mavlink
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diff --git a/‎ko/messages/common.md‎
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diff --git a/‎ko/messages/development.md‎
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diff --git a/‎ko/messages/ualberta.md‎
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diff --git a/‎zh/SUMMARY.md‎
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diff --git a/‎zh/about/faq.md‎
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diff --git a/‎zh/messages/all.md‎
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@@ -62,7 +62,7 @@ span.warning {
 | -------------------------- | ------- | -------- |
 | [Messages](#messages)      | 0       | 372      |
 | [Enums](#enumerated-types) | 0       | 235      |
-| [Commands](#mav_commands)  | 217     | 0        |
+| [Commands](#mav_commands)  | 218     | 0        |
 
 The following sections list all entities in the dialect (both included and defined in this file).
 
 
@@ -39,7 +39,7 @@ span.warning {
 | -------------------------- | ------- | -------- |
 | [Messages](#messages)      | 12      | 229      |
 | [Enums](#enumerated-types) | 11      | 146      |
-| [Commands](#mav_commands)  | 172     | 0        |
+| [Commands](#mav_commands)  | 173     | 0        |
 
 The following sections list all entities in the dialect (both included and defined in this file).
 
@@ -487,6 +487,27 @@ Recipients must reject command addressed to broadcast system ID.
 | 3 (Reboot)       | Reboot components after ID change. Any non-zero value triggers the reboot.                                                                                   |                                                                        |
 | 4                                   |                                                                                                                                                                                              |                                                                        |
 
+### MAV_CMD_DO_SET_GLOBAL_ORIGIN (611) — [WIP] {#MAV_CMD_DO_SET_GLOBAL_ORIGIN}
+
+<span class="warning">**WORK IN PROGRESS**: Do not use in stable production environments (it may change).</span>
+
+Sets the GNSS coordinates of the vehicle local origin (0,0,0) position.
+
+Vehicle should emit [GPS_GLOBAL_ORIGIN](#GPS_GLOBAL_ORIGIN) irrespective of whether the origin is changed.
+This enables transform between the local coordinate frame and the global (GNSS) coordinate frame, which may be necessary when (for example) indoor and outdoor settings are connected and the MAV should move from in- to outdoor.
+This command supersedes [SET_GPS_GLOBAL_ORIGIN](#SET_GPS_GLOBAL_ORIGIN).
+Should be sent in a [COMMAND_INT](#COMMAND_INT) (Expected frame is [MAV_FRAME_GLOBAL](#MAV_FRAME_GLOBAL), and this should be assumed when sent in [COMMAND_LONG](#COMMAND_LONG)).
+
+| Param (Label) | Description | Units |
+| -------------------------------- | ----------- | ----- |
+| 1                                | Empty       |       |
+| 2                                | Empty       |       |
+| 3                                | Empty       |       |
+| 4                                | Empty       |       |
+| 5 (Latitude)  | Latitude    |       |
+| 6 (Longitude) | Longitude   |       |
+| 7 (Altitude)  | Altitude    | m     |
+
 ### MAV_CMD_ODID_SET_EMERGENCY (12900) — [WIP] {#MAV_CMD_ODID_SET_EMERGENCY}
 
 <span class="warning">**WORK IN PROGRESS**: Do not use in stable production environments (it may change).</span>
 
@@ -116,3 +116,4 @@ Mode currently commanded by pilot
 | <a id='PILOT_ROTO'></a>3   | [PILOT_ROTO](#PILOT_ROTO)     | Rotomotion mode |
 
 ## Commands (MAV_CMD) {#mav_commands}
+
@@ -37,8 +37,8 @@
   - [standard.xml](messages/standard.md)
   - [minimal.xml](messages/minimal.md)
   - [development.xml](messages/development.md)
-- [Microservices](services/index.md) 
-  - [Heartbeat/Connection Protocol](services/heartbeat.md)
+- [](services/index.md) 
+  - [心跳/连接协议](services/heartbeat.md)
   - [Mission Protocol](services/mission.md)
   - [Parameter Protocol](services/parameter.md)
   - [Extended Parameter Protocol](services/parameter_ext.md)
 
@@ -29,9 +29,8 @@
   <dd>
 
   <ul>
-    <li>The underlying over-the-wire format is rarely updated (we're only up to <em>MAVLink 2</em>, which was introduced in 2017).
-    </li>
-    <li>New <a href="../messages/common.md">messages</a>/<a href="../services/index.md">microservices</a> are frequently added. 这些更新是后向兼容，用户可定期更新其使用的库以支持新的消息。</li>
+    <li>底层的序列化方式很少更新(只在2017年引入 <em>MAVLink 2</em>时进行了更新)。</li>
+    <li>经常添加新的<a href="../messages/common.md">信息</a>/<a href="../services/index.md">微服务</a>。 这些更新是后向兼容，用户可定期更新其使用的库以支持新的消息。</li>
     <li>消息很少被修改(或删除)，以防止它们变得不兼容。 如果需要更新，项目将通过更新MAVLink次要版本号，并通过 <a href="https://groups.google.com/forum/#!forum/mavlink">邮件列表</a> 通知用户(用户也可以在代码中查询版本)。</li>
   </ul>
   </dd>
 
@@ -62,7 +62,7 @@ span.warning {
 | -------------------------- | ------- | -------- |
 | [Messages](#messages)      | 0       | 372      |
 | [Enums](#enumerated-types) | 0       | 235      |
-| [Commands](#mav_commands)  | 217     | 0        |
+| [Commands](#mav_commands)  | 218     | 0        |
 
 The following sections list all entities in the dialect (both included and defined in this file).
Original file line number	Diff line number	Diff line change
`@@ -116,3 +116,4 @@ Mode currently commanded by pilot`
`116`	`116`	`\| <a id='PILOT_ROTO'></a>3 \| [PILOT_ROTO](#PILOT_ROTO) \| Rotomotion mode \|`
`117`	`117`
`118`	`118`	`## Commands (MAV_CMD) {#mav_commands}`
	`119`	`+`