diