diff --git a/msg/versioned/VehicleCommand.msg b/msg/versioned/VehicleCommand.msg
index c400d3c07a..fb3121eba3 100644
--- a/msg/versioned/VehicleCommand.msg
+++ b/msg/versioned/VehicleCommand.msg
@@ -128,7 +128,7 @@ uint32 VEHICLE_CMD_PX4_INTERNAL_START = 65537 # Start of PX4 internal only vehic
 uint32 VEHICLE_CMD_SET_GPS_GLOBAL_ORIGIN = 100000 # Sets the GPS coordinates of the vehicle local origin (0,0,0) position. |Unused|Unused|Unused|Unused|Latitude (WGS-84)|Longitude (WGS-84)|[m] Altitude (AMSL from GNSS, positive above ground)|
 uint32 VEHICLE_CMD_SET_NAV_STATE = 100001 # Change mode by specifying nav_state directly. |nav_state|Unused|Unused|Unused|Unused|Unused|Unused|
 
-uint16 VEHICLE_CMD_DO_CHANGE_COURSE = 43007 # Change the course setpoint in Course mode. |[deg] Course (bearing) [0..360, NaN = no change]|Unused|Unused|Unused|Unused|Unused|Unused|
+uint16 VEHICLE_CMD_GUIDED_CHANGE_HEADING = 43002 # Change heading/course. param1: heading type (0=course-over-ground, 1=heading). param2: target [deg]. param3: max rate [deg/s]. |Heading type (HEADING_TYPE enum)|[deg] Target bearing [0..360]|[deg/s] Max rate of change|Unused|Unused|Unused|Unused|
 
 uint8 VEHICLE_MOUNT_MODE_RETRACT = 0 # Load and keep safe position (Roll,Pitch,Yaw) from permanent memory and stop stabilization.
 uint8 VEHICLE_MOUNT_MODE_NEUTRAL = 1 # Load and keep neutral position (Roll,Pitch,Yaw) from permanent memory.
diff --git a/src/modules/commander/Commander.cpp b/src/modules/commander/Commander.cpp
index d02cd14a8d..36569946b2 100644
--- a/src/modules/commander/Commander.cpp
+++ b/src/modules/commander/Commander.cpp
@@ -910,7 +910,7 @@ Commander::handle_command(const vehicle_command_s &cmd)
 		}
 		break;
 
-	case vehicle_command_s::VEHICLE_CMD_DO_CHANGE_COURSE: {
+	case vehicle_command_s::VEHICLE_CMD_GUIDED_CHANGE_HEADING: {
 			// Navigator handles this command: it acks ACCEPTED when
 			// the vehicle is in course mode with a valid position, DENIED otherwise.
 		}
diff --git a/src/modules/navigator/course.h b/src/modules/navigator/course.h
index 3568b2dec9..81c5da83dc 100644
--- a/src/modules/navigator/course.h
+++ b/src/modules/navigator/course.h
@@ -35,8 +35,8 @@
  *
  * Course mode: maintain constant course, altitude, and airspeed.
  *
- * Accepts MAV_CMD_DO_CHANGE_ALTITUDE, VEHICLE_CMD_DO_REPOSITION, DO_CHANGE_COURSE and DO_CHANGE_SPEED commands.
- * - DO_CHANGE_COURSE: sets course (ground track direction, requires valid position).
+ * Accepts MAV_CMD_DO_CHANGE_ALTITUDE, MAV_CMD_GUIDED_CHANGE_HEADING and MAV_CMD_DO_CHANGE_SPEED commands.
+ * - MAV_CMD_GUIDED_CHANGE_HEADING (param1=HEADING_TYPE_COURSE_OVER_GROUND): sets course (ground track direction, requires valid position).
  */
 
 #pragma once
diff --git a/src/modules/navigator/navigator_main.cpp b/src/modules/navigator/navigator_main.cpp
index 69c990dfdb..5410cd9553 100644
--- a/src/modules/navigator/navigator_main.cpp
+++ b/src/modules/navigator/navigator_main.cpp
@@ -525,21 +525,24 @@ void Navigator::run()
 					// DO_CHANGE_ALTITUDE is acknowledged by commander
 				} // else (not course hold)
 
-			} else if (cmd.command == vehicle_command_s::VEHICLE_CMD_DO_CHANGE_COURSE
+			} else if (cmd.command == vehicle_command_s::VEHICLE_CMD_GUIDED_CHANGE_HEADING
 				   && _vstatus.arming_state == vehicle_status_s::ARMING_STATE_ARMED) {
 
 				uint8_t result{vehicle_command_ack_s::VEHICLE_CMD_RESULT_DENIED};
 
+				// param1: heading type (0 = HEADING_TYPE_COURSE_OVER_GROUND)
+				// param2: target bearing [deg, 0=north]
+				const bool control_course = (lroundf(cmd.param1) == 0);
+
 				if (_vstatus.vehicle_type == vehicle_status_s::VEHICLE_TYPE_FIXED_WING
-				    && _navigation_mode == &_course && PX4_ISFINITE(cmd.param1)) {
-					// param1: course angle [deg], 0 = north, converted to radians
-					float course_rad = cmd.param1 * M_DEG_TO_RAD_F;
+				    && _navigation_mode == &_course && control_course && PX4_ISFINITE(cmd.param2)) {
+					float course_rad = cmd.param2 * M_DEG_TO_RAD_F;
 
 					if (_course.set_course(course_rad)) {
 						result = vehicle_command_ack_s::VEHICLE_CMD_RESULT_ACCEPTED;
 					}
 
-					// DENIED if no positioning available for course mode, or if we are not in fixed wing mode
+					// DENIED if not FW, not in course mode, not correct heading type, or no positioning available
 				}
 
 				publish_vehicle_command_ack(cmd, result);