mavlink · PX4BuildBot · Mar 26, 2025 · Mar 26, 2025 · Mar 26, 2025 · Mar 26, 2025
diff --git a/ko/messages/all.md b/ko/messages/all.md
@@ -62,7 +62,7 @@ span.warning {
 | -------------------------- | ------- | -------- |
 | [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).
 

diff --git a/ko/messages/common.md b/ko/messages/common.md
diff --git a/ko/messages/development.md b/ko/messages/development.md
@@ -39,7 +39,7 @@ span.warning {
 | -------------------------- | ------- | -------- |
 | [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).
 
@@ -487,6 +487,27 @@ Recipients must reject command addressed to broadcast system ID.
 | 3 (Reboot)       | Reboot components after ID change. Any non-zero value triggers the reboot.                                                                                   |                                                                        |
 | 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).
+Should be sent in a [COMMAND_INT](#COMMAND_INT) (Expected frame is [MAV_FRAME_GLOBAL](#MAV_FRAME_GLOBAL), and this should be assumed when sent in [COMMAND_LONG](#COMMAND_LONG)).
+
+| Param (Label) | Description | Units |
+| -------------------------------- | ----------- | ----- |
+| 1                                | Empty       |       |
+| 2                                | Empty       |       |
+| 3                                | Empty       |       |
+| 4                                | Empty       |       |
+| 5 (Latitude)  | Latitude    |       |
+| 6 (Longitude) | Longitude   |       |
+| 7 (Altitude)  | Altitude    | 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>

diff --git a/ko/messages/ualberta.md b/ko/messages/ualberta.md
@@ -116,3 +116,4 @@ Mode currently commanded by pilot
 | <a id='PILOT_ROTO'></a>3   | [PILOT_ROTO](#PILOT_ROTO)     | Rotomotion mode |
 
 ## Commands (MAV_CMD) {#mav_commands}
+
diff --git a/zh/messages/all.md b/zh/messages/all.md
@@ -62,7 +62,7 @@ span.warning {
 | -------------------------- | ------- | -------- |
 | [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).
 

diff --git a/zh/messages/common.md b/zh/messages/common.md
diff --git a/zh/messages/development.md b/zh/messages/development.md
@@ -39,7 +39,7 @@ span.warning {
 | -------------------------- | ------- | -------- |
 | [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).
 
@@ -487,6 +487,27 @@ Recipients must reject command addressed to broadcast system ID.
 | 3 (Reboot)       | Reboot components after ID change. Any non-zero value triggers the reboot.                                                                                   |                                                                        |
 | 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).
+Should be sent in a [COMMAND_INT](#COMMAND_INT) (Expected frame is [MAV_FRAME_GLOBAL](#MAV_FRAME_GLOBAL), and this should be assumed when sent in [COMMAND_LONG](#COMMAND_LONG)).
+
+| Param (Label) | 描述        | Units |
+| -------------------------------- | --------- | ----- |
+| 1                                | Empty     |       |
+| 2                                | Empty     |       |
+| 3                                | Empty     |       |
+| 4                                | Empty     |       |
+| 5 (Latitude)  | Latitude  |       |
+| 6 (Longitude) | Longitude |       |
+| 7 (Altitude)  | Altitude  | 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>

diff --git a/zh/messages/ualberta.md b/zh/messages/ualberta.md
@@ -116,3 +116,4 @@ Mode currently commanded by pilot
 | <a id='PILOT_ROTO'></a>3   | [PILOT_ROTO](#PILOT_ROTO)     | 旋转模式 |
 
 ## Commands (MAV_CMD) {#mav_commands}
+
Original file line number	Diff line number	Diff line change
Expand Up		@@ -116,3 +116,4 @@ Mode currently commanded by pilot
		\| <a id='PILOT_ROTO'></a>3 \| [PILOT_ROTO](#PILOT_ROTO) \| Rotomotion mode \|

		## Commands (MAV_CMD) {#mav_commands}