From e223f42c31acb213be81ed08da2f69470dbfe000 Mon Sep 17 00:00:00 2001
From: Randy Mackay <rmackay9@yahoo.com>
Date: Fri, 24 Jan 2025 16:36:28 +0900
Subject: [PATCH] Dev: mavlink interface gets EKF source switching section

---
 dev/source/docs/mavlink-nongps-position-estimation.rst | 7 +++++++
 1 file changed, 7 insertions(+)

diff --git a/dev/source/docs/mavlink-nongps-position-estimation.rst b/dev/source/docs/mavlink-nongps-position-estimation.rst
index 0c3d9ab9fa..e235fab3d1 100644
--- a/dev/source/docs/mavlink-nongps-position-estimation.rst
+++ b/dev/source/docs/mavlink-nongps-position-estimation.rst
@@ -234,3 +234,10 @@ Users should set :ref:`FLOW_TYPE<FLOW_TYPE>` = 5 (MAVLink) and then perform the
    </table>
 
 Please see this `issue 29131 <https://github.com/ArduPilot/ardupilot/issues/29131>`__ for improvements we should make to the handling of this message
+
+GPS/Non-GPS Transitions
+-----------------------
+
+The user wiki page for :ref:`GPS/Non-GPS transitions is here <copter:common-non-gps-to-gps>`
+
+The EKF's active source set can be changed in real-time by sending a `COMMAND_LONG <https://mavlink.io/en/messages/common.html#COMMAND_LONG>`__ or `COMMAND_INT <https://mavlink.io/en/messages/common.html#COMMAND_INT>`__ message with the "command" field set to `MAV_CMD_SET_EKF_SOURCE_SET (42007) <https://github.com/ArduPilot/mavlink/blob/master/message_definitions/v1.0/ardupilotmega.xml#L144>`__ and "param1" set to a number between 1 and 3