diff --git a/msg/versioned/VehicleCommand.msg b/msg/versioned/VehicleCommand.msg
index 96162e9f89f9..bd1e84551ffa 100644
--- a/msg/versioned/VehicleCommand.msg
+++ b/msg/versioned/VehicleCommand.msg
@@ -14,7 +14,7 @@ uint16 VEHICLE_CMD_NAV_LOITER_TURNS = 18		# Loiter around this MISSION for X tur
 uint16 VEHICLE_CMD_NAV_LOITER_TIME = 19			# Loiter around this MISSION for X seconds |Seconds (decimal)| Empty| Radius around MISSION, in meters. If positive loiter clockwise, else counter-clockwise| Desired yaw angle.| Latitude| Longitude| Altitude|
 uint16 VEHICLE_CMD_NAV_RETURN_TO_LAUNCH = 20		# Return to launch location |Empty| Empty| Empty| Empty| Empty| Empty| Empty|
 uint16 VEHICLE_CMD_NAV_LAND = 21			# Land at location |Empty| Empty| Empty| Desired yaw angle.| Latitude| Longitude| Altitude|
-uint16 VEHICLE_CMD_NAV_TAKEOFF = 22			# Takeoff from ground / hand |Minimum pitch (if airspeed sensor present), desired pitch without sensor| Empty| Empty| Yaw angle (if magnetometer present), ignored without magnetometer| Latitude| Longitude| Altitude|
+uint16 VEHICLE_CMD_NAV_TAKEOFF = 22			# Takeoff from ground / hand |Unused (FW pitch from FW_TKO_PITCH_MIN)|Unused|Unused|Yaw angle in NED if yaw source available, ignored otherwise [deg] [@range 0,360]|Latitude (WGS-84)|Longitude (WGS-84)|Altitude AMSL [m]|
 uint16 VEHICLE_CMD_NAV_PRECLAND = 23			# Attempt a precision landing
 uint16 VEHICLE_CMD_DO_ORBIT = 34			# Start orbiting on the circumference of a circle defined by the parameters. |Radius [m] |Velocity [m/s] |Yaw behaviour |Empty |Latitude/X |Longitude/Y |Altitude/Z |
 uint16 VEHICLE_CMD_DO_FIGUREEIGHT = 35        		# Start flying on the outline of a figure eight defined by the parameters. |Major Radius [m] |Minor Radius [m] |Velocity [m/s] |Orientation |Latitude/X |Longitude/Y |Altitude/Z |
@@ -109,7 +109,7 @@ uint16 VEHICLE_CMD_EXTERNAL_WIND_ESTIMATE = 43004
 
 # PX4 vehicle commands (beyond 16 bit mavlink commands)
 uint32 VEHICLE_CMD_PX4_INTERNAL_START    = 65537        # start of PX4 internal only vehicle commands (> UINT16_MAX)
-uint32 VEHICLE_CMD_SET_GPS_GLOBAL_ORIGIN = 100000       # Sets the GPS coordinates of the vehicle local origin (0,0,0) position. |Empty|Empty|Empty|Empty|Latitude|Longitude|Altitude|
+uint32 VEHICLE_CMD_SET_GPS_GLOBAL_ORIGIN = 100000       # Sets the GPS coordinates of the vehicle local origin (0,0,0) position |Unused|Unused|Unused|Unused|Latitude (WGS-84)|Longitude (WGS-84)|Altitude [m] (AMSL from GNSS, positive above ground)|
 uint32 VEHICLE_CMD_SET_NAV_STATE = 100001               # Change mode by specifying nav_state directly. |nav_state|Empty|Empty|Empty|Empty|Empty|Empty|
 
 uint8 VEHICLE_MOUNT_MODE_RETRACT = 0			# Load and keep safe position (Roll,Pitch,Yaw) from permanent memory and stop stabilization |