From be68d3492a1076f8f5aac2bb651578170697a246 Mon Sep 17 00:00:00 2001
From: "murata,katsutoshi" <ma2maru@gmail.com>
Date: Wed, 11 Mar 2026 13:15:14 +0900
Subject: [PATCH] development.xml: Added RC_CHANNELS_OVERRIDE_V2

---
 message_definitions/v1.0/development.xml | 18 ++++++++++++++++++
 1 file changed, 18 insertions(+)

diff --git a/message_definitions/v1.0/development.xml b/message_definitions/v1.0/development.xml
index bcc62a5a853..b9b5981873f 100644
--- a/message_definitions/v1.0/development.xml
+++ b/message_definitions/v1.0/development.xml
@@ -218,6 +218,24 @@
         Channel values are in centered 13 bit format. Range is -4096 to 4096, center is 0. Conversion to PWM is x * 5/32 + 1500.
         Channels with indexes equal or above count should be set to 0, to benefit from MAVLink's trailing-zero trimming.</field>
     </message>
+    <message id="421" name="RC_CHANNELS_OVERRIDE_V2">
+      <wip since="2026-03"/>
+      <!-- This message is work-in-progress and it can therefore change. It should NOT be used in stable production environments. -->
+      <description>
+        Highly bandwidth-efficient RC override message for professional networked operations (LTE, Zigbee, GCP). 
+        Supersedes RC_CHANNELS_OVERRIDE by adding 32-channel support and a bitmask for multi-master conflict avoidance. 
+        Uses centered-at-zero values and extension-field placement to maximize MAVLink 2 trailing-zero truncation.
+      </description>
+      <field type="uint8_t" name="target_system">System ID.</field>
+      <field type="uint8_t" name="target_component">Component ID.</field>
+      <field type="uint32_t" name="active_mask">Bitmap of included channels (bit 0 = CH1). 1: Valid/Override, 0: Ignore.</field>
+      <extensions/>
+      <field type="int16_t[32]" name="channels" minValue="-4096" maxValue="4096">
+        RC channels in centered 13-bit format. Range: -4096 to 4096, Center: 0. 
+        Conversion to PWM: (x * 5/32) + 1500. 
+        Unused channels must be set to 0 to enable MAVLink 2 trailing-zero trimming.
+      </field>
+    </message>
     <message id="435" name="AVAILABLE_MODES">
       <description>Get information about a particular flight modes.
         The message can be enumerated or requested for a particular mode using MAV_CMD_REQUEST_MESSAGE.