Sending Quads GPS Location over Mavlink?

Hey Everyone,

I am working in a research lab that has a full motion-capture system. I was curious if anyone knew a way to send the vehicles GPS location over mavlink through roscopter. I have roscopter working, but instead of using an offboard computer as the pilot, I would like to use the offboard computer as a manager (i.e. instruct the quad to fly to a location, instead of flying it to that location). Flying indoors we have no GPS data, but my offboard computer knows where the quad is with millimeter accuracy, but I do not know how to get it that data. 

Would this require modification of the mavlink (adding new message) and changing the onboard code to accept a new message? 



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