diff --git a/msg/translation_node/translations/all_translations.h b/msg/translation_node/translations/all_translations.h
index d59b232462..49393b5389 100644
--- a/msg/translation_node/translations/all_translations.h
+++ b/msg/translation_node/translations/all_translations.h
@@ -18,6 +18,7 @@
 #include "translation_register_ext_component_request_v1.h"
 #include "translation_register_ext_component_request_v2.h"
 #include "translation_vehicle_attitude_setpoint_v1.h"
+#include "translation_vehicle_command_v1.h"
 #include "translation_vehicle_command_ack_v1.h"
 #include "translation_vehicle_local_position_v1.h"
 #include "translation_vehicle_status_v1.h"
diff --git a/msg/translation_node/translations/translation_vehicle_command_v1.h b/msg/translation_node/translations/translation_vehicle_command_v1.h
new file mode 100644
index 0000000000..85a5f2dcc0
--- /dev/null
+++ b/msg/translation_node/translations/translation_vehicle_command_v1.h
@@ -0,0 +1,63 @@
+/****************************************************************************
+ * Copyright (c) 2026 PX4 Development Team.
+ * SPDX-License-Identifier: BSD-3-Clause
+ ****************************************************************************/
+#pragma once
+
+// Translate VehicleCommand v0 <--> v1
+#include <px4_msgs_old/msg/vehicle_command_v0.hpp>
+#include <px4_msgs/msg/vehicle_command.hpp>
+
+class VehicleCommandV1Translation
+{
+public:
+	using MessageOlder = px4_msgs_old::msg::VehicleCommandV0;
+	static_assert(MessageOlder::MESSAGE_VERSION == 0);
+
+	using MessageNewer = px4_msgs::msg::VehicleCommand;
+	static_assert(MessageNewer::MESSAGE_VERSION == 1);
+
+	static constexpr const char *kTopic = "fmu/in/vehicle_command";
+
+	static void fromOlder(const MessageOlder &msg_older, MessageNewer &msg_newer)
+	{
+		msg_newer.timestamp = msg_older.timestamp;
+		msg_newer.param1 = msg_older.param1;
+		msg_newer.param2 = msg_older.param2;
+		msg_newer.param3 = msg_older.param3;
+		msg_newer.param4 = msg_older.param4;
+		msg_newer.param5 = msg_older.param5;
+		msg_newer.param6 = msg_older.param6;
+		msg_newer.param7 = msg_older.param7;
+		msg_newer.frame = MessageNewer::FRAME_GLOBAL; // New field in v1, default to MAV_FRAME_GLOBAL
+		msg_newer.command = msg_older.command;
+		msg_newer.target_system = msg_older.target_system;
+		msg_newer.target_component = msg_older.target_component;
+		msg_newer.source_system = msg_older.source_system;
+		msg_newer.source_component = msg_older.source_component;
+		msg_newer.confirmation = msg_older.confirmation;
+		msg_newer.from_external = msg_older.from_external;
+	}
+
+	static void toOlder(const MessageNewer &msg_newer, MessageOlder &msg_older)
+	{
+		msg_older.timestamp = msg_newer.timestamp;
+		msg_older.param1 = msg_newer.param1;
+		msg_older.param2 = msg_newer.param2;
+		msg_older.param3 = msg_newer.param3;
+		msg_older.param4 = msg_newer.param4;
+		msg_older.param5 = msg_newer.param5;
+		msg_older.param6 = msg_newer.param6;
+		msg_older.param7 = msg_newer.param7;
+		// Note: frame from v1 is dropped in v0
+		msg_older.command = msg_newer.command;
+		msg_older.target_system = msg_newer.target_system;
+		msg_older.target_component = msg_newer.target_component;
+		msg_older.source_system = msg_newer.source_system;
+		msg_older.source_component = msg_newer.source_component;
+		msg_older.confirmation = msg_newer.confirmation;
+		msg_older.from_external = msg_newer.from_external;
+	}
+};
+
+REGISTER_TOPIC_TRANSLATION_DIRECT(VehicleCommandV1Translation);
diff --git a/msg/versioned/VehicleCommand.msg b/msg/versioned/VehicleCommand.msg
index be86cd22df..4674cd7365 100644
--- a/msg/versioned/VehicleCommand.msg
+++ b/msg/versioned/VehicleCommand.msg
@@ -1,10 +1,19 @@
 # Vehicle Command uORB message. Used for commanding a mission / action / etc.
 # Follows the MAVLink COMMAND_INT / COMMAND_LONG definition
 
-uint32 MESSAGE_VERSION = 0
+uint32 MESSAGE_VERSION = 1
 
 uint64 timestamp # [us] Time since system start.
 
+# Frame of reference for the lat/lon/alt fields (param5/6/7), mirrors MAV_FRAME.
+# Only frames relevant to position-bearing commands are listed.
+uint8 FRAME_GLOBAL = 0                  # WGS84 (MSL altitude)
+uint8 FRAME_GLOBAL_RELATIVE_ALT = 3     # Altitude is relative to home
+uint8 FRAME_GLOBAL_INT = 5              # Same as FRAME_GLOBAL but coordinates are int32
+uint8 FRAME_GLOBAL_RELATIVE_ALT_INT = 6 # Same as FRAME_GLOBAL_RELATIVE_ALT but int32 coords
+uint8 FRAME_GLOBAL_TERRAIN_ALT = 10     # Altitude is meters above terrain (AGL)
+uint8 FRAME_GLOBAL_TERRAIN_ALT_INT = 11 # Same as FRAME_GLOBAL_TERRAIN_ALT but int32 coords
+
 uint16 VEHICLE_CMD_CUSTOM_0 = 0 # Test command.
 uint16 VEHICLE_CMD_CUSTOM_1 = 1 # Test command.
 uint16 VEHICLE_CMD_CUSTOM_2 = 2 # Test command.
@@ -212,6 +221,7 @@ float32 param4 # Parameter 4, as defined by MAVLink uint16 VEHICLE_CMD enum.
 float64 param5 # Parameter 5, as defined by MAVLink uint16 VEHICLE_CMD enum.
 float64 param6 # Parameter 6, as defined by MAVLink uint16 VEHICLE_CMD enum.
 float32 param7 # Parameter 7, as defined by MAVLink uint16 VEHICLE_CMD enum.
+uint8 frame # Frame of reference for param5/6/7 (FRAME_* constants above). Defaults to FRAME_GLOBAL when received via COMMAND_LONG which has no frame field.
 uint32 command # Command ID.
 uint8 target_system # System which should execute the command.
 uint8 target_component # Component which should execute the command, 0 for all components.