diff --git a/message_definitions/v1.0/development.xml b/message_definitions/v1.0/development.xml
index 37e1fd242d..6292658e43 100644
--- a/message_definitions/v1.0/development.xml
+++ b/message_definitions/v1.0/development.xml
@@ -48,6 +48,93 @@
Empty
+
+ Flags indicating errors in a GPS receiver.
+
+ There are problems with incoming correction streams.
+
+
+ There are problems with the configuration.
+
+
+ There are problems with the software on the GPS receiver.
+
+
+ There are problems with an antenna connected to the GPS receiver.
+
+
+ There are problems handling all incoming events.
+
+
+ The GPS receiver CPU is overloaded.
+
+
+ The GPS receiver is experiencing output congestion.
+
+
+
+ Signal authentication state in a GPS receiver.
+
+ The GPS receiver does not provide GPS signal authentication info.
+
+
+ The GPS receiver is initializing signal authentication.
+
+
+ The GPS receiver encountered an error while initializing signal authentication.
+
+
+ The GPS receiver has correctly authenticated all signals.
+
+
+ GPS signal authentication is disabled on the receiver.
+
+
+
+ Signal jamming state in a GPS receiver.
+
+ The GPS receiver does not provide GPS signal jamming info.
+
+
+ The GPS receiver detected no signal jamming.
+
+
+ The GPS receiver detected and mitigated signal jamming.
+
+
+ The GPS receiver detected signal jamming.
+
+
+
+ Signal spoofing state in a GPS receiver.
+
+ The GPS receiver does not provide GPS signal spoofing info.
+
+
+ The GPS receiver detected no signal spoofing.
+
+
+ The GPS receiver detected and mitigated signal spoofing.
+
+
+ The GPS receiver detected signal spoofing but still has a fix.
+
+
+
+ State of RAIM processing.
+
+ RAIM capability is unknown.
+
+
+ RAIM is disabled.
+
+
+ RAIM integrity check was successful.
+
+
+ RAIM integrity check failed.
+
+
@@ -96,5 +183,20 @@
Channel values are in centered 13 bit format. Range is -4096 to 4096, center is 0. Conversion to PWM is x * 5/32 + 1500.
Channels with indexes equal or above count should be set to 0, to benefit from MAVLink's trailing-zero trimming.
+
+ Information about key components of GNSS receivers, like signal authentication, interference and system errors.
+ GNSS receiver id. Must match instance ids of other messages from same receiver.
+ Errors in the GPS system.
+ Signal authentication state of the GPS system.
+ Signal jamming state of the GPS system.
+ Signal spoofing state of the GPS system.
+ The state of the RAIM processing.
+ Horizontal expected accuracy using satellites successfully validated using RAIM.
+ Vertical expected accuracy using satellites successfully validated using RAIM.
+ An abstract value representing the estimated quality of incoming corrections, or 255 if not available.
+ An abstract value representing the overall status of the receiver, or 255 if not available.
+ An abstract value representing the quality of incoming GNSS signals, or 255 if not available.
+ An abstract value representing the estimated PPK quality, or 255 if not available.
+