diff --git a/libraries/AP_Math/examples/location/location.cpp b/libraries/AP_Math/examples/location/location.cpp
index d614484404..99612572dd 100644
--- a/libraries/AP_Math/examples/location/location.cpp
+++ b/libraries/AP_Math/examples/location/location.cpp
@@ -6,6 +6,7 @@
 
 #include <AP_HAL/AP_HAL.h>
 #include <AP_Math/AP_Math.h>
+#include <AP_Common/Location.h>
 
 void setup();
 void loop();
diff --git a/libraries/AP_Mission/examples/AP_Mission_test/AP_Mission_test.cpp b/libraries/AP_Mission/examples/AP_Mission_test/AP_Mission_test.cpp
index 2e4d9a0cde..1f46975fef 100644
--- a/libraries/AP_Mission/examples/AP_Mission_test/AP_Mission_test.cpp
+++ b/libraries/AP_Mission/examples/AP_Mission_test/AP_Mission_test.cpp
@@ -174,33 +174,38 @@ void MissionTest::init_mission()
 
     // Command #0 : home
     cmd.id = MAV_CMD_NAV_WAYPOINT;
-    cmd.content.location.options = 0;
-    cmd.p1 = 0;
-    cmd.content.location.alt = 0;
-    cmd.content.location.lat = 12345678;
-    cmd.content.location.lng = 23456789;
+    cmd.content.location = Location{
+        12345678,
+        23456789,
+        0,
+        Location::ALT_FRAME_ABSOLUTE
+    };
     if (!mission.add_cmd(cmd)) {
         hal.console->printf("failed to add command\n");
     }
 
     // Command #1 : take-off to 10m
     cmd.id = MAV_CMD_NAV_TAKEOFF;
-    cmd.content.location.options = 0;
     cmd.p1 = 0;
-    cmd.content.location.alt = 10;
-    cmd.content.location.lat = 0;
-    cmd.content.location.lng = 0;
+    cmd.content.location = Location{
+        0,
+        0,
+        10,
+        Location::ALT_FRAME_ABSOLUTE
+    };
     if (!mission.add_cmd(cmd)) {
         hal.console->printf("failed to add command\n");
     }
 
     // Command #2 : first waypoint
     cmd.id = MAV_CMD_NAV_WAYPOINT;
-    cmd.content.location.options = 0;
     cmd.p1 = 0;
-    cmd.content.location.alt = 11;
-    cmd.content.location.lat = 12345678;
-    cmd.content.location.lng = 23456789;
+    cmd.content.location = Location{
+        12345678,
+        23456789,
+        11,
+        Location::ALT_FRAME_ABSOLUTE
+    };
     if (!mission.add_cmd(cmd)) {
         hal.console->printf("failed to add command\n");
     }
@@ -208,9 +213,12 @@ void MissionTest::init_mission()
     // Command #3 : second waypoint
     cmd.id = MAV_CMD_NAV_WAYPOINT;
     cmd.p1 = 0;
-    cmd.content.location.lat = 1234567890;
-    cmd.content.location.lng = -1234567890;
-    cmd.content.location.alt = 22;
+    cmd.content.location = Location{
+        1234567890,
+        -1234567890,
+        22,
+        Location::ALT_FRAME_ABSOLUTE
+    };
     if (!mission.add_cmd(cmd)) {
         hal.console->printf("failed to add command\n");
     }
@@ -226,9 +234,12 @@ void MissionTest::init_mission()
     // Command #5 : RTL
     cmd.id = MAV_CMD_NAV_RETURN_TO_LAUNCH;
     cmd.p1 = 0;
-    cmd.content.location.lat = 0;
-    cmd.content.location.lng = 0;
-    cmd.content.location.alt = 0;
+    cmd.content.location = Location{
+        0,
+        0,
+        0,
+        Location::ALT_FRAME_ABSOLUTE
+    };
     if (!mission.add_cmd(cmd)) {
         hal.console->printf("failed to add command\n");
     }
@@ -245,33 +256,39 @@ void MissionTest::init_mission_no_nav_commands()
 
     // Command #0 : home
     cmd.id = MAV_CMD_NAV_WAYPOINT;
-    cmd.content.location.options = 0;
     cmd.p1 = 0;
-    cmd.content.location.alt = 0;
-    cmd.content.location.lat = 12345678;
-    cmd.content.location.lng = 23456789;
+    cmd.content.location = Location{
+        12345678,
+        23456789,
+        0,
+        Location::ALT_FRAME_ABSOLUTE
+    };
     if (!mission.add_cmd(cmd)) {
         hal.console->printf("failed to add command\n");
     }
 
