Update as suggested

msg/versioned/VehicleCommand.msg

@@ -88,6 +88,7 @@ uint16 VEHICLE_CMD_REQUEST_CAMERA_INFORMATION = 521 # Request camera information
 uint16 VEHICLE_CMD_SET_CAMERA_MODE = 530 # Set camera capture mode (photo, video, etc.).
 uint16 VEHICLE_CMD_SET_CAMERA_ZOOM = 531 # Set camera zoom.
 uint16 VEHICLE_CMD_SET_CAMERA_FOCUS = 532
+uint16 VEHICLE_CMD_DO_SET_GLOBAL_ORIGIN = 611 # Set global origin. |Unused|Unused|Unused|Unused|Latitude (WGS-84)|Longitude (WGS-84)|[m] Altitude (AMSL from GNSS, positive above ground)|
 uint16 VEHICLE_CMD_DO_GIMBAL_MANAGER_PITCHYAW = 1000 # Setpoint to be sent to a gimbal manager to set a gimbal pitch and yaw.
 uint16 VEHICLE_CMD_DO_GIMBAL_MANAGER_CONFIGURE = 1001 # Gimbal configuration to set which sysid/compid is in primary and secondary control.
 uint16 VEHICLE_CMD_IMAGE_START_CAPTURE = 2000 # Start image capture sequence.

src/modules/commander/Commander.cpp

@@ -1500,6 +1500,7 @@ Commander::handle_command(const vehicle_command_s &cmd)
 	case vehicle_command_s::VEHICLE_CMD_SET_CAMERA_MODE:
 	case vehicle_command_s::VEHICLE_CMD_SET_CAMERA_ZOOM:
 	case vehicle_command_s::VEHICLE_CMD_SET_CAMERA_FOCUS:
+	case vehicle_command_s::VEHICLE_CMD_DO_SET_GLOBAL_ORIGIN:
 	case vehicle_command_s::VEHICLE_CMD_DO_CHANGE_SPEED:
 	case vehicle_command_s::VEHICLE_CMD_DO_LAND_START:
 	case vehicle_command_s::VEHICLE_CMD_DO_GO_AROUND:

src/modules/mavlink/mavlink_receiver.cpp

@@ -185,10 +185,6 @@ MavlinkReceiver::handle_message(mavlink_message_t *msg)
 		handle_message_odometry(msg);
 		break;
 
-	case MAVLINK_MSG_ID_SET_GPS_GLOBAL_ORIGIN:
-		handle_message_set_gps_global_origin(msg);
-		break;
-
 	case MAVLINK_MSG_ID_RADIO_STATUS:
 		handle_message_radio_status(msg);
 		break;