diff --git a/clover/src/simple_offboard.cpp b/clover/src/simple_offboard.cpp
index 0db67756..af79a1df 100644
--- a/clover/src/simple_offboard.cpp
+++ b/clover/src/simple_offboard.cpp
@@ -90,7 +90,7 @@ PositionTarget position_raw_msg;
 AttitudeTarget att_raw_msg;
 Thrust thrust_msg;
 TwistStamped rates_msg;
-TransformStamped target;
+TransformStamped target, setpoint;
 geometry_msgs::TransformStamped body;
 
 // State
@@ -433,6 +433,17 @@ void publish(const ros::Time stamp)
 			position_raw_msg.position = position_msg.pose.position;
 			position_raw_pub.publish(position_raw_msg);
 		}
+
+		// publish setpoint frame
+		if (!setpoint.child_frame_id.empty()) {
+			setpoint.transform.translation.x = position_msg.pose.position.x;
+			setpoint.transform.translation.y = position_msg.pose.position.y;
+			setpoint.transform.translation.z = position_msg.pose.position.z;
+			setpoint.transform.rotation = position_msg.pose.orientation;
+			setpoint.header.frame_id = position_msg.header.frame_id;
+			setpoint.header.stamp = position_msg.header.stamp;
+			transform_broadcaster->sendTransform(setpoint);
+		}
 	}
 
 	if (setpoint_type == VELOCITY) {
@@ -764,6 +775,7 @@ int main(int argc, char **argv)
 	nh.param<string>("mavros/local_position/tf/frame_id", local_frame, "map");
 	nh.param<string>("mavros/local_position/tf/child_frame_id", fcu_frame, "base_link");
 	nh_priv.param("target_frame", target.child_frame_id, string("navigate_target"));
+	nh_priv.param("setpoint", setpoint.child_frame_id, string("setpoint"));
 	nh_priv.param("auto_release", auto_release, true);
 	nh_priv.param("land_only_in_offboard", land_only_in_offboard, true);
 	nh_priv.param("nav_from_sp", nav_from_sp, true);
diff --git a/docs/en/frames.md b/docs/en/frames.md
index b44bddb3..f1afb949 100644
--- a/docs/en/frames.md
+++ b/docs/en/frames.md
@@ -10,7 +10,8 @@ Main frames in the `clever` package:
 * `map` has its origin at the flight controller initialization point and may be considered stationary. It is shown as a white grid on the image above;
 * `base_link` is rigidly bound to the drone. It is shown by the simplified drone model on the image above;
 * `body` is bound to the drone, but its Z axis points up regardless of the drone's pitch and roll. It is shown by the red, blue and green lines in the illustration;
-* `navigate_target` is bound to the current navigation target (as set by the [navigate](simple_offboard.md#navigate) service).
+* `navigate_target` is bound to the current navigation target (as set by the [navigate](simple_offboard.md#navigate) service);
+* `setpoint` is current position setpoint.
 
 Additional frames become available when [ArUco positioning system](aruco.md) is active:
 
diff --git a/docs/ru/frames.md b/docs/ru/frames.md
index dd8a2c4b..0e7519dd 100644
--- a/docs/ru/frames.md
+++ b/docs/ru/frames.md
@@ -10,7 +10,8 @@
 * `map` — координаты относительно точки инициализации полетного контроллера: белая сетка на иллюстрации;
 * `base_link` — координаты относительно квадрокоптера: схематичное изображение квадрокоптера на иллюстрации;
 * `body` — координаты относительно квадрокоптера без учета наклонов по тангажу и крену: красная, синяя и зеленая линии на иллюстрации;
-* `navigate_target` – координаты точки, в которую сейчас летит дрон (с использованием [navigate](simple_offboard.md#navigate)).
+* `navigate_target` – координаты точки, в которую сейчас летит дрон (с использованием [navigate](simple_offboard.md#navigate));
+* `setpoint` – текущий setpoint по позиции.
 
 При использовании [системы позиционирования по ArUco-маркерам](aruco.md) появляются дополнительные фреймы: