diff --git a/build/patches/move_mav_cmd_fixed_mag_cal_yaw_to_common.patch b/build/patches/move_mav_cmd_fixed_mag_cal_yaw_to_common.patch
new file mode 100644
index 0000000000..93d4e66961
--- /dev/null
+++ b/build/patches/move_mav_cmd_fixed_mag_cal_yaw_to_common.patch
@@ -0,0 +1,42 @@
+diff --git a/message_definitions/v1.0/ardupilotmega.xml b/message_definitions/v1.0/ardupilotmega.xml
+index 35e57c0a..4af5f9c4 100644
+--- a/message_definitions/v1.0/ardupilotmega.xml
++++ b/message_definitions/v1.0/ardupilotmega.xml
+@@ -121,16 +121,6 @@
+         <param index="6">Empty.</param>
+         <param index="7">Empty.</param>
+       </entry>
+-      <entry value="42006" name="MAV_CMD_FIXED_MAG_CAL_YAW">
+-        <description>Magnetometer calibration based on provided known yaw. This allows for fast calibration using WMM field tables in the vehicle, given only the known yaw of the vehicle. If Latitude and longitude are both zero then use the current vehicle location.</description>
+-        <param index="1" label="Yaw" units="deg">Yaw of vehicle in earth frame.</param>
+-        <param index="2" label="CompassMask">CompassMask, 0 for all.</param>
+-        <param index="3" label="Latitude" units="deg">Latitude.</param>
+-        <param index="4" label="Longitude" units="deg">Longitude.</param>
+-        <param index="5">Empty.</param>
+-        <param index="6">Empty.</param>
+-        <param index="7">Empty.</param>
+-      </entry>
+       <entry value="42424" name="MAV_CMD_DO_START_MAG_CAL">
+         <description>Initiate a magnetometer calibration.</description>
+         <param index="1">uint8_t bitmask of magnetometers (0 means all).</param>
+diff --git a/message_definitions/v1.0/common.xml b/message_definitions/v1.0/common.xml
+index 1ccad646..13c205cb 100644
+--- a/message_definitions/v1.0/common.xml
++++ b/message_definitions/v1.0/common.xml
+@@ -2540,6 +2540,16 @@
+         <param index="6" label="Longitude" units="degE7">Longitude. Note, if used in MISSION_ITEM (deprecated) the units are degrees (unscaled)</param>
+         <param index="7" label="Altitude" units="m">Altitude (MSL)</param>
+       </entry>
++      <entry value="42006" name="MAV_CMD_FIXED_MAG_CAL_YAW">
++        <description>Magnetometer calibration based on provided known yaw. This allows for fast calibration using WMM field tables in the vehicle, given only the known yaw of the vehicle. If Latitude and longitude are both zero then use the current vehicle location.</description>
++        <param index="1" label="Yaw" units="deg">Yaw of vehicle in earth frame.</param>
++        <param index="2" label="CompassMask">CompassMask, 0 for all.</param>
++        <param index="3" label="Latitude" units="deg">Latitude.</param>
++        <param index="4" label="Longitude" units="deg">Longitude.</param>
++        <param index="5">Empty.</param>
++        <param index="6">Empty.</param>
++        <param index="7">Empty.</param>
++      </entry>
+       <entry value="30002" name="MAV_CMD_PAYLOAD_CONTROL_DEPLOY" hasLocation="false" isDestination="false">
+         <description>Control the payload deployment.</description>
+         <param index="1" label="Operation Mode" minValue="0" maxValue="101" increment="1">Operation mode. 0: Abort deployment, continue normal mission. 1: switch to payload deployment mode. 100: delete first payload deployment request. 101: delete all payload deployment requests.</param>