MAVLink messages update Wed Apr 9 05:45:21 UTC 2025

Author: PX4BuildBot

en/messages/all.md

@@ -61,7 +61,7 @@ Type | Defined | Included
 --- | --- | ---
 [Messages](#messages) | 0 | 372
 [Enums](#enumerated-types) | 0 | 235
-[Commands](#mav_commands) | 217 | 0
+[Commands](#mav_commands) | 218 | 0
 
 The following sections list all entities in the dialect (both included and defined in this file).
 

en/messages/common.md

@@ -618,7 +618,9 @@ type | `uint8_t` | [MAV_MISSION_RESULT](#MAV_MISSION_RESULT) | Mission result.
 <span class='ext'>opaque_id</span> <a href='#mav2_extension_field'>++</a> | `uint32_t` | invalid:0 | Id of new on-vehicle mission, fence, or rally point plan (on upload to vehicle).<br>The id is calculated and returned by a vehicle when a new plan is uploaded by a GCS.<br>The only requirement on the id is that it must change when there is any change to the on-vehicle plan type (there is no requirement that the id be globally unique).<br>0 on download from the vehicle to the GCS (on download the ID is set in [MISSION_COUNT](#MISSION_COUNT)).<br>0 if plan ids are not supported.<br>The current on-vehicle plan ids are streamed in `[MISSION_CURRENT](#MISSION_CURRENT)`, allowing a GCS to determine if any part of the plan has changed and needs to be re-uploaded. 
 
 
-### SET_GPS_GLOBAL_ORIGIN (48) {#SET_GPS_GLOBAL_ORIGIN}
+### SET_GPS_GLOBAL_ORIGIN (48) — [DEP] {#SET_GPS_GLOBAL_ORIGIN}
+
+<span class="warning">**DEPRECATED:** Replaced By [MAV_CMD_SET_GLOBAL_ORIGIN](#MAV_CMD_SET_GLOBAL_ORIGIN) (2025-04)</span>
 
 Sets the GPS coordinates of the vehicle local origin (0,0,0) position. Vehicle should emit [GPS_GLOBAL_ORIGIN](#GPS_GLOBAL_ORIGIN) irrespective of whether the origin is changed. This enables transform between the local coordinate frame and the global (GPS) coordinate frame, which may be necessary when (for example) indoor and outdoor settings are connected and the MAV should move from in- to outdoor.
 

en/messages/development.md

@@ -38,7 +38,7 @@ Type | Defined | Included
 --- | --- | ---
 [Messages](#messages) | 12 | 229
 [Enums](#enumerated-types) | 11 | 146
-[Commands](#mav_commands) | 172 | 0
+[Commands](#mav_commands) | 173 | 0
 
 The following sections list all entities in the dialect (both included and defined in this file).
 
@@ -502,6 +502,27 @@ Param (Label) | Description | Values
 4 | |   
 
 
+### MAV_CMD_DO_SET_GLOBAL_ORIGIN (611) — [WIP] {#MAV_CMD_DO_SET_GLOBAL_ORIGIN}
+
+<span class="warning">**WORK IN PROGRESS**: Do not use in stable production environments (it may change).</span>
+
+Sets the GNSS coordinates of the vehicle local origin (0,0,0) position.
+
+Vehicle should emit [GPS_GLOBAL_ORIGIN](#GPS_GLOBAL_ORIGIN) irrespective of whether the origin is changed.
+This enables transform between the local coordinate frame and the global (GNSS) coordinate frame, which may be necessary when (for example) indoor and outdoor settings are connected and the MAV should move from in- to outdoor.
+This command supersedes [SET_GPS_GLOBAL_ORIGIN](#SET_GPS_GLOBAL_ORIGIN).
+
+Param (Label) | Description | Units
+--- | --- | ---
+1 | Empty |   
+2 | Empty |   
+3 | Empty |   
+4 | Empty |   
+5 (Latitude) | Latitude (WGS84) |   
+6 (Longitude) | Longitude (WGS84) |   
+7 (Altitude) | Altitude (MSL) | m 
+
+
 ### MAV_CMD_ODID_SET_EMERGENCY (12900) — [WIP] {#MAV_CMD_ODID_SET_EMERGENCY}
 
 <span class="warning">**WORK IN PROGRESS**: Do not use in stable production environments (it may change).</span>