diff --git a/message_definitions/v1.0/common.xml b/message_definitions/v1.0/common.xml
index 1712f3086e..ff44c7ea44 100644
--- a/message_definitions/v1.0/common.xml
+++ b/message_definitions/v1.0/common.xml
@@ -1168,6 +1168,27 @@
         <param index="6">Empty</param>
         <param index="7">Empty</param>
       </entry>
+      <entry value="188" name="MAV_CMD_DO_RETURN_PATH_START" hasLocation="true" isDestination="false">
+        <wip/>
+        <!-- This message is work-in-progress and it can therefore change. It should NOT be used in stable production environments. -->
+        <description>Mission item to specify the start of a failsafe/landing return-path segment (the end of the segment is the next MAV_CMD_DO_LAND_START item).
+          A vehicle that is using missions for landing (e.g. in a return mode) will join the mission on the closest path of the return-path segment (instead of MAV_CMD_DO_LAND_START or the nearest waypoint).
+          The main use case is to minimize the failsafe flight path in corridor missions, where the inbound/outbound paths are constrained (by geofences) to the same particular path.
+          The MAV_CMD_NAV_RETURN_PATH_START would be placed at the start of the return path.
+          If a failsafe occurs on the outbound path the vehicle will move to the nearest point on the return path (which is parallel for this kind of mission), effectively turning round and following the shortest path to landing.
+          If a failsafe occurs on the inbound path the vehicle is already on the return segment and will continue to landing.
+          The Latitude/Longitude/Altitude are optional, and may be set to 0 if not needed.
+          If specified, the item defines the waypoint at which the return segment starts.
+          If sent using as a command, the vehicle will perform a mission landing (using the land segment if defined) or reject the command if mission landings are not supported, or no mission landing is defined. When used as a command any position information in the command is ignored.
+        </description>
+        <param index="1">Empty</param>
+        <param index="2">Empty</param>
+        <param index="3">Empty</param>
+        <param index="4">Empty</param>
+        <param index="5" label="Latitude">Latitudee. 0: not used.</param>
+        <param index="6" label="Longitude">Longitudee. 0: not used.</param>
+        <param index="7" label="Altitude" units="m">Altitudee. 0: not used.</param>
+      </entry>
       <entry value="189" name="MAV_CMD_DO_LAND_START" hasLocation="true" isDestination="false">
         <description>Mission command to perform a landing. This is used as a marker in a mission to tell the autopilot where a sequence of mission items that represents a landing starts.
 	  It may also be sent via a COMMAND_LONG to trigger a landing, in which case the nearest (geographically) landing sequence in the mission will be used.