     // Command #1 : "do" command
     cmd.id = MAV_CMD_DO_SET_ROI;
-    cmd.content.location.options = 0;
     cmd.p1 = 0;
-    cmd.content.location.alt = 11;
-    cmd.content.location.lat = 12345678;
-    cmd.content.location.lng = 23456789;
+    cmd.content.location = Location{
+        12345678,
+        23456789,
+        11,
+        Location::ALT_FRAME_ABSOLUTE
+    };
     if (!mission.add_cmd(cmd)) {
         hal.console->printf("failed to add command\n");
     }
 
     // Command #2 : "do" command
     cmd.id = MAV_CMD_DO_CHANGE_SPEED;
-    cmd.content.location.options = 0;
     cmd.p1 = 0;
-    cmd.content.location.alt = 0;
-    cmd.content.location.lat = 0;
-    cmd.content.location.lng = 0;
+    cmd.content.location = Location{
+        0,
+        0,
+        0,
+        Location::ALT_FRAME_ABSOLUTE
+    };
     if (!mission.add_cmd(cmd)) {
         hal.console->printf("failed to add command\n");
     }
@@ -302,11 +319,13 @@ void MissionTest::init_mission_endless_loop()
 
     // Command #0 : home
     cmd.id = MAV_CMD_NAV_WAYPOINT;
-    cmd.content.location.options = 0;
     cmd.p1 = 0;
-    cmd.content.location.alt = 0;
-    cmd.content.location.lat = 12345678;
-    cmd.content.location.lng = 23456789;
+    cmd.content.location = Location{
+        12345678,
+        23456789,
+        0,
+        Location::ALT_FRAME_ABSOLUTE
+    };
     if (!mission.add_cmd(cmd)) {
         hal.console->printf("failed to add command\n");
     }
@@ -321,22 +340,26 @@ void MissionTest::init_mission_endless_loop()
 
     // Command #2 : take-off to 10m
     cmd.id = MAV_CMD_NAV_TAKEOFF;
-    cmd.content.location.options = 0;
     cmd.p1 = 0;
-    cmd.content.location.alt = 10;
-    cmd.content.location.lat = 0;
-    cmd.content.location.lng = 0;
+    cmd.content.location = Location{
+        0,
+        0,
+        10,
+        Location::ALT_FRAME_ABSOLUTE
+    };
     if (!mission.add_cmd(cmd)) {
         hal.console->printf("failed to add command\n");
     }
 
     // Command #3 : waypoint
     cmd.id = MAV_CMD_NAV_WAYPOINT;
-    cmd.content.location.options = 0;
     cmd.p1 = 0;
-    cmd.content.location.alt = 11;
-    cmd.content.location.lat = 12345678;
-    cmd.content.location.lng = 23456789;
+    cmd.content.location = Location{
+        12345678,
+        23456789,
+        11,
+        Location::ALT_FRAME_ABSOLUTE
+    };
     if (!mission.add_cmd(cmd)) {
         hal.console->printf("failed to add command\n");
     }
@@ -354,33 +377,39 @@ void MissionTest::init_mission_jump_to_nonnav()
 
     // Command #0 : home
     cmd.id = MAV_CMD_NAV_WAYPOINT;
-    cmd.content.location.options = 0;
     cmd.p1 = 0;
-    cmd.content.location.alt = 0;
-    cmd.content.location.lat = 12345678;
-    cmd.content.location.lng = 23456789;
+    cmd.content.location = Location{
+        12345678,
+        23456789,
+        0,
+        Location::ALT_FRAME_ABSOLUTE
+    };
     if (!mission.add_cmd(cmd)) {
         hal.console->printf("failed to add command\n");
     }
 
     // Command #1 : take-off to 10m
     cmd.id = MAV_CMD_NAV_TAKEOFF;
-    cmd.content.location.options = 0;
     cmd.p1 = 0;
-    cmd.content.location.alt = 10;
-    cmd.content.location.lat = 0;
-    cmd.content.location.lng = 0;
+    cmd.content.location = Location{
+        0,
+        0,
+        10,
+        Location::ALT_FRAME_ABSOLUTE
+    };
     if (!mission.add_cmd(cmd)) {
         hal.console->printf("failed to add command\n");
     }
 
     // Command #2 : do-roi command
     cmd.id = MAV_CMD_DO_SET_ROI;
-    cmd.content.location.options = 0;
     cmd.p1 = 0;
-    cmd.content.location.alt = 11;
-    cmd.content.location.lat = 12345678;
-    cmd.content.location.lng = 23456789;
+    cmd.content.location = Location{
+        12345678,
+        23456789,
+        11,
+        Location::ALT_FRAME_ABSOLUTE
+    };
     if (!mission.add_cmd(cmd)) {
         hal.console->printf("failed to add command\n");
     }
@@ -395,11 +424,13 @@ void MissionTest::init_mission_jump_to_nonnav()
 
     // Command #4 : waypoint
     cmd.id = MAV_CMD_NAV_WAYPOINT;
-    cmd.content.location.options = 0;
     cmd.p1 = 0;
-    cmd.content.location.alt = 22;
-    cmd.content.location.lat = 12345678;
-    cmd.content.location.lng = 23456789;
+    cmd.content.location = Location{
+        12345678,
+        23456789,
+        22,
+        Location::ALT_FRAME_ABSOLUTE
+    };
     if (!mission.add_cmd(cmd)) {
         hal.console->printf("failed to add command\n");
     }
@@ -418,66 +449,78 @@ void MissionTest::init_mission_starts_with_do_commands()
 
     // Command #0 : home
     cmd.id = MAV_CMD_NAV_WAYPOINT;
-    cmd.content.location.options = 0;
     cmd.p1 = 0;
-    cmd.content.location.alt = 0;
-    cmd.content.location.lat = 12345678;
-    cmd.content.location.lng = 23456789;
+    cmd.content.location = Location{
+        12345678,
+        23456789,
+        0,
+        Location::ALT_FRAME_ABSOLUTE
+    };
     if (!mission.add_cmd(cmd)) {
         hal.console->printf("failed to add command\n");
     }
 
     // Command #1 : First "do" command
     cmd.id = MAV_CMD_DO_SET_ROI;
-    cmd.content.location.options = 0;
     cmd.p1 = 0;
-    cmd.content.location.alt = 11;
-    cmd.content.location.lat = 12345678;
-    cmd.content.location.lng = 23456789;
+    cmd.content.location = Location{
+        12345678,
+        23456789,
+        11,
+        Location::ALT_FRAME_ABSOLUTE
+    };
     if (!mission.add_cmd(cmd)) {
         hal.console->printf("failed to add command\n");
     }
 
     // Command #2 : Second "do" command
     cmd.id = MAV_CMD_DO_CHANGE_SPEED;
-    cmd.content.location.options = 0;
     cmd.p1 = 0;
-    cmd.content.location.alt = 0;
-    cmd.content.location.lat = 0;
-    cmd.content.location.lng = 0;
+    cmd.content.location = Location{
+        0,
+        0,
+        0,
+        Location::ALT_FRAME_ABSOLUTE
+    };
     if (!mission.add_cmd(cmd)) {
         hal.console->printf("failed to add command\n");
     }
 
     // Command #3 : take-off to 10m
     cmd.id = MAV_CMD_NAV_TAKEOFF;
-    cmd.content.location.options = 0;
     cmd.p1 = 0;
-    cmd.content.location.alt = 10;
-    cmd.content.location.lat = 0;
-    cmd.content.location.lng = 0;
+    cmd.content.location = Location{
+        0,
+        0,
+        10,
+        Location::ALT_FRAME_ABSOLUTE
+    };
     if (!mission.add_cmd(cmd)) {
         hal.console->printf("failed to add command\n");
     }
 
     // Command #4 : Third "do" command
     cmd.id = MAV_CMD_DO_SET_ROI;
-    cmd.content.location.options = 0;
     cmd.p1 = 0;
-    cmd.content.location.alt = 22;
-    cmd.content.location.lat = 12345678;
-    cmd.content.location.lng = 23456789;
+    cmd.content.location = Location{
+        12345678,
+        23456789,
+        22,
+        Location::ALT_FRAME_ABSOLUTE
+    };
     if (!mission.add_cmd(cmd)) {
         hal.console->printf("failed to add command\n");
     }
 
     // Command #5 : waypoint
     cmd.id = MAV_CMD_NAV_WAYPOINT;
-    cmd.content.location.options = 0;
     cmd.p1 = 0;
-    cmd.content.location.alt = 33;
-    cmd.content.location.lat = 12345678;
-    cmd.content.location.lng = 23456789;
+    cmd.content.location = Location{
+        12345678,
+        23456789,
+        33,
+        Location::ALT_FRAME_ABSOLUTE
+    };
     if (!mission.add_cmd(cmd)) {
         hal.console->printf("failed to add command\n");
     }
@@ -495,66 +538,75 @@ void MissionTest::init_mission_ends_with_do_commands()
 
     // Command #0 : home
     cmd.id = MAV_CMD_NAV_WAYPOINT;
-    cmd.content.location.options = 0;
     cmd.p1 = 0;
-    cmd.content.location.alt = 0;
-    cmd.content.location.lat = 12345678;
-    cmd.content.location.lng = 23456789;
+    cmd.content.location = Location{
+        12345678,
+        23456789,
+        0,
+        Location::ALT_FRAME_ABSOLUTE
+    };
     if (!mission.add_cmd(cmd)) {
         hal.console->printf("failed to add command\n");
     }
 
     // Command #1 : take-off to 10m
     cmd.id = MAV_CMD_NAV_TAKEOFF;
-    cmd.content.location.options = 0;
     cmd.p1 = 0;
-    cmd.content.location.alt = 10;
-    cmd.content.location.lat = 0;
-    cmd.content.location.lng = 0;
-    if (!mission.add_cmd(cmd)) {
-        hal.console->printf("failed to add command\n");
-    }
+    cmd.content.location = Location{
+        0,
+        0,
+        10,
+        Location::ALT_FRAME_ABSOLUTE
+    };
 
     // Command #2 : "do" command
     cmd.id = MAV_CMD_DO_SET_ROI;
-    cmd.content.location.options = 0;
     cmd.p1 = 0;
-    cmd.content.location.alt = 22;
-    cmd.content.location.lat = 12345678;
-    cmd.content.location.lng = 23456789;
+    cmd.content.location = Location{
+        12345678,
+        23456789,
+        22,
+        Location::ALT_FRAME_ABSOLUTE
+    };
     if (!mission.add_cmd(cmd)) {
         hal.console->printf("failed to add command\n");
     }
 
     // Command #3 : waypoint
     cmd.id = MAV_CMD_NAV_WAYPOINT;
-    cmd.content.location.options = 0;
     cmd.p1 = 0;
-    cmd.content.location.alt = 33;
-    cmd.content.location.lat = 12345678;
-    cmd.content.location.lng = 23456789;
+    cmd.content.location = Location{
+        12345678,
+        23456789,
+        33,
+        Location::ALT_FRAME_ABSOLUTE
+    };
     if (!mission.add_cmd(cmd)) {
         hal.console->printf("failed to add command\n");
     }
 
     // Command #4 : "do" command after last nav command (but not at end of mission)
     cmd.id = MAV_CMD_DO_CHANGE_SPEED;
-    cmd.content.location.options = 0;
     cmd.p1 = 0;
-    cmd.content.location.alt = 0;
-    cmd.content.location.lat = 0;
-    cmd.content.location.lng = 0;
+    cmd.content.location = Location{
+        0,
+        0,
+        0,
+        Location::ALT_FRAME_ABSOLUTE
+    };
     if (!mission.add_cmd(cmd)) {
         hal.console->printf("failed to add command\n");
     }
 
     // Command #5 : "do" command at end of mission
     cmd.id = MAV_CMD_DO_SET_ROI;
-    cmd.content.location.options = 0;
     cmd.p1 = 0;
-    cmd.content.location.alt = 22;
-    cmd.content.location.lat = 12345678;
-    cmd.content.location.lng = 23456789;
+    cmd.content.location = Location{
+        12345678,
+        23456789,
+        22,
+        Location::ALT_FRAME_ABSOLUTE
+    };
     if (!mission.add_cmd(cmd)) {
         hal.console->printf("failed to add command\n");
     }
@@ -571,66 +623,78 @@ void MissionTest::init_mission_ends_with_jump_command()
 
     // Command #0 : home
     cmd.id = MAV_CMD_NAV_WAYPOINT;
-    cmd.content.location.options = 0;
     cmd.p1 = 0;
-    cmd.content.location.alt = 0;
-    cmd.content.location.lat = 12345678;
-    cmd.content.location.lng = 23456789;
+    cmd.content.location = Location{
+        12345678,
+        23456789,
+        0,
+        Location::ALT_FRAME_ABSOLUTE
+    };
     if (!mission.add_cmd(cmd)) {
         hal.console->printf("failed to add command\n");
     }
 
     // Command #1 : take-off to 10m
     cmd.id = MAV_CMD_NAV_TAKEOFF;
-    cmd.content.location.options = 0;
     cmd.p1 = 0;
-    cmd.content.location.alt = 10;
-    cmd.content.location.lat = 0;
-    cmd.content.location.lng = 0;
+    cmd.content.location = Location{
+        0,
+        0,
+        10,
+        Location::ALT_FRAME_ABSOLUTE
+    };
     if (!mission.add_cmd(cmd)) {
         hal.console->printf("failed to add command\n");
     }
 
     // Command #2 : "do" command
     cmd.id = MAV_CMD_DO_SET_ROI;
-    cmd.content.location.options = 0;
     cmd.p1 = 0;
-    cmd.content.location.alt = 22;
-    cmd.content.location.lat = 12345678;
-    cmd.content.location.lng = 23456789;
+    cmd.content.location = Location{
+        12345678,
+        23456789,
+        22,
+        Location::ALT_FRAME_ABSOLUTE
+    };
     if (!mission.add_cmd(cmd)) {
         hal.console->printf("failed to add command\n");
     }
 
