diff --git a/libraries/GCS_MAVLink/GCS.h b/libraries/GCS_MAVLink/GCS.h
index 55909d1c65..b7f913ad90 100644
--- a/libraries/GCS_MAVLink/GCS.h
+++ b/libraries/GCS_MAVLink/GCS.h
@@ -235,6 +235,7 @@ protected:
     virtual AP_AdvancedFailsafe *get_advanced_failsafe() const { return nullptr; };
     virtual bool set_mode(uint8_t mode) = 0;
     virtual const AP_FWVersion &get_fwver() const = 0;
+    virtual void set_ekf_origin(const Location& loc) = 0;
 
     bool            waypoint_receiving; // currently receiving
     // the following two variables are only here because of Tracker
@@ -276,6 +277,7 @@ protected:
     void handle_serial_control(const mavlink_message_t *msg);
 
     void handle_common_message(mavlink_message_t *msg);
+    void handle_set_gps_global_origin(const mavlink_message_t *msg);
     void handle_setup_signing(const mavlink_message_t *msg);
     uint8_t handle_preflight_reboot(const mavlink_command_long_t &packet, bool disable_overrides);
     MAV_RESULT handle_rc_bind(const mavlink_command_long_t &packet);
diff --git a/libraries/GCS_MAVLink/GCS_Common.cpp b/libraries/GCS_MAVLink/GCS_Common.cpp
index b8769c3175..4028745278 100644
--- a/libraries/GCS_MAVLink/GCS_Common.cpp
+++ b/libraries/GCS_MAVLink/GCS_Common.cpp
@@ -1796,6 +1796,24 @@ MAV_RESULT GCS_MAVLINK::handle_command_camera(const mavlink_command_long_t &pack
     return result;
 }
 
+void GCS_MAVLINK::handle_set_gps_global_origin(const mavlink_message_t *msg)
+{
+    mavlink_set_gps_global_origin_t packet;
+    mavlink_msg_set_gps_global_origin_decode(msg, &packet);
+
+    // sanity check location
+    if (!check_latlng(packet.latitude, packet.longitude)) {
+        // silently drop the request
+        return;
+    }
+
+    Location ekf_origin {};
+    ekf_origin.lat = packet.latitude;
+    ekf_origin.lng = packet.longitude;
+    ekf_origin.alt = packet.altitude / 10;
+    set_ekf_origin(ekf_origin);
+}
+
 /*
   handle messages which don't require vehicle specific data
  */
@@ -1814,6 +1832,10 @@ void GCS_MAVLINK::handle_common_message(mavlink_message_t *msg)
         handle_common_param_message(msg);
         break;
 
+    case MAVLINK_MSG_ID_SET_GPS_GLOBAL_ORIGIN:
+        handle_set_gps_global_origin(msg);
+        break;
+
     case MAVLINK_MSG_ID_DEVICE_OP_READ:
         handle_device_op_read(msg);
         break;
diff --git a/libraries/GCS_MAVLink/GCS_Dummy.h b/libraries/GCS_MAVLink/GCS_Dummy.h
index 8ea03dcaef..71262c9476 100644
--- a/libraries/GCS_MAVLink/GCS_Dummy.h
+++ b/libraries/GCS_MAVLink/GCS_Dummy.h
@@ -30,6 +30,7 @@ protected:
     AP_Camera *get_camera() const override { return nullptr; };
     AP_ServoRelayEvents *get_servorelayevents() const override { return nullptr; }
     const AP_FWVersion &get_fwver() const override { return fwver; }
+    void set_ekf_origin(const Location& loc) override { };
 
     uint8_t sysid_my_gcs() const override { return 1; }
     bool set_mode(uint8_t mode) override { return false; };
diff --git a/libraries/GCS_MAVLink/examples/routing/routing.cpp b/libraries/GCS_MAVLink/examples/routing/routing.cpp
index 78ce25f7cb..32884ec2de 100644
--- a/libraries/GCS_MAVLink/examples/routing/routing.cpp
+++ b/libraries/GCS_MAVLink/examples/routing/routing.cpp
@@ -40,6 +40,7 @@ protected:
     uint8_t sysid_my_gcs() const override { return 1; }
     bool set_mode(uint8_t mode) override { return false; };
     const AP_FWVersion &get_fwver() const override { return fwver; }
+    void set_ekf_origin(const Location& loc) override { };
 
 private: