From cebf5bb42acb6980d8322a537a263391cde10f3b Mon Sep 17 00:00:00 2001
From: Hamish Willee <hamishwillee@gmail.com>
Date: Wed, 9 Apr 2025 17:02:56 +1000
Subject: [PATCH] Support MAV_CMD_DO_SET_GLOBAL_ORIGIN

---
 src/modules/mavlink/mavlink_receiver.cpp | 4 ++++
 1 file changed, 4 insertions(+)

diff --git a/src/modules/mavlink/mavlink_receiver.cpp b/src/modules/mavlink/mavlink_receiver.cpp
index e68353eabd..07befa0bc6 100644
--- a/src/modules/mavlink/mavlink_receiver.cpp
+++ b/src/modules/mavlink/mavlink_receiver.cpp
@@ -607,6 +607,10 @@ void MavlinkReceiver::handle_message_command_both(mavlink_message_t *msg, const
 			send_ack = true;
 		}
 
+	} else if (cmd_mavlink.command == MAV_CMD_DO_SET_GLOBAL_ORIGIN) {
+		_cmd_pub.publish(vehicle_command);
+		handle_request_message_command(MAVLINK_MSG_ID_GPS_GLOBAL_ORIGIN);
+
 	} else if (cmd_mavlink.command == MAV_CMD_DO_AUTOTUNE_ENABLE) {
 
 		bool has_module = true;