diff --git a/message_definitions/v1.0/common.xml b/message_definitions/v1.0/common.xml
index b8bf044a8e..57767a4ac4 100644
--- a/message_definitions/v1.0/common.xml
+++ b/message_definitions/v1.0/common.xml
@@ -1622,6 +1622,16 @@
         <param index="5" label="Gimbal manager flags" enum="GIMBAL_MANAGER_FLAGS">Gimbal manager flags to use.</param>
         <param index="7" label="Gimbal device ID">Component ID of gimbal device to address (or 1-6 for non-MAVLink gimbal), 0 for all gimbal device components. Send command multiple times for more than one gimbal (but not all gimbals).</param>
       </entry>
+      <entry value="1001" name="MAV_CMD_DO_GIMBAL_MANAGER_CONFIGURE" hasLocation="false" isDestination="false">
+        <wip/>
+        <!-- This message is work-in-progress and it can therefore change. It should NOT be used in stable production environments. -->
+        <description>Gimbal configuration to set which sysid/compid is in primary and secondary control.</description>
+        <param index="1" label="sysid primary control">Sysid for primary control (0: no one in control, -1: leave unchanged, -2: set itself in control (for missions where the own sysid is still unknown), -3: remove control if currently in control).</param>
+        <param index="2" label="compid primary control">Compid for primary control (0: no one in control, -1: leave unchanged, -2: set itself in control (for missions where the own sysid is still unknown), -3: remove control if currently in control).</param>
+        <param index="3" label="sysid secondary control">Sysid for secondary control (0: no one in control, -1: leave unchanged, -2: set itself in control (for missions where the own sysid is still unknown), -3: remove control if currently in control).</param>
+        <param index="4" label="compid secondary control">Compid for secondary control (0: no one in control, -1: leave unchanged, -2: set itself in control (for missions where the own sysid is still unknown), -3: remove control if currently in control).</param>
+        <param index="7" label="Gimbal device ID">Component ID of gimbal device to address (or 1-6 for non-MAVLink gimbal), 0 for all gimbal device components. Send command multiple times for more than one gimbal (but not all gimbals).</param>
+      </entry>
       <entry value="2000" name="MAV_CMD_IMAGE_START_CAPTURE" hasLocation="false" isDestination="false">
         <description>Start image capture sequence. Sends CAMERA_IMAGE_CAPTURED after each capture. Use NaN for reserved values.</description>
         <param index="1">Reserved (Set to 0)</param>