diff --git a/libraries/GCS_MAVLink/include/common/common.h b/libraries/GCS_MAVLink/include/common/common.h
index db8710e1d0..41cba5f284 100644
--- a/libraries/GCS_MAVLink/include/common/common.h
+++ b/libraries/GCS_MAVLink/include/common/common.h
@@ -1,7 +1,7 @@
 /** @file
  *	@brief MAVLink comm protocol.
  *	@see http://pixhawk.ethz.ch/software/mavlink
- *	 Generated on Thursday, December 2 2010, 10:44 UTC
+ *	 Generated on Tuesday, December 7 2010, 13:34 UTC
  */
 #ifndef COMMON_H
 #define COMMON_H
@@ -63,6 +63,8 @@ extern "C" {
 #include "./mavlink_msg_request_dynamic_gyro_calibration.h"
 #include "./mavlink_msg_request_static_calibration.h"
 #include "./mavlink_msg_manual_control.h"
+#include "./mavlink_msg_debug_vect.h"
+#include "./mavlink_msg_gps_local_origin_set.h"
 #include "./mavlink_msg_statustext.h"
 #include "./mavlink_msg_debug.h"
 #ifdef __cplusplus
diff --git a/libraries/GCS_MAVLink/include/common/mavlink.h b/libraries/GCS_MAVLink/include/common/mavlink.h
index 4827e0b674..a5c849425e 100644
--- a/libraries/GCS_MAVLink/include/common/mavlink.h
+++ b/libraries/GCS_MAVLink/include/common/mavlink.h
@@ -1,7 +1,7 @@
 /** @file
  *	@brief MAVLink comm protocol.
  *	@see http://pixhawk.ethz.ch/software/mavlink
- *	 Generated on Thursday, December 2 2010, 10:44 UTC
+ *	 Generated on Tuesday, December 7 2010, 13:34 UTC
  */
 #ifndef MAVLINK_H
 #define MAVLINK_H
diff --git a/libraries/GCS_MAVLink/include/mavlink_types.h b/libraries/GCS_MAVLink/include/mavlink_types.h
index 7fc8458572..64fe89e892 100644
--- a/libraries/GCS_MAVLink/include/mavlink_types.h
+++ b/libraries/GCS_MAVLink/include/mavlink_types.h
@@ -39,6 +39,7 @@ enum MAV_ACTION {
 			MAV_ACTION_NAVIGATE = 25,
 			MAV_ACTION_LAND = 26,
 			MAV_ACTION_LOITER = 27,
+			MAV_ACTION_SET_ORIGIN = 28,
 			MAV_ACTION_NB        ///< Number of MAV actions
 };
 
@@ -48,11 +49,11 @@ enum MAV_MODE
 			MAV_MODE_LOCKED = 1, ///< Motors are blocked, system is safe
 			MAV_MODE_MANUAL = 2, ///< System is allowed to be active, under manual (RC) control
 			MAV_MODE_GUIDED = 3, ///< System is allowed to be active, under autonomous control, manual setpoint
-			MAV_MODE_AUTO = 4,   ///< System is allowed to be active, under autonomous control and navigation
-			MAV_MODE_TEST1 = 5,  ///< Generic test mode, for custom use
-			MAV_MODE_TEST2 = 6,  ///< Generic test mode, for custom use
-			MAV_MODE_TEST3 = 7,   ///< Generic test mode, for custom use
-			MAV_MODE_READY = 8,  ///< System is ready, motors are unblocked, but controllers are inactive
+			MAV_MODE_AUTO =   4, ///< System is allowed to be active, under autonomous control and navigation
+			MAV_MODE_TEST1 =  5, ///< Generic test mode, for custom use
+			MAV_MODE_TEST2 =  6, ///< Generic test mode, for custom use
+			MAV_MODE_TEST3 =  7, ///< Generic test mode, for custom use
+			MAV_MODE_READY =  8, ///< System is ready, motors are unblocked, but controllers are inactive
 			MAV_MODE_RC_TRAINING = 9 ///< System is blocked, only RC valued are read and reported back
 };
 
diff --git a/libraries/GCS_MAVLink/include/pixhawk/mavlink.h b/libraries/GCS_MAVLink/include/pixhawk/mavlink.h
index f7cf5377db..e2dbe043de 100644
--- a/libraries/GCS_MAVLink/include/pixhawk/mavlink.h
+++ b/libraries/GCS_MAVLink/include/pixhawk/mavlink.h
@@ -1,7 +1,7 @@
 /** @file
  *	@brief MAVLink comm protocol.
  *	@see http://pixhawk.ethz.ch/software/mavlink
- *	 Generated on Thursday, December 2 2010, 10:43 UTC
+ *	 Generated on Tuesday, December 7 2010, 13:34 UTC
  */
 #ifndef MAVLINK_H
 #define MAVLINK_H
diff --git a/libraries/GCS_MAVLink/include/pixhawk/pixhawk.h b/libraries/GCS_MAVLink/include/pixhawk/pixhawk.h
index d3436195e9..b7a7616cb3 100644
--- a/libraries/GCS_MAVLink/include/pixhawk/pixhawk.h
+++ b/libraries/GCS_MAVLink/include/pixhawk/pixhawk.h
@@ -1,7 +1,7 @@
 /** @file
  *	@brief MAVLink comm protocol.
  *	@see http://pixhawk.ethz.ch/software/mavlink
- *	 Generated on Thursday, December 2 2010, 10:43 UTC
+ *	 Generated on Tuesday, December 7 2010, 13:34 UTC
  */
 #ifndef PIXHAWK_H
 #define PIXHAWK_H
@@ -31,7 +31,6 @@ enum SLUGS_PID_INDX_IDS
 // MESSAGE DEFINITIONS
 
 #include "./mavlink_msg_attitude_control.h"
-#include "./mavlink_msg_debug_vect.h"
 #include "./mavlink_msg_set_cam_shutter.h"
 #include "./mavlink_msg_image_triggered.h"
 #include "./mavlink_msg_image_trigger_control.h"
diff --git a/libraries/GCS_MAVLink/message_definitions/common.xml b/libraries/GCS_MAVLink/message_definitions/common.xml
index debd9a08a2..f5f8128c34 100644
--- a/libraries/GCS_MAVLink/message_definitions/common.xml
+++ b/libraries/GCS_MAVLink/message_definitions/common.xml
@@ -1,5 +1,6 @@
 <?xml version="1.0"?>
 <mavlink>
+
 <messages>
    <message name="HEARTBEAT" id="0">
      <description>The heartbeat message shows that a system is present and responding. The type of the MAV and Autopilot hardware allow the receiving system to treat further messages from this system appropriate (e.g. by laying out the user interface based on the autopilot).</description>
@@ -391,6 +392,23 @@ NOT the global position estimate of the sytem, but rather a RAW sensor value. Se
      <field name="thrust_manual" type="uint8_t">thrust auto:0, manual:1</field>
    </message>
 
+   <message name="DEBUG_VECT" id="70">
+     <field name="name" type="array[10]">Name</field>
+     <field name="usec" type="uint64_t">Timestamp</field>
+     <field name="x" type="float">x</field>
+     <field name="y" type="float">y</field>
+     <field name="z" type="float">z</field>
+   </message>
+
+  <message name="GPS_LOCAL_ORIGIN_SET" id="71">
+    <description>Once the MAV sets a new GPS-Local correspondence, this message announces </description>
+    <field name="latitude" type="float">Latitude (WGS84)</field>
+    <field name="longitude" type="float">Longitude (WGS84)</field>
+    <field name="altitude" type="float">Altitude(WGS84)</field>
+    <field name="x" type="float">Local X coordinate in meters</field>
+    <field name="y" type="float">Local Y coordinate in meters</field>
+    <field name="z" type="float">Local Z coordinate in meters</field>
+  </message>
    
    <!-- MESSAGE IDs 80 - 250: Space for custom messages in individual projectname_messages.xml files -->
 
diff --git a/libraries/GCS_MAVLink/message_definitions/pixhawk.xml b/libraries/GCS_MAVLink/message_definitions/pixhawk.xml
index 758585c32a..2fb61cac33 100644
--- a/libraries/GCS_MAVLink/message_definitions/pixhawk.xml
+++ b/libraries/GCS_MAVLink/message_definitions/pixhawk.xml
@@ -24,14 +24,6 @@
      <field name="thrust_manual" type="uint8_t">thrust auto:0, manual:1</field>
    </message>
 
-   <message name="DEBUG_VECT" id="90">
-    <field name="name" type="array[10]">Name</field>
-     <field name="usec" type="uint64_t">Timestamp</field>
-     <field name="x" type="float">x</field>
-     <field name="y" type="float">y</field>
-     <field name="z" type="float">z</field>
-   </message>
-
  <message name="SET_CAM_SHUTTER" id="100">
      <field name="cam_no" type="uint8_t">Camera id</field>
      <field name="cam_mode" type="uint8_t">Camera mode: 0 = auto, 1 = manual</field>