diff --git a/message_definitions/v1.0/common.xml b/message_definitions/v1.0/common.xml
index ee85945c..e3105eed 100644
--- a/message_definitions/v1.0/common.xml
+++ b/message_definitions/v1.0/common.xml
@@ -1117,6 +1117,11 @@
         <description>Force-accept the existing accelerometer calibration as valid without re-running it. Useful after a parameter reload that cleared calibration validity flags.</description>
       </entry>
     </enum>
+    <enum name="NAV_TAKEOFF_FLAGS" bitmask="true">
+      <entry value="1" name="NAV_TAKEOFF_FLAGS_HORIZONTAL_POSITION_NOT_REQUIRED">
+        <description>Accept the command even if the autopilot does not have control over its horizontal position (note that it might not have altitude control either).</description>
+      </entry>
+    </enum>
     <!-- The MAV_CMD enum entries describe either: -->
     <!--  * the data payload of mission items (as used in the MISSION_ITEM_INT message) -->
     <!--  * the data payload of mavlink commands (as used in the COMMAND_INT and COMMAND_LONG messages) -->
@@ -1187,7 +1192,7 @@
         <description>Takeoff from ground / hand. Vehicles that support multiple takeoff modes (e.g. VTOL quadplane) should take off using the currently configured mode.</description>
         <param index="1" label="Pitch" units="deg">Minimum pitch (if airspeed sensor present), desired pitch without sensor</param>
         <param index="2">Empty</param>
-        <param index="3">Empty</param>
+        <param index="3" label="Flags" enum="NAV_TAKEOFF_FLAGS">Bitmask of options flags.</param>
         <param index="4" label="Yaw" units="deg">Yaw angle (if magnetometer present), ignored without magnetometer. NaN to use the current system yaw heading mode (e.g. yaw towards next waypoint, yaw to home, etc.).</param>
         <param index="5" label="Latitude">Latitude</param>
         <param index="6" label="Longitude">Longitude</param>