diff --git a/src/FirmwarePlugin/APM/ArduPlaneFirmwarePlugin.cc b/src/FirmwarePlugin/APM/ArduPlaneFirmwarePlugin.cc
index 2630baeac068504ebd8722a4b441e20aa9808588..41a09b42cde63af7da3356be2418e8ed07ecc2f8 100644
--- a/src/FirmwarePlugin/APM/ArduPlaneFirmwarePlugin.cc
+++ b/src/FirmwarePlugin/APM/ArduPlaneFirmwarePlugin.cc
@@ -44,6 +44,10 @@ APMPlaneMode::APMPlaneMode(uint32_t mode, bool settable)
     enumToString.insert(LOITER,         "Loiter");
     enumToString.insert(GUIDED,         "Guided");
     enumToString.insert(INITIALIZING,   "Initializing");
+    enumToString.insert(QSTABILIZE,     "QuadPlane Stabilize");
+    enumToString.insert(QHOVER,         "QuadPlane Hover");
+    enumToString.insert(QLOITER,        "QuadPlane Loiter");
+    enumToString.insert(QLAND,          "QuadPlane Land");
 
     setEnumToStringMapping(enumToString);
 }
@@ -65,5 +69,9 @@ ArduPlaneFirmwarePlugin::ArduPlaneFirmwarePlugin(void)
     supportedFlightModes << APMPlaneMode(APMPlaneMode::LOITER          ,true);
     supportedFlightModes << APMPlaneMode(APMPlaneMode::GUIDED          ,true);
     supportedFlightModes << APMPlaneMode(APMPlaneMode::INITIALIZING    ,false);
+    supportedFlightModes << APMPlaneMode(APMPlaneMode::QSTABILIZE      ,true);
+    supportedFlightModes << APMPlaneMode(APMPlaneMode::QHOVER          ,true);
+    supportedFlightModes << APMPlaneMode(APMPlaneMode::QLOITER         ,true);
+    supportedFlightModes << APMPlaneMode(APMPlaneMode::QLAND           ,true);
     setSupportedModes(supportedFlightModes);
 }
diff --git a/src/FirmwarePlugin/APM/ArduPlaneFirmwarePlugin.h b/src/FirmwarePlugin/APM/ArduPlaneFirmwarePlugin.h
index ace48a0f9764fde7fe0cb84284a9bc3bed236775..68edf590c5920ab4e7d1708f1bd012f1fd5d9909 100644
--- a/src/FirmwarePlugin/APM/ArduPlaneFirmwarePlugin.h
+++ b/src/FirmwarePlugin/APM/ArduPlaneFirmwarePlugin.h
@@ -49,9 +49,13 @@ public:
         RESERVED_13   = 13, // RESERVED FOR FUTURE USE
         RESERVED_14   = 14, // RESERVED FOR FUTURE USE
         GUIDED        = 15,
-        INITIALIZING  = 16
+        INITIALIZING  = 16,
+        QSTABILIZE    = 17,
+        QHOVER        = 18,
+        QLOITER       = 19,
+        QLAND         = 20,
+        modeCount
     };
-    static const int modeCount = 17;
 
     APMPlaneMode(uint32_t mode, bool settable);
 };