diff --git a/AntennaTracker/GCS_Mavlink.cpp b/AntennaTracker/GCS_Mavlink.cpp
index 9b3c7c34e7..0ab47e7ac0 100644
--- a/AntennaTracker/GCS_Mavlink.cpp
+++ b/AntennaTracker/GCS_Mavlink.cpp
@@ -436,7 +436,7 @@ void GCS_MAVLINK_Tracker::handleMessage(mavlink_message_t* msg)
             waypoint_receiving = true;
             waypoint_request_i = 0;
             waypoint_request_last = 0;
-            send_message(MSG_NEXT_WAYPOINT);
+            send_message(MSG_NEXT_MISSION_REQUEST);
         }
         break;
     }
diff --git a/libraries/GCS_MAVLink/GCS.h b/libraries/GCS_MAVLink/GCS.h
index 1c4261e8bc..7758c78790 100644
--- a/libraries/GCS_MAVLink/GCS.h
+++ b/libraries/GCS_MAVLink/GCS.h
@@ -63,7 +63,7 @@ enum ap_message : uint8_t {
     MSG_GPS2_RTK,
     MSG_SYSTEM_TIME,
     MSG_SERVO_OUT,
-    MSG_NEXT_WAYPOINT,
+    MSG_NEXT_MISSION_REQUEST,
     MSG_NEXT_PARAM,
     MSG_FENCE_STATUS,
     MSG_AHRS,
diff --git a/libraries/GCS_MAVLink/GCS_Common.cpp b/libraries/GCS_MAVLink/GCS_Common.cpp
index 76ea199da2..8f418e7ecc 100644
--- a/libraries/GCS_MAVLink/GCS_Common.cpp
+++ b/libraries/GCS_MAVLink/GCS_Common.cpp
@@ -850,11 +850,11 @@ bool GCS_MAVLINK::handle_mission_item(mavlink_message_t *msg, AP_Mission &missio
         // only set WP_RADIUS parameter
     } else {
         waypoint_timelast_request = AP_HAL::millis();
-        // if we have enough space, then send the next WP immediately
+        // if we have enough space, then send the next WP request immediately
         if (HAVE_PAYLOAD_SPACE(chan, MISSION_ITEM)) {
             queued_mission_request_send();
         } else {
-            send_message(MSG_NEXT_WAYPOINT);
+            send_message(MSG_NEXT_MISSION_REQUEST);
         }
     }
     return mission_is_complete;
@@ -874,7 +874,7 @@ mission_ack:
 
 ap_message GCS_MAVLINK::mavlink_id_to_ap_message_id(const uint32_t mavlink_id) const
 {
-    // MSG_NEXT_WAYPOINT doesn't correspond to a mavlink message directly.
+    // MSG_NEXT_MISSION_REQUEST doesn't correspond to a mavlink message directly.
     // It is used to request the next waypoint after receiving one.
 
     // MSG_NEXT_PARAM doesn't correspond to a mavlink message directly.
@@ -1583,7 +1583,7 @@ GCS_MAVLINK::update_receive(uint32_t max_time_us)
             gcs().send_text(MAV_SEVERITY_WARNING, "Mission upload timeout");
         } else if (tnow - waypoint_timelast_request > wp_recv_time) {
             waypoint_timelast_request = tnow;
-            send_message(MSG_NEXT_WAYPOINT);
+            send_message(MSG_NEXT_MISSION_REQUEST);
         }
     }
 
@@ -3614,7 +3614,7 @@ bool GCS_MAVLINK::try_send_mission_message(const enum ap_message id)
         mavlink_msg_mission_item_reached_send(chan, mission_item_reached_index);
         ret = true;
         break;
-    case MSG_NEXT_WAYPOINT:
+    case MSG_NEXT_MISSION_REQUEST:
         CHECK_PAYLOAD_SIZE(MISSION_REQUEST);
         queued_mission_request_send();
         ret = true;
@@ -3737,7 +3737,7 @@ bool GCS_MAVLINK::try_send_message(const enum ap_message id)
 
     case MSG_CURRENT_WAYPOINT:
     case MSG_MISSION_ITEM_REACHED:
-    case MSG_NEXT_WAYPOINT:
+    case MSG_NEXT_MISSION_REQUEST:
         ret = try_send_mission_message(id);
         break;