     // Command #3 : waypoint
     cmd.id = MAV_CMD_NAV_WAYPOINT;
-    cmd.content.location.options = 0;
     cmd.p1 = 0;
-    cmd.content.location.alt = 33;
-    cmd.content.location.lat = 12345678;
-    cmd.content.location.lng = 23456789;
+    cmd.content.location = Location{
+        12345678,
+        23456789,
+        33,
+        Location::ALT_FRAME_ABSOLUTE
+    };
     if (!mission.add_cmd(cmd)) {
         hal.console->printf("failed to add command\n");
     }
 
     // Command #4 : "do" command after last nav command (but not at end of mission)
     cmd.id = MAV_CMD_DO_CHANGE_SPEED;
-    cmd.content.location.options = 0;
     cmd.p1 = 0;
-    cmd.content.location.alt = 0;
-    cmd.content.location.lat = 0;
-    cmd.content.location.lng = 0;
+    cmd.content.location = Location{
+        0,
+        0,
+        0,
+        Location::ALT_FRAME_ABSOLUTE
+    };
     if (!mission.add_cmd(cmd)) {
         hal.console->printf("failed to add command\n");
     }
 
     // Command #5 : "do" command at end of mission
     cmd.id = MAV_CMD_DO_SET_ROI;
-    cmd.content.location.options = 0;
     cmd.p1 = 0;
-    cmd.content.location.alt = 22;
-    cmd.content.location.lat = 12345678;
-    cmd.content.location.lng = 23456789;
+    cmd.content.location = Location{
+        12345678,
+        23456789,
+        22,
+        Location::ALT_FRAME_ABSOLUTE
+    };
     if (!mission.add_cmd(cmd)) {
         hal.console->printf("failed to add command\n");
     }
@@ -692,33 +756,39 @@ void MissionTest::run_resume_test()
 
     // Command #0 : home
     cmd.id = MAV_CMD_NAV_WAYPOINT;
-    cmd.content.location.options = 0;
     cmd.p1 = 0;
-    cmd.content.location.alt = 0;
-    cmd.content.location.lat = 12345678;
-    cmd.content.location.lng = 23456789;
+    cmd.content.location = Location{
+        12345678,
+        23456789,
+        0,
+        Location::ALT_FRAME_ABSOLUTE
+    };
     if (!mission.add_cmd(cmd)) {
         hal.console->printf("failed to add command\n");
     }
 
     // Command #1 : take-off to 10m
     cmd.id = MAV_CMD_NAV_TAKEOFF;
-    cmd.content.location.options = 0;
     cmd.p1 = 0;
-    cmd.content.location.alt = 10;
-    cmd.content.location.lat = 0;
-    cmd.content.location.lng = 0;
+    cmd.content.location = Location{
+        0,
+        0,
+        10,
+        Location::ALT_FRAME_ABSOLUTE
+    };
     if (!mission.add_cmd(cmd)) {
         hal.console->printf("failed to add command\n");
     }
 
     // Command #2 : first waypoint
     cmd.id = MAV_CMD_NAV_WAYPOINT;
-    cmd.content.location.options = 0;
     cmd.p1 = 0;
-    cmd.content.location.alt = 11;
-    cmd.content.location.lat = 12345678;
-    cmd.content.location.lng = 23456789;
+    cmd.content.location = Location{
+        12345678,
+        23456789,
+        11,
+        Location::ALT_FRAME_ABSOLUTE
+    };
     if (!mission.add_cmd(cmd)) {
         hal.console->printf("failed to add command\n");
     }
@@ -726,20 +796,25 @@ void MissionTest::run_resume_test()
     // Command #3 : second waypoint
     cmd.id = MAV_CMD_NAV_WAYPOINT;
     cmd.p1 = 0;
-    cmd.content.location.lat = 1234567890;
-    cmd.content.location.lng = -1234567890;
-    cmd.content.location.alt = 22;
+    cmd.content.location = Location{
+        1234567890,
+        -1234567890,
+        22,
+        Location::ALT_FRAME_ABSOLUTE
+    };
     if (!mission.add_cmd(cmd)) {
         hal.console->printf("failed to add command\n");
     }
 
