diff --git a/libraries/GCS_MAVLink/message_definitions/common.xml b/libraries/GCS_MAVLink/message_definitions/common.xml
index dd4ea84430..5e1cb61bbb 100644
--- a/libraries/GCS_MAVLink/message_definitions/common.xml
+++ b/libraries/GCS_MAVLink/message_definitions/common.xml
@@ -271,9 +271,9 @@
                     <param index="2">Waypoint index/ target ID. (see MAV_ROI enum)</param>
                     <param index="3">ROI index (allows a vehicle to manage multiple cameras etc.)</param>
                     <param index="4">Empty</param>
-                    <param index="5">x the location of the fixed ROI (see MAV_FRAME)</param>
-                    <param index="6">y</param>
-                    <param index="7">z</param>
+                    <param index="5">The location of the fixed ROI (see MAV_FRAME)</param>
+                    <param index="6">Empty</param>
+                    <param index="7">Empty</param>
                </entry>
                <entry value="240" name="MAV_CMD_DO_LAST">
                     <description>NOP - This command is only used to mark the upper limit of the DO commands in the enumeration</description>
diff --git a/libraries/GCS_MAVLink/message_definitions_v1.0/common.xml b/libraries/GCS_MAVLink/message_definitions_v1.0/common.xml
index de53b7e6a0..1e6738f8b1 100644
--- a/libraries/GCS_MAVLink/message_definitions_v1.0/common.xml
+++ b/libraries/GCS_MAVLink/message_definitions_v1.0/common.xml
@@ -69,7 +69,7 @@
           			<description>0b00000001 Reserved for future use.</description>
           		</entry>
           </enum>
-          
+
           <enum name="MAV_MODE_FLAG_DECODE_POSITION">
           		<description>These values encode the bit positions of the decode position. These values can be used to read the value of a flag bit by combining the base_mode variable with AND with the flag position value. The result will be either 0 or 1, depending on if the flag is set or not.</description>
                 <entry value="128" name="MAV_MODE_FLAG_DECODE_POSITION_SAFETY">
@@ -604,6 +604,20 @@
                     <param index="6">Empty</param>
                     <param index="7">Empty</param>
                </entry>
+               <entry value="201" name="MAV_CMD_DO_SET_ROI">
+                    <description>Sets the region of interest (ROI) for a sensor set or the
+                    vehicle itself. This can then be used by the vehicles control
+                    system to control the vehicle attitude and the attitude of various
+                    devices such as cameras.
+                </description>
+                    <param index="1">Region of interest mode. (see MAV_ROI enum)</param>
+                    <param index="2">Waypoint index/ target ID. (see MAV_ROI enum)</param>
+                    <param index="3">ROI index (allows a vehicle to manage multiple cameras etc.)</param>
+                    <param index="4">Empty</param>
+                    <param index="5">The location of the fixed ROI (see MAV_FRAME)</param>
+                    <param index="6">Empty</param>
+                    <param index="7">Empty</param>
+               </entry>
                <entry value="240" name="MAV_CMD_DO_LAST">
                     <description>NOP - This command is only used to mark the upper limit of the DO commands in the enumeration</description>
                     <param index="1">Empty</param>
@@ -875,7 +889,7 @@
                <field type="uint16_t" name="errors_count3">Autopilot-specific errors</field>
                <field type="uint16_t" name="errors_count4">Autopilot-specific errors</field>
           </message>
-          
+
           <message id="2" name="SYSTEM_TIME">
                <description>The system time is the time of the master clock, typically the computer clock of the main onboard computer.</description>
                <field type="uint64_t" name="time_unix_usec">Timestamp of the master clock in microseconds since UNIX epoch.</field>
@@ -1270,7 +1284,7 @@
           </message>
           <message id="62" name="NAV_CONTROLLER_OUTPUT">
                <description>Outputs of the APM navigation controller. The primary use of this message is to check the response and signs
-                of the controller before actual flight and to assist with tuning controller parameters 
+                of the controller before actual flight and to assist with tuning controller parameters
             </description>
                <field type="float" name="nav_roll">Current desired roll in degrees</field>
                <field type="float" name="nav_pitch">Current desired pitch in degrees</field>
@@ -1357,7 +1371,7 @@
                <field type="uint16_t" name="command">Command ID, as defined by MAV_CMD enum.</field>
                <field type="uint8_t" name="result">See MAV_RESULT enum</field>
           </message>
-          
+
           <!--
           <message id="80" name="MISSION_ITEM">
           	   <description>One mission element following the MAV_CMD enumeration</description>