diff --git a/src/ConRIG/Buttons/Buttons.h b/src/ConRIG/Buttons/Buttons.h
index 8221788545d340f37f5bda36a8670e64c8103800..362207778c9bc720eadaef34b2f8f8557b7aea29 100644
--- a/src/ConRIG/Buttons/Buttons.h
+++ b/src/ConRIG/Buttons/Buttons.h
@@ -23,7 +23,7 @@
 #pragma once
 
 #include <ConRIG/BoardScheduler.h>
-#include <common/Mavlink.h>
+#include <common/MavlinkLyra.h>
 #include <diagnostic/PrintLogger.h>
 #include <scheduler/TaskScheduler.h>
 #include <utils/DependencyManager/DependencyManager.h>
diff --git a/src/ConRIG/Configs/RadioConfig.h b/src/ConRIG/Configs/RadioConfig.h
index 42b6d20640d30f9fb6577514fa022fd1864eb936..712e4466caf8329af70784fe95a23bffdd043d2d 100644
--- a/src/ConRIG/Configs/RadioConfig.h
+++ b/src/ConRIG/Configs/RadioConfig.h
@@ -22,7 +22,7 @@
 
 #pragma once
 
-#include <common/Mavlink.h>
+#include <common/MavlinkLyra.h>
 #include <units/Frequency.h>
 
 namespace ConRIG
diff --git a/src/ConRIG/Radio/Radio.cpp b/src/ConRIG/Radio/Radio.cpp
index d218a284d00b56e7ce005b07d76138372a520d7b..a1092628fa25d9a3ddfd867c76b59853feaa93fd 100644
--- a/src/ConRIG/Radio/Radio.cpp
+++ b/src/ConRIG/Radio/Radio.cpp
@@ -22,7 +22,7 @@
 
 #include "Radio.h"
 
-#include <common/Mavlink.h>
+#include <common/MavlinkLyra.h>
 #include <common/Radio.h>
 #include <diagnostic/SkywardStack.h>
 #include <drivers/interrupt/external_interrupts.h>
diff --git a/src/ConRIG/Radio/Radio.h b/src/ConRIG/Radio/Radio.h
index ec2c24991f4a16514f44c47ddb7abfa9c41a3c15..6c0508892b13e47e8fefdf7fa1bea670578656fe 100644
--- a/src/ConRIG/Radio/Radio.h
+++ b/src/ConRIG/Radio/Radio.h
@@ -27,7 +27,7 @@
 #include <ConRIG/Buttons/Buttons.h>
 #include <ConRIG/Configs/RadioConfig.h>
 #include <ConRIG/Serial/Serial.h>
-#include <common/Mavlink.h>
+#include <common/MavlinkLyra.h>
 #include <diagnostic/PrintLogger.h>
 #include <radio/MavlinkDriver/MavlinkDriver.h>
 #include <radio/SX1278/SX1278Lora.h>
diff --git a/src/ConRIG/Serial/Serial.h b/src/ConRIG/Serial/Serial.h
index eb5fc324f3ba093cb73ebd07e449657269d2c138..6d53219d13522ab729166e190e18b06a234dcb14 100644
--- a/src/ConRIG/Serial/Serial.h
+++ b/src/ConRIG/Serial/Serial.h
@@ -22,7 +22,7 @@
 
 #pragma once
 
-#include <common/Mavlink.h>
+#include <common/MavlinkLyra.h>
 #include <radio/MavlinkDriver/MavlinkDriver.h>
 #include <utils/DependencyManager/DependencyManager.h>
 
diff --git a/src/Groundstation/Automated/Actuators/Actuators.h b/src/Groundstation/Automated/Actuators/Actuators.h
index 6f6b6c7391cb718d5ed357ed330f5fb5f8207538..0d457b1af7b15c5b796d715ad9ca2758f13a5ba8 100644
--- a/src/Groundstation/Automated/Actuators/Actuators.h
+++ b/src/Groundstation/Automated/Actuators/Actuators.h
@@ -21,7 +21,7 @@
  */
 #pragma once
 
-#include <common/Mavlink.h>
+#include <common/MavlinkLyra.h>
 #include <logger/Logger.h>
 #include <utils/DependencyManager/DependencyManager.h>
 
diff --git a/src/Groundstation/Automated/Hub.cpp b/src/Groundstation/Automated/Hub.cpp
index 8ba014793dbe8e750676bffcd833a5301b4b2778..bf6c80042a85b239f6e9ad0ec7ef97a1d40da867 100644
--- a/src/Groundstation/Automated/Hub.cpp
+++ b/src/Groundstation/Automated/Hub.cpp
@@ -30,7 +30,7 @@
 #include <Groundstation/LyraGS/Radio/Radio.h>
 #include <algorithms/NAS/NASState.h>
 #include <common/Events.h>
-#include <common/Mavlink.h>
+#include <common/MavlinkLyra.h>
 #include <logger/Logger.h>
 #include <sensors/SensorData.h>
 
diff --git a/src/Groundstation/Automated/Hub.h b/src/Groundstation/Automated/Hub.h
index c27e13c67bbd80af7a8d336f444033d2af818981..9130dd058466db23751f9c511fd702c40ef3a5de 100644
--- a/src/Groundstation/Automated/Hub.h
+++ b/src/Groundstation/Automated/Hub.h
@@ -29,7 +29,7 @@
 #include <Groundstation/LyraGS/Ports/SerialLyraGS.h>
 #include <Groundstation/LyraGS/Radio/Radio.h>
 #include <algorithms/NAS/NASState.h>
-#include <common/Mavlink.h>
+#include <common/MavlinkLyra.h>
 #include <miosix.h>
 #include <sensors/SensorData.h>
 #include <utils/DependencyManager/DependencyManager.h>
diff --git a/src/Groundstation/Common/Config/GeneralConfig.h b/src/Groundstation/Common/Config/GeneralConfig.h
index 9d031417031489ba3a48ab44f4ecebd4e79b511c..ef304c86dd5bc6069f6bd6430691b44cb461e22a 100644
--- a/src/Groundstation/Common/Config/GeneralConfig.h
+++ b/src/Groundstation/Common/Config/GeneralConfig.h
@@ -22,7 +22,7 @@
 
 #pragma once
 
-#include <common/Mavlink.h>
+#include <common/MavlinkLyra.h>
 
 #include <cstdint>
 namespace Groundstation
diff --git a/src/Groundstation/Common/HubBase.h b/src/Groundstation/Common/HubBase.h
index ea981ffcd933ea1967df82dd58f12f0cb7096427..f121655d1b7415db23fa08dc3d6809ca157e74bb 100644
--- a/src/Groundstation/Common/HubBase.h
+++ b/src/Groundstation/Common/HubBase.h
@@ -22,7 +22,7 @@
 
 #pragma once
 
-#include <common/Mavlink.h>
+#include <common/MavlinkLyra.h>
 #include <utils/DependencyManager/DependencyManager.h>
 
 namespace Groundstation
diff --git a/src/Groundstation/Common/Ports/EthernetBase.h b/src/Groundstation/Common/Ports/EthernetBase.h
index c370ae3d0070ec997d50240b830ac1fea0840e48..1113560c822abf9b11e8bd81ec92101ae80bb5f5 100644
--- a/src/Groundstation/Common/Ports/EthernetBase.h
+++ b/src/Groundstation/Common/Ports/EthernetBase.h
@@ -24,7 +24,7 @@
 
 #include <ActiveObject.h>
 #include <Groundstation/Common/HubBase.h>
-#include <common/Mavlink.h>
+#include <common/MavlinkLyra.h>
 #include <drivers/WIZ5500/WIZ5500.h>
 #include <radio/MavlinkDriver/MavlinkDriver.h>
 #include <utils/DependencyManager/DependencyManager.h>
diff --git a/src/Groundstation/Common/Ports/Serial.h b/src/Groundstation/Common/Ports/Serial.h
index 199bc1ba40d8612d7cc8d7922799ad36ffa73f21..abfba264dbec44b73200440f594bffaa68f5af84 100644
--- a/src/Groundstation/Common/Ports/Serial.h
+++ b/src/Groundstation/Common/Ports/Serial.h
@@ -24,7 +24,7 @@
 
 #include <ActiveObject.h>
 #include <Groundstation/Common/HubBase.h>
-#include <common/Mavlink.h>
+#include <common/MavlinkLyra.h>
 #include <filesystem/console/console_device.h>
 #include <radio/MavlinkDriver/MavlinkDriver.h>
 #include <utils/DependencyManager/DependencyManager.h>
diff --git a/src/Groundstation/Common/Radio/RadioBase.h b/src/Groundstation/Common/Radio/RadioBase.h
index fc8bf2d332b10587e4fe854a21f6bb0d8c79bc3f..6a6c454ab395f52ce38ad9c6b434a4b63e4f3321 100644
--- a/src/Groundstation/Common/Radio/RadioBase.h
+++ b/src/Groundstation/Common/Radio/RadioBase.h
@@ -25,7 +25,7 @@
 #include <ActiveObject.h>
 #include <Groundstation/Common/Config/RadioConfig.h>
 #include <Groundstation/Common/HubBase.h>
-#include <common/Mavlink.h>
+#include <common/MavlinkLyra.h>
 #include <common/Radio.h>
 #include <radio/MavlinkDriver/MavlinkDriver.h>
 #include <radio/SX1278/SX1278Fsk.h>
diff --git a/src/Groundstation/LyraGS/Base/Hub.h b/src/Groundstation/LyraGS/Base/Hub.h
index 0e792bf28945767a75f4f64f12eb619dae84a2bb..628f3d6177ebb11283cc90907ed0333d03e9cea6 100644
--- a/src/Groundstation/LyraGS/Base/Hub.h
+++ b/src/Groundstation/LyraGS/Base/Hub.h
@@ -25,7 +25,7 @@
 #include <Groundstation/Common/HubBase.h>
 #include <Groundstation/LyraGS/Ports/Ethernet.h>
 #include <Groundstation/LyraGS/Ports/SerialLyraGS.h>
-#include <common/Mavlink.h>
+#include <common/MavlinkLyra.h>
 #include <utils/DependencyManager/DependencyManager.h>
 
 namespace GroundstationBase
diff --git a/src/Groundstation/LyraGS/BoardStatus.h b/src/Groundstation/LyraGS/BoardStatus.h
index 0396a2b077d47ee4e2d22db0f24ce9e21f03e119..185327fc8af97ed0a897857e658d3079fb6022fd 100644
--- a/src/Groundstation/LyraGS/BoardStatus.h
+++ b/src/Groundstation/LyraGS/BoardStatus.h
@@ -32,7 +32,7 @@
 #include <Groundstation/Common/Radio/RadioBase.h>
 #include <Groundstation/LyraGS/Ports/Ethernet.h>
 #include <Groundstation/LyraGS/Radio/Radio.h>
-#include <common/Mavlink.h>
+#include <common/MavlinkLyra.h>
 #include <drivers/timer/TimestampTimer.h>
 #include <utils/DependencyManager/DependencyManager.h>
 #include <utils/collections/CircularBuffer.h>
diff --git a/src/Groundstation/LyraGS/Ports/SerialLyraGS.h b/src/Groundstation/LyraGS/Ports/SerialLyraGS.h
index 5fdece2f3765d49eb50c824e759a0a817fb25771..bc54eb152fc0a72f592572001ad32792eef5f896 100644
--- a/src/Groundstation/LyraGS/Ports/SerialLyraGS.h
+++ b/src/Groundstation/LyraGS/Ports/SerialLyraGS.h
@@ -27,7 +27,7 @@
 #include <Groundstation/Common/Ports/Serial.h>
 #include <Groundstation/LyraGS/BoardStatus.h>
 #include <Groundstation/LyraGS/Buses.h>
-#include <common/Mavlink.h>
+#include <common/MavlinkLyra.h>
 #include <drivers/usart/USART.h>
 #include <filesystem/console/console_device.h>
 #include <radio/MavlinkDriver/MavlinkDriver.h>
diff --git a/src/Groundstation/Nokia/Hub.h b/src/Groundstation/Nokia/Hub.h
index 920e151cde73e04d4c18317824763431d7f4ed05..ab90123f1d74359d6a51f1522ee2e2142eb99ce7 100644
--- a/src/Groundstation/Nokia/Hub.h
+++ b/src/Groundstation/Nokia/Hub.h
@@ -25,7 +25,7 @@
 #include <Groundstation/Common/HubBase.h>
 #include <Groundstation/Common/Ports/Serial.h>
 #include <Groundstation/Nokia/Radio/Radio.h>
-#include <common/Mavlink.h>
+#include <common/MavlinkLyra.h>
 #include <utils/DependencyManager/DependencyManager.h>
 
 namespace GroundstationNokia
diff --git a/src/Groundstation/Rovie/Hub.h b/src/Groundstation/Rovie/Hub.h
index b74a80901298591ed527c32651e270850b5558c0..02b1328267bf1946f9e4e1ea9141d3616d5b0d64 100644
--- a/src/Groundstation/Rovie/Hub.h
+++ b/src/Groundstation/Rovie/Hub.h
@@ -26,7 +26,7 @@
 #include <Groundstation/Common/Ports/Serial.h>
 #include <Groundstation/Rovie/Ports/Ethernet.h>
 #include <Groundstation/Rovie/Radio/Radio.h>
-#include <common/Mavlink.h>
+#include <common/MavlinkLyra.h>
 #include <utils/DependencyManager/DependencyManager.h>
 
 namespace GroundstationRovie
diff --git a/src/Main/Actuators/Actuators.h b/src/Main/Actuators/Actuators.h
index 3e5801147cb25eb2b08cea10cb6f65d9bc60f68b..6b86511795dcd3ebc699f01f7fddd540b718ca84 100644
--- a/src/Main/Actuators/Actuators.h
+++ b/src/Main/Actuators/Actuators.h
@@ -24,7 +24,7 @@
 
 #include <Main/BoardScheduler.h>
 #include <actuators/Servo/Servo.h>
-#include <common/Mavlink.h>
+#include <common/MavlinkLyra.h>
 #include <scheduler/TaskScheduler.h>
 #include <utils/DependencyManager/DependencyManager.h>
 
diff --git a/src/Main/CanHandler/CanHandler.h b/src/Main/CanHandler/CanHandler.h
index 60c7c47fef40d960e1cf4f9e3b21e35b8e1103e9..b8ddac87dcec5b23b718224282e6e949fa2d20d2 100644
--- a/src/Main/CanHandler/CanHandler.h
+++ b/src/Main/CanHandler/CanHandler.h
@@ -27,7 +27,7 @@
 #include <Main/PersistentVars/PersistentVars.h>
 #include <Main/Sensors/Sensors.h>
 #include <common/CanConfig.h>
-#include <common/Mavlink.h>
+#include <common/MavlinkLyra.h>
 #include <drivers/canbus/CanProtocol/CanProtocol.h>
 #include <utils/DependencyManager/DependencyManager.h>
 
diff --git a/src/Main/Configs/RadioConfig.h b/src/Main/Configs/RadioConfig.h
index 05a31165a38cad2cbd6a180ce0157b15b03c7279..34fe287ffeb0e7312f615336b5582eaeaed95824 100644
--- a/src/Main/Configs/RadioConfig.h
+++ b/src/Main/Configs/RadioConfig.h
@@ -22,7 +22,7 @@
 
 #pragma once
 
-#include <common/Mavlink.h>
+#include <common/MavlinkLyra.h>
 #include <units/Frequency.h>
 
 namespace Main
diff --git a/src/Main/Radio/Radio.h b/src/Main/Radio/Radio.h
index a77ed4eeab2ca6a65d37fa41943f19b103e3a47f..33e89244e86cdb2e9180fac16cc014037ab3623b 100644
--- a/src/Main/Radio/Radio.h
+++ b/src/Main/Radio/Radio.h
@@ -36,7 +36,7 @@
 #include <Main/StateMachines/MEAController/MEAController.h>
 #include <Main/StateMachines/NASController/NASController.h>
 #include <Main/StatsRecorder/StatsRecorder.h>
-#include <common/Mavlink.h>
+#include <common/MavlinkLyra.h>
 #include <radio/MavlinkDriver/MavlinkDriver.h>
 #include <radio/SX1278/SX1278Fsk.h>
 #include <scheduler/TaskScheduler.h>
diff --git a/src/Motor/Actuators/Actuators.h b/src/Motor/Actuators/Actuators.h
index 0e4eed38c6527dcc119b6372ea053e7525e3a8a9..329d0c5ff70544075ab3a881d083133a64ac2aec 100644
--- a/src/Motor/Actuators/Actuators.h
+++ b/src/Motor/Actuators/Actuators.h
@@ -25,7 +25,7 @@
 #include <Motor/BoardScheduler.h>
 #include <Motor/CanHandler/CanHandler.h>
 #include <actuators/Servo/Servo.h>
-#include <common/Mavlink.h>
+#include <common/MavlinkLyra.h>
 #include <utils/DependencyManager/DependencyManager.h>
 
 namespace Motor
diff --git a/src/Payload/Actuators/Actuators.h b/src/Payload/Actuators/Actuators.h
index 3ad14d3db389fe78877b80259294586047d4f0d0..14911fd856ba6d9f7326dd41918593af05d40479 100644
--- a/src/Payload/Actuators/Actuators.h
+++ b/src/Payload/Actuators/Actuators.h
@@ -23,7 +23,7 @@
 #pragma once
 
 #include <actuators/Servo/Servo.h>
-#include <common/Mavlink.h>
+#include <common/MavlinkLyra.h>
 #include <utils/DependencyManager/DependencyManager.h>
 
 namespace Payload
diff --git a/src/Payload/CanHandler/CanHandler.h b/src/Payload/CanHandler/CanHandler.h
index a45ccdc94d765bcb54a04dcc99df181965b67d20..fee6448ca5183bcbffad44bae80e89bb0595c3ee 100644
--- a/src/Payload/CanHandler/CanHandler.h
+++ b/src/Payload/CanHandler/CanHandler.h
@@ -23,7 +23,7 @@
 #pragma once
 
 #include <common/CanConfig.h>
-#include <common/Mavlink.h>
+#include <common/MavlinkLyra.h>
 #include <drivers/canbus/CanProtocol/CanProtocol.h>
 #include <utils/DependencyManager/DependencyManager.h>
 
diff --git a/src/Payload/Configs/RadioConfig.h b/src/Payload/Configs/RadioConfig.h
index 0175d69970071c40733e733099ceb2ac94fa1b0b..92a3c76a0d77384d1ac7a2feb7bf836cd5f16bfe 100644
--- a/src/Payload/Configs/RadioConfig.h
+++ b/src/Payload/Configs/RadioConfig.h
@@ -21,7 +21,7 @@
  */
 #pragma once
 
-#include <common/Mavlink.h>
+#include <common/MavlinkLyra.h>
 #include <units/Frequency.h>
 
 #include <chrono>
diff --git a/src/Payload/PinHandler/PinHandler.h b/src/Payload/PinHandler/PinHandler.h
index 308c5770e477f9af7d87943a0aa8e72cbc185d3c..159614f9adf955a2ec5f1726f7623af0cb9be235 100644
--- a/src/Payload/PinHandler/PinHandler.h
+++ b/src/Payload/PinHandler/PinHandler.h
@@ -22,7 +22,7 @@
 
 #pragma once
 
-#include <common/Mavlink.h>
+#include <common/MavlinkLyra.h>
 #include <diagnostic/PrintLogger.h>
 #include <utils/DependencyManager/DependencyManager.h>
 #include <utils/PinObserver/PinObserver.h>
diff --git a/src/Payload/Radio/Radio.h b/src/Payload/Radio/Radio.h
index 817e961f88f4351086d5334be52feff8deb124e6..563d0b56e0c06be5bc21de17b54894125d93faa6 100644
--- a/src/Payload/Radio/Radio.h
+++ b/src/Payload/Radio/Radio.h
@@ -24,7 +24,7 @@
 
 #include <Payload/Configs/RadioConfig.h>
 #include <Payload/PersistentVars/PersistentVars.h>
-#include <common/Mavlink.h>
+#include <common/MavlinkLyra.h>
 #include <radio/MavlinkDriver/MavlinkDriver.h>
 #include <radio/SX1278/SX1278Fsk.h>
 #include <radio/SerialTransceiver/SerialTransceiver.h>
diff --git a/src/RIGv2/Actuators/Actuators.h b/src/RIGv2/Actuators/Actuators.h
index bd2ef33fde3fe96db3985239160a328a47aa6db8..939cd5e257b5586772c2528a0e7d5a8199030752 100644
--- a/src/RIGv2/Actuators/Actuators.h
+++ b/src/RIGv2/Actuators/Actuators.h
@@ -26,7 +26,7 @@
 #include <RIGv2/CanHandler/CanHandler.h>
 #include <RIGv2/Registry/Registry.h>
 #include <actuators/Servo/Servo.h>
-#include <common/Mavlink.h>
+#include <common/MavlinkLyra.h>
 #include <miosix.h>
 #include <scheduler/TaskScheduler.h>
 
diff --git a/src/RIGv2/CanHandler/CanHandler.h b/src/RIGv2/CanHandler/CanHandler.h
index 065389a4ebca936fab835ddbfd2498589f6abd0a..66a242ac808e07669f4cca24035a310a7dc2f0ce 100644
--- a/src/RIGv2/CanHandler/CanHandler.h
+++ b/src/RIGv2/CanHandler/CanHandler.h
@@ -26,7 +26,7 @@
 #include <RIGv2/Configs/CanHandlerConfig.h>
 #include <RIGv2/Sensors/Sensors.h>
 #include <common/CanConfig.h>
-#include <common/Mavlink.h>
+#include <common/MavlinkLyra.h>
 #include <drivers/canbus/CanProtocol/CanProtocol.h>
 #include <utils/DependencyManager/DependencyManager.h>
 
diff --git a/src/RIGv2/Configs/RadioConfig.h b/src/RIGv2/Configs/RadioConfig.h
index a094a7a9f72f5053ca273d453b98fe4646d43274..9b3039b9ad5ca165566b40dc18eec0bd74255573 100644
--- a/src/RIGv2/Configs/RadioConfig.h
+++ b/src/RIGv2/Configs/RadioConfig.h
@@ -22,7 +22,7 @@
 
 #pragma once
 
-#include <common/Mavlink.h>
+#include <common/MavlinkLyra.h>
 
 namespace RIGv2
 {
diff --git a/src/RIGv2/Radio/Radio.h b/src/RIGv2/Radio/Radio.h
index 01cf7e4baa398d48016dc94f9ac54b78b9fb5c45..e55d15bdef990d2577777c5f794f752c8e33062c 100644
--- a/src/RIGv2/Radio/Radio.h
+++ b/src/RIGv2/Radio/Radio.h
@@ -31,7 +31,7 @@
 #include <RIGv2/Sensors/Sensors.h>
 #include <RIGv2/StateMachines/GroundModeManager/GroundModeManager.h>
 #include <RIGv2/StateMachines/TARS1/TARS1.h>
-#include <common/Mavlink.h>
+#include <common/MavlinkLyra.h>
 #include <interfaces-impl/hwmapping.h>
 #include <radio/MavlinkDriver/MavlinkDriver.h>
 #include <radio/SX1278/SX1278Lora.h>
diff --git a/src/common/MavlinkGemini.h b/src/common/MavlinkGemini.h
index 97ea89d8fa0fcfcf1cc13b0aec56956f283a4d4b..0cb3e7cf1a3e61b07a137baab6207bee87ba6044 100644
--- a/src/common/MavlinkGemini.h
+++ b/src/common/MavlinkGemini.h
@@ -26,4 +26,6 @@
 #pragma GCC diagnostic ignored "-Waddress-of-packed-member"
 #pragma GCC diagnostic ignored "-Wmaybe-uninitialized"
 #include <mavlink_lib/gemini/mavlink.h>
-#pragma GCC diagnostic pop
\ No newline at end of file
+#pragma GCC diagnostic pop
+
+#warning "Gemini message definitions are deprecated, consider updating"
diff --git a/src/common/MavlinkLyra.h b/src/common/MavlinkLyra.h
new file mode 100644
index 0000000000000000000000000000000000000000..e6cd6b5c05506e41994a0388c112b59c7c4f1ad4
--- /dev/null
+++ b/src/common/MavlinkLyra.h
@@ -0,0 +1,87 @@
+/* Copyright (c) 2024 Skyward Experimental Rocketry
+ * Author: Davide Mor
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+ * THE SOFTWARE.
+ */
+
+#pragma once
+
+// Ignore warnings as these are auto-generated headers made by a third party
+#pragma GCC diagnostic push
+#pragma GCC diagnostic ignored "-Wcast-align"
+#pragma GCC diagnostic ignored "-Waddress-of-packed-member"
+#pragma GCC diagnostic ignored "-Wmaybe-uninitialized"
+#include <mavlink_lib/lyra/mavlink.h>
+#pragma GCC diagnostic pop
+
+#warning "Lyra message definitions are deprecated, consider updating"
+
+#include <common/Events.h>
+
+namespace Common
+{
+
+inline Events mavCmdToEvent(uint8_t id)
+{
+    switch (id)
+    {
+        case MAV_CMD_ARM:
+            return TMTC_ARM;
+        case MAV_CMD_DISARM:
+            return TMTC_DISARM;
+        case MAV_CMD_CALIBRATE:
+            return TMTC_CALIBRATE;
+        case MAV_CMD_FORCE_INIT:
+            return TMTC_FORCE_INIT;
+        case MAV_CMD_FORCE_LAUNCH:
+            return TMTC_FORCE_LAUNCH;
+        case MAV_CMD_FORCE_ENGINE_SHUTDOWN:
+            return TMTC_FORCE_ENGINE_SHUTDOWN;
+        case MAV_CMD_FORCE_EXPULSION:
+            return TMTC_FORCE_EXPULSION;
+        case MAV_CMD_FORCE_DEPLOYMENT:
+            return TMTC_FORCE_DEPLOYMENT;
+        case MAV_CMD_FORCE_LANDING:
+            return TMTC_FORCE_LANDING;
+        case MAV_CMD_START_LOGGING:
+            return TMTC_START_LOGGING;
+        case MAV_CMD_STOP_LOGGING:
+            return TMTC_STOP_LOGGING;
+        case MAV_CMD_FORCE_REBOOT:
+            return TMTC_RESET_BOARD;
+        case MAV_CMD_ENTER_TEST_MODE:
+            return TMTC_ENTER_TEST_MODE;
+        case MAV_CMD_EXIT_TEST_MODE:
+            return TMTC_EXIT_TEST_MODE;
+        case MAV_CMD_ENTER_HIL:
+            return TMTC_ENTER_HIL_MODE;
+        case MAV_CMD_EXIT_HIL:
+            return TMTC_EXIT_HIL_MODE;
+        case MAV_CMD_START_RECORDING:
+            return TMTC_START_RECORDING;
+        case MAV_CMD_STOP_RECORDING:
+            return TMTC_STOP_RECORDING;
+        case MAV_CMD_OPEN_NITROGEN:
+            return TMTC_OPEN_NITROGEN;
+        default:
+            return LAST_EVENT;
+    }
+}
+
+}  // namespace Common
\ No newline at end of file
diff --git a/src/common/Mavlink.h b/src/common/MavlinkOrion.h
similarity index 97%
rename from src/common/Mavlink.h
rename to src/common/MavlinkOrion.h
index ac00532fa1d0506a2843bc280a68d27561595a5f..bd6f7ffaab1fa8cd812d6ce99ce0cb023a6274b1 100644
--- a/src/common/Mavlink.h
+++ b/src/common/MavlinkOrion.h
@@ -1,5 +1,5 @@
 /* Copyright (c) 2024 Skyward Experimental Rocketry
- * Author: Davide Mor
+ * Author: Niccolò Betto
  *
  * Permission is hereby granted, free of charge, to any person obtaining a copy
  * of this software and associated documentation files (the "Software"), to deal
@@ -27,7 +27,7 @@
 #pragma GCC diagnostic ignored "-Wcast-align"
 #pragma GCC diagnostic ignored "-Waddress-of-packed-member"
 #pragma GCC diagnostic ignored "-Wmaybe-uninitialized"
-#include <mavlink_lib/lyra/mavlink.h>
+#include <mavlink_lib/orion/mavlink.h>
 #pragma GCC diagnostic pop
 
 #include <common/Events.h>