     // Command #4 : do command
     cmd.id = MAV_CMD_DO_SET_ROI;
-    cmd.content.location.options = 0;
     cmd.p1 = 0;
-    cmd.content.location.alt = 11;
-    cmd.content.location.lat = 12345678;
-    cmd.content.location.lng = 23456789;
+    cmd.content.location = Location{
+        12345678,
+        23456789,
+        11,
+        Location::ALT_FRAME_ABSOLUTE
+    };
     if (!mission.add_cmd(cmd)) {
         hal.console->printf("failed to add command\n");
     }
@@ -747,9 +822,12 @@ void MissionTest::run_resume_test()
     // Command #5 : RTL
     cmd.id = MAV_CMD_NAV_RETURN_TO_LAUNCH;
     cmd.p1 = 0;
-    cmd.content.location.lat = 0;
-    cmd.content.location.lng = 0;
-    cmd.content.location.alt = 0;
+    cmd.content.location = Location{
+        0,
+        0,
+        0,
+        Location::ALT_FRAME_ABSOLUTE
+    };
     if (!mission.add_cmd(cmd)) {
         hal.console->printf("failed to add command\n");
     }
@@ -798,44 +876,52 @@ void MissionTest::run_set_current_cmd_test()
 
     // Command #0 : home
     cmd.id = MAV_CMD_NAV_WAYPOINT;
-    cmd.content.location.options = 0;
     cmd.p1 = 0;
-    cmd.content.location.alt = 0;
-    cmd.content.location.lat = 12345678;
-    cmd.content.location.lng = 23456789;
+    cmd.content.location = Location{
+        12345678,
+        23456789,
+        0,
+        Location::ALT_FRAME_ABSOLUTE
+    };
     if (!mission.add_cmd(cmd)) {
         hal.console->printf("failed to add command\n");
     }
 
     // Command #1 : take-off to 10m
     cmd.id = MAV_CMD_NAV_TAKEOFF;
-    cmd.content.location.options = 0;
     cmd.p1 = 0;
-    cmd.content.location.alt = 10;
-    cmd.content.location.lat = 0;
-    cmd.content.location.lng = 0;
+    cmd.content.location = Location{
+        0,
+        0,
+        10,
+        Location::ALT_FRAME_ABSOLUTE
+    };
     if (!mission.add_cmd(cmd)) {
         hal.console->printf("failed to add command\n");
     }
 
     // Command #2 : do command
     cmd.id = MAV_CMD_DO_SET_ROI;
-    cmd.content.location.options = 0;
     cmd.p1 = 0;
-    cmd.content.location.alt = 11;
-    cmd.content.location.lat = 12345678;
-    cmd.content.location.lng = 23456789;
+    cmd.content.location = Location{
+        12345678,
+        23456789,
+        11,
+        Location::ALT_FRAME_ABSOLUTE
+    };
     if (!mission.add_cmd(cmd)) {
         hal.console->printf("failed to add command\n");
     }
 
     // Command #3 : first waypoint
     cmd.id = MAV_CMD_NAV_WAYPOINT;
-    cmd.content.location.options = 0;
     cmd.p1 = 0;
-    cmd.content.location.alt = 11;
-    cmd.content.location.lat = 12345678;
-    cmd.content.location.lng = 23456789;
+    cmd.content.location = Location{
+        12345678,
+        23456789,
+        11,
+        Location::ALT_FRAME_ABSOLUTE
+    };
     if (!mission.add_cmd(cmd)) {
         hal.console->printf("failed to add command\n");
     }
@@ -843,20 +929,25 @@ void MissionTest::run_set_current_cmd_test()
     // Command #4 : second waypoint
     cmd.id = MAV_CMD_NAV_WAYPOINT;
     cmd.p1 = 0;
-    cmd.content.location.lat = 1234567890;
-    cmd.content.location.lng = -1234567890;
-    cmd.content.location.alt = 22;
+    cmd.content.location = Location{
+        1234567890,
+        -1234567890,
+        22,
+        Location::ALT_FRAME_ABSOLUTE
+    };
     if (!mission.add_cmd(cmd)) {
         hal.console->printf("failed to add command\n");
     }
 
     // Command #5 : do command
     cmd.id = MAV_CMD_DO_SET_ROI;
-    cmd.content.location.options = 0;
     cmd.p1 = 0;
-    cmd.content.location.alt = 11;
-    cmd.content.location.lat = 12345678;
-    cmd.content.location.lng = 23456789;
+    cmd.content.location = Location{
+        12345678,
+        23456789,
+        11,
+        Location::ALT_FRAME_ABSOLUTE
+    };
     if (!mission.add_cmd(cmd)) {
         hal.console->printf("failed to add command\n");
     }
@@ -864,9 +955,12 @@ void MissionTest::run_set_current_cmd_test()
     // Command #6 : RTL
     cmd.id = MAV_CMD_NAV_RETURN_TO_LAUNCH;
     cmd.p1 = 0;
-    cmd.content.location.lat = 0;
-    cmd.content.location.lng = 0;
-    cmd.content.location.alt = 0;
+    cmd.content.location = Location{
+        0,
+        0,
+        0,
+        Location::ALT_FRAME_ABSOLUTE
+    };
     if (!mission.add_cmd(cmd)) {
         hal.console->printf("failed to add command\n");
     }
@@ -903,44 +997,52 @@ void MissionTest::run_set_current_cmd_while_stopped_test()
 
     // Command #0 : home
     cmd.id = MAV_CMD_NAV_WAYPOINT;
-    cmd.content.location.options = 0;
     cmd.p1 = 0;
-    cmd.content.location.alt = 0;
-    cmd.content.location.lat = 12345678;
-    cmd.content.location.lng = 23456789;
+    cmd.content.location = Location{
+        12345678,
+        23456789,
+        0,
+        Location::ALT_FRAME_ABSOLUTE
+    };
     if (!mission.add_cmd(cmd)) {
         hal.console->printf("failed to add command\n");
     }
 
     // Command #1 : take-off to 10m
     cmd.id = MAV_CMD_NAV_TAKEOFF;
-    cmd.content.location.options = 0;
     cmd.p1 = 0;
-    cmd.content.location.alt = 10;
-    cmd.content.location.lat = 0;
-    cmd.content.location.lng = 0;
+    cmd.content.location = Location{
+        0,
+        0,
+        10,
+        Location::ALT_FRAME_ABSOLUTE
+    };
     if (!mission.add_cmd(cmd)) {
         hal.console->printf("failed to add command\n");
     }
 
     // Command #2 : do command
     cmd.id = MAV_CMD_DO_SET_ROI;
-    cmd.content.location.options = 0;
     cmd.p1 = 0;
-    cmd.content.location.alt = 22;
-    cmd.content.location.lat = 12345678;
-    cmd.content.location.lng = 23456789;
+    cmd.content.location = Location{
+        12345678,
+        23456789,
+        22,
+        Location::ALT_FRAME_ABSOLUTE
+    };
     if (!mission.add_cmd(cmd)) {
         hal.console->printf("failed to add command\n");
     }
 
     // Command #3 : first waypoint
     cmd.id = MAV_CMD_NAV_WAYPOINT;
-    cmd.content.location.options = 0;
     cmd.p1 = 0;
-    cmd.content.location.alt = 11;
-    cmd.content.location.lat = 12345678;
-    cmd.content.location.lng = 23456789;
+    cmd.content.location = Location{
+        12345678,
+        23456789,
+        11,
+        Location::ALT_FRAME_ABSOLUTE
+    };
     if (!mission.add_cmd(cmd)) {
         hal.console->printf("failed to add command\n");
     }
@@ -948,20 +1050,25 @@ void MissionTest::run_set_current_cmd_while_stopped_test()
     // Command #4 : second waypoint
     cmd.id = MAV_CMD_NAV_WAYPOINT;
     cmd.p1 = 0;
-    cmd.content.location.lat = 1234567890;
-    cmd.content.location.lng = -1234567890;
-    cmd.content.location.alt = 22;
+    cmd.content.location = Location{
+        1234567890,
+        -1234567890,
+        22,
+        Location::ALT_FRAME_ABSOLUTE
+    };
     if (!mission.add_cmd(cmd)) {
         hal.console->printf("failed to add command\n");
     }
 
     // Command #5 : do command
     cmd.id = MAV_CMD_DO_SET_ROI;
-    cmd.content.location.options = 0;
     cmd.p1 = 0;
-    cmd.content.location.alt = 11;
-    cmd.content.location.lat = 12345678;
-    cmd.content.location.lng = 23456789;
+    cmd.content.location = Location{
+        12345678,
+        23456789,
+        11,
+        Location::ALT_FRAME_ABSOLUTE
+    };
     if (!mission.add_cmd(cmd)) {
         hal.console->printf("failed to add command\n");
     }
@@ -969,9 +1076,12 @@ void MissionTest::run_set_current_cmd_while_stopped_test()
     // Command #6 : RTL
     cmd.id = MAV_CMD_NAV_RETURN_TO_LAUNCH;
     cmd.p1 = 0;
-    cmd.content.location.lat = 0;
-    cmd.content.location.lng = 0;
-    cmd.content.location.alt = 0;
+    cmd.content.location = Location{
+        0,
+        0,
+        0,
+        Location::ALT_FRAME_ABSOLUTE
+    };
     if (!mission.add_cmd(cmd)) {
         hal.console->printf("failed to add command\n");
     }
@@ -1040,44 +1150,52 @@ void MissionTest::run_replace_cmd_test()
 
     // Command #0 : home
     cmd.id = MAV_CMD_NAV_WAYPOINT;
-    cmd.content.location.options = 0;
     cmd.p1 = 0;
-    cmd.content.location.alt = 0;
-    cmd.content.location.lat = 12345678;
-    cmd.content.location.lng = 23456789;
+    cmd.content.location = Location{
+        12345678,
+        23456789,
+        0,
+        Location::ALT_FRAME_ABSOLUTE
+    };
     if (!mission.add_cmd(cmd)) {
         hal.console->printf("failed to add command\n");
     }
 
     // Command #1 : take-off to 10m
     cmd.id = MAV_CMD_NAV_TAKEOFF;
-    cmd.content.location.options = 0;
     cmd.p1 = 0;
-    cmd.content.location.alt = 10;
-    cmd.content.location.lat = 0;
-    cmd.content.location.lng = 0;
+    cmd.content.location = Location{
+        0,
+        0,
+        10,
+        Location::ALT_FRAME_ABSOLUTE
+    };
     if (!mission.add_cmd(cmd)) {
         hal.console->printf("failed to add command\n");
     }
 
     // Command #2 : do command
     cmd.id = MAV_CMD_DO_SET_ROI;
-    cmd.content.location.options = 0;
     cmd.p1 = 0;
-    cmd.content.location.alt = 11;
-    cmd.content.location.lat = 12345678;
-    cmd.content.location.lng = 23456789;
+    cmd.content.location = Location{
+        12345678,
+        23456789,
+        11,
+        Location::ALT_FRAME_ABSOLUTE
+    };
     if (!mission.add_cmd(cmd)) {
         hal.console->printf("failed to add command\n");
     }
 
     // Command #3 : first waypoint
     cmd.id = MAV_CMD_NAV_WAYPOINT;
-    cmd.content.location.options = 0;
     cmd.p1 = 0;
-    cmd.content.location.alt = 11;
-    cmd.content.location.lat = 12345678;
-    cmd.content.location.lng = 23456789;
+    cmd.content.location = Location{
+        12345678,
+        23456789,
+        11,
+        Location::ALT_FRAME_ABSOLUTE
+    };
     if (!mission.add_cmd(cmd)) {
         hal.console->printf("failed to add command\n");
     }
@@ -1085,9 +1203,12 @@ void MissionTest::run_replace_cmd_test()
     // Command #4 : second waypoint
     cmd.id = MAV_CMD_NAV_WAYPOINT;
     cmd.p1 = 0;
-    cmd.content.location.lat = 1234567890;
-    cmd.content.location.lng = -1234567890;
-    cmd.content.location.alt = 22;
+    cmd.content.location = Location{
+        1234567890,
+        -1234567890,
+        22,
+        Location::ALT_FRAME_ABSOLUTE
+    };
     if (!mission.add_cmd(cmd)) {
         hal.console->printf("failed to add command\n");
     }
@@ -1095,9 +1216,12 @@ void MissionTest::run_replace_cmd_test()
     // Command #6 : RTL
     cmd.id = MAV_CMD_NAV_RETURN_TO_LAUNCH;
     cmd.p1 = 0;
-    cmd.content.location.lat = 0;
-    cmd.content.location.lng = 0;
-    cmd.content.location.alt = 0;
+    cmd.content.location = Location{
+        0,
+        0,
+        0,
+        Location::ALT_FRAME_ABSOLUTE
+    };
     if (!mission.add_cmd(cmd)) {
         hal.console->printf("failed to add command\n");
     }
@@ -1117,11 +1241,13 @@ void MissionTest::run_replace_cmd_test()
     // replace command #4 with a do-command
     // Command #4 : do command
     cmd.id = MAV_CMD_DO_SET_ROI;
-    cmd.content.location.options = 0;
     cmd.p1 = 0;
-    cmd.content.location.alt = 11;
-    cmd.content.location.lat = 12345678;
-    cmd.content.location.lng = 23456789;
+    cmd.content.location = Location{
+        12345678,
+        23456789,
+        11,
+        Location::ALT_FRAME_ABSOLUTE
+    };
     if (!mission.replace_cmd(4, cmd)) {
         hal.console->printf("failed to replace command 4\n");
     }else{
@@ -1150,11 +1276,13 @@ void MissionTest::run_max_cmd_test()
     while (!failed_to_add) {
         // Command #0 : home
         cmd.id = MAV_CMD_NAV_WAYPOINT;
-        cmd.content.location.options = 0;
         cmd.p1 = 0;
-        cmd.content.location.alt = num_commands;
-        cmd.content.location.lat = 12345678;
-        cmd.content.location.lng = 23456789;
+        cmd.content.location = Location{
+            12345678,
+            23456789,
+            num_commands,
+            Location::ALT_FRAME_ABSOLUTE
+        };
         if (!mission.add_cmd(cmd)) {
             hal.console->printf("failed to add command #%u, library says max is %u\n",(unsigned int)num_commands, (unsigned int)mission.num_commands_max());
             failed_to_add = true;