diff --git a/cmake/CustomOptions.cmake b/cmake/CustomOptions.cmake
index 1df10eb7a1cb..94d26af3f558 100644
--- a/cmake/CustomOptions.cmake
+++ b/cmake/CustomOptions.cmake
@@ -95,7 +95,7 @@ option(QGC_ENABLE_QT_VIDEOSTREAMING "Enable QtMultimedia video backend" OFF)
 # ============================================================================
 
 set(QGC_MAVLINK_GIT_REPO "https://github.com/mavlink/mavlink.git" CACHE STRING "MAVLink repository URL")
-set(QGC_MAVLINK_GIT_TAG "b1fb5a1a32c41c6e46fea70600d626a0b5a8edbe" CACHE STRING "MAVLink repository commit/tag")
+set(QGC_MAVLINK_GIT_TAG "c409cf690454db6d3e004bd14173bc6c7ff1e0ff" CACHE STRING "MAVLink repository commit/tag")
 set(QGC_MAVLINK_DIALECT "all" CACHE STRING "MAVLink dialect")
 set(QGC_MAVLINK_VERSION "2.0" CACHE STRING "MAVLink protocol version")
 
diff --git a/src/Toolbar/GCSControlIndicator.qml b/src/Toolbar/GCSControlIndicator.qml
index e6a78f28cad4..2a4be5cb1787 100644
--- a/src/Toolbar/GCSControlIndicator.qml
+++ b/src/Toolbar/GCSControlIndicator.qml
@@ -13,12 +13,12 @@ Item {
 
     property var    activeVehicle:                          QGroundControl.multiVehicleManager.activeVehicle
     property bool   showIndicator:                          activeVehicle && activeVehicle.firstControlStatusReceived
-    property var    sysidInControl:                         activeVehicle ?  activeVehicle.sysidInControl : 0
+    property var    gcsMain:                                activeVehicle ?  activeVehicle.gcsMain : 0
     property bool   gcsControlStatusFlags_SystemManager:    activeVehicle ? activeVehicle.gcsControlStatusFlags_SystemManager : false
     property bool   gcsControlStatusFlags_TakeoverAllowed:  activeVehicle ? activeVehicle.gcsControlStatusFlags_TakeoverAllowed : false
     property Fact   requestControlAllowTakeoverFact:        QGroundControl.settingsManager.flyViewSettings.requestControlAllowTakeover
     property bool   requestControlAllowTakeover:            requestControlAllowTakeoverFact.rawValue
-    property bool   isThisGCSinControl:                     sysidInControl == QGroundControl.settingsManager.mavlinkSettings.gcsMavlinkSystemID.rawValue
+    property bool   isThisGCSinControl:                     gcsMain == QGroundControl.settingsManager.mavlinkSettings.gcsMavlinkSystemID.rawValue
     property bool   sendControlRequestAllowed:              activeVehicle ? activeVehicle.sendControlRequestAllowed : false
 
     property var    margins:                                ScreenTools.defaultFontPixelWidth
@@ -235,7 +235,7 @@ Item {
                     font.bold:              true
                 }
                 QGCLabel {
-                    text:                   isThisGCSinControl ? (qsTr("This GCS") + " (" + sysidInControl + ")" ) : sysidInControl
+                    text:                   isThisGCSinControl ? (qsTr("This GCS") + " (" + gcsMain + ")" ) : gcsMain
                     font.bold:              isThisGCSinControl
                     color:                  isThisGCSinControl ? qgcPal.colorGreen : qgcPal.text
                     Layout.alignment:       Qt.AlignRight
@@ -362,7 +362,7 @@ Item {
         // Current GCS in control indicator
         QGCLabel {
             id:                     gcsInControlIndicator
-            text:                   sysidInControl
+            text:                   gcsMain
             font.bold:              true
             font.pointSize:         ScreenTools.smallFontPointSize * 1.1
             color:                  isThisGCSinControl ? qgcPal.colorGreen : qgcPal.text
diff --git a/src/Vehicle/Vehicle.cc b/src/Vehicle/Vehicle.cc
index 0d0c67f89851..c19094d300b4 100644
--- a/src/Vehicle/Vehicle.cc
+++ b/src/Vehicle/Vehicle.cc
@@ -3182,7 +3182,7 @@ void Vehicle::startTimerRevertAllowTakeover()
     disconnect(&_timerRevertAllowTakeover, &QTimer::timeout, nullptr, nullptr);
 
     connect(&_timerRevertAllowTakeover, &QTimer::timeout, this, [this](){
-        if (MAVLinkProtocol::instance()->getSystemId() == _sysid_in_control) {
+        if (MAVLinkProtocol::instance()->getSystemId() == _gcsMain) {
             this->requestOperatorControl(false);
         }
     });
@@ -3278,8 +3278,8 @@ void Vehicle::_handleControlStatus(const mavlink_message_t& message)
         updateControlStatusSignals = true;
     }
 
-    if (_sysid_in_control != controlStatus.sysid_in_control) {
-        _sysid_in_control = controlStatus.sysid_in_control;
+    if (_gcsMain != controlStatus.gcs_main) {
+        _gcsMain = controlStatus.gcs_main;
         updateControlStatusSignals = true;
     }
 
diff --git a/src/Vehicle/Vehicle.h b/src/Vehicle/Vehicle.h
index 51076c5479d0..2986f7f9ebf7 100644
--- a/src/Vehicle/Vehicle.h
+++ b/src/Vehicle/Vehicle.h
@@ -1157,7 +1157,7 @@ private slots:
     void _handleCommandRequestOperatorControl(const mavlink_command_long_t commandLong);
     static void _requestOperatorControlAckHandler(void* resultHandlerData, int compId, const mavlink_command_ack_t& ack, MavCmdResultFailureCode_t failureCode);
 
-    Q_PROPERTY(uint8_t sysidInControl                        READ sysidInControl                        NOTIFY gcsControlStatusChanged)
+    Q_PROPERTY(uint8_t gcsMain                               READ gcsMain                               NOTIFY gcsControlStatusChanged)
     Q_PROPERTY(bool    gcsControlStatusFlags_SystemManager   READ gcsControlStatusFlags_SystemManager   NOTIFY gcsControlStatusChanged)
     Q_PROPERTY(bool    gcsControlStatusFlags_TakeoverAllowed READ gcsControlStatusFlags_TakeoverAllowed NOTIFY gcsControlStatusChanged)
     Q_PROPERTY(bool    firstControlStatusReceived            READ firstControlStatusReceived            NOTIFY gcsControlStatusChanged)
@@ -1165,7 +1165,7 @@ private slots:
     Q_PROPERTY(int     requestOperatorControlRemainingMsecs  READ requestOperatorControlRemainingMsecs  CONSTANT)
     Q_PROPERTY(bool    sendControlRequestAllowed             READ sendControlRequestAllowed             NOTIFY sendControlRequestAllowedChanged)
 
-    uint8_t sysidInControl() const { return _sysid_in_control; }
+    uint8_t gcsMain() const { return _gcsMain; }
     bool    gcsControlStatusFlags_SystemManager() const { return _gcsControlStatusFlags_SystemManager; }
     bool    gcsControlStatusFlags_TakeoverAllowed() const { return _gcsControlStatusFlags_TakeoverAllowed; }
     bool    firstControlStatusReceived() const { return _firstControlStatusReceived; }
@@ -1174,7 +1174,7 @@ private slots:
     bool    sendControlRequestAllowed() const { return _sendControlRequestAllowed; }
     void    requestOperatorControlStartTimer(int requestTimeoutMsecs);
 
-    uint8_t _sysid_in_control = 0;
+    uint8_t _gcsMain = 0;
     uint8_t _gcsControlStatusFlags = 0;
     bool    _gcsControlStatusFlags_SystemManager = 0;
     bool    _gcsControlStatusFlags_TakeoverAllowed = 0;