diff --git a/pkgs/applications/science/robotics/mavproxy/default.nix b/pkgs/applications/science/robotics/mavproxy/default.nix
new file mode 100644
index 000000000000..890e824cf2ef
--- /dev/null
+++ b/pkgs/applications/science/robotics/mavproxy/default.nix
@@ -0,0 +1,31 @@
+{ lib, buildPythonApplication, fetchPypi, matplotlib, numpy, pymavlink, pyserial
+, setuptools, wxPython_4_0 }:
+
+buildPythonApplication rec {
+  pname = "MAVProxy";
+  version = "1.8.17";
+
+  src = fetchPypi {
+    inherit pname version;
+    sha256 = "193hjilsmbljbgj7v6icy3b4hzm14l0z6v05v7ycx6larij5xj2r";
+  };
+
+  propagatedBuildInputs = [
+    matplotlib
+    numpy
+    pymavlink
+    pyserial
+    setuptools
+    wxPython_4_0
+  ];
+
+  # No tests
+  doCheck = false;
+
+  meta = with lib; {
+    description = "MAVLink proxy and command line ground station";
+    homepage = "https://github.com/ArduPilot/MAVProxy";
+    license = licenses.gpl3;
+    maintainers = with maintainers; [ lopsided98 ];
+  };
+}
diff --git a/pkgs/top-level/all-packages.nix b/pkgs/top-level/all-packages.nix
index b2508dc7214c..a53ae00ae6ee 100644
--- a/pkgs/top-level/all-packages.nix
+++ b/pkgs/top-level/all-packages.nix
@@ -10189,6 +10189,8 @@ in
   maven = maven3;
   maven3 = callPackage ../development/tools/build-managers/apache-maven { };
 
+  mavproxy = python3Packages.callPackage ../applications/science/robotics/mavproxy { };
+
   go-md2man = callPackage ../development/tools/misc/md2man {};
 
   mage = callPackage ../development/tools/build-managers/mage { };