a time: query `MSP2_ADSB_VEHICLE_COUNT` for the iteration bound, then request indices `0 .. count-1`, skipping slots with `ttl == 0`, and identify each aircraft by its `icao`. See `adsbVehicle_t` / `adsbVehicleValues_t` in `io/adsb.h`."
+    },
+    "MSP2_ADSB_VEHICLE_COUNT": {
+        "code": 8338,
+        "mspv": 2,
+        "request": null,
+        "reply": {
+            "payload": [
+                {
+                    "name": "count",
+                    "ctype": "uint8_t",
+                    "desc": "Number of vehicle slots to iterate (`MAX_ADSB_VEHICLES`). This is the slot capacity / iteration bound, not the number of currently active aircraft - some slots may be empty (`ttl == 0`). 0 if `USE_ADSB` is disabled.",
+                    "units": ""
+                }
+            ]
+        },
+        "notes": "Requires `USE_ADSB`. Returns the iteration bound for `MSP2_ADSB_VEHICLE`: request indices `0 .. count-1` and skip any slot whose `ttl == 0`.",
+        "description": "Returns the number of ADSB vehicle slots available to iterate with `MSP2_ADSB_VEHICLE`."
+    },
     "MSP2_INAV_CUSTOM_OSD_ELEMENTS": {
         "code": 8448,
         "mspv": 2,
diff --git a/src/main/fc/fc_msp.c b/src/main/fc/fc_msp.c
index 3ec3f89f3f0..eb50427ea81 100644
--- a/src/main/fc/fc_msp.c
+++ b/src/main/fc/fc_msp.c
@@ -1051,6 +1051,15 @@ static bool mspFcProcessOutCommand(uint16_t cmdMSP, sbuf_t *dst, mspPostProcessF
         sbufWriteU32(dst, 0);
 #endif
             break;
+
+    case MSP2_ADSB_VEHICLE_COUNT:
+#ifdef USE_ADSB
+        sbufWriteU8(dst, MAX_ADSB_VEHICLES);   // iteration bound for the client
+#else
+        sbufWriteU8(dst, 0);
+#endif
+        break;
+
     case MSP_DEBUG:
         // output some useful QA statistics
         // debug[x] = ((hse_value / 1000000) * 1000) + (SystemCoreClock / 1000000);         // XX0YY [crystal clock : core clock]
@@ -4449,6 +4458,32 @@ bool mspFCProcessInOutCommand(uint16_t cmdMSP, sbuf_t *dst, sbuf_t *src, mspResu
         *ret = MSP_RESULT_ACK;
         break;
 
+#ifdef USE_ADSB
+    case MSP2_ADSB_VEHICLE:
+        if (sbufBytesRemaining(src) >= 1) {
+            adsbVehicle_t *vehicle = findVehicle(sbufReadU8(src));
+            if (vehicle == NULL) {                 // index past MAX_ADSB_VEHICLES
+                *ret = MSP_RESULT_ERROR;
+                break;
+            }
+            sbufWriteU32(dst, vehicle->vehicleValues.icao);
+            sbufWriteU32(dst, vehicle->vehicleValues.gps.lat);
+            sbufWriteU32(dst, vehicle->vehicleValues.gps.lon);
+            sbufWriteU32(dst, vehicle->vehicleValues.alt);
+            sbufWriteU16(dst, vehicle->vehicleValues.heading);      // centideg, full-res
+            sbufWriteU16(dst, vehicle->vehicleValues.horVelocity);  // cm/s - omitted by the bulk list
+            sbufWriteU8(dst,  vehicle->vehicleValues.tslc);
+            sbufWriteU8(dst,  vehicle->vehicleValues.emitterType);
+            sbufWriteU8(dst,  vehicle->ttl);
+            sbufWriteData(dst, vehicle->vehicleValues.callsign, ADSB_CALL_SIGN_MAX_LENGTH);
+        } else {
+            *ret = MSP_RESULT_ERROR;               // no index supplied
+            break;
+        }
+        *ret = MSP_RESULT_ACK;
+        break;
+#endif
+
 #if defined(USE_FLASHFS)
     case MSP_DATAFLASH_READ:
         mspFcDataFlashReadCommand(dst, src);
diff --git a/src/main/msp/msp_protocol_v2_inav.h b/src/main/msp/msp_protocol_v2_inav.h
index e50115d99ed..6d09ed2a13c 100755
--- a/src/main/msp/msp_protocol_v2_inav.h
+++ b/src/main/msp/msp_protocol_v2_inav.h
@@ -111,6 +111,8 @@
 #define MSP2_INAV_SELECT_MIXER_PROFILE          0x2080
 
 #define MSP2_ADSB_VEHICLE_LIST                  0x2090
+#define MSP2_ADSB_VEHICLE                       0x2091
+#define MSP2_ADSB_VEHICLE_COUNT                 0x2092
 
 #define MSP2_INAV_CUSTOM_OSD_ELEMENTS           0x2100
 #define MSP2_INAV_CUSTOM_OSD_ELEMENT            0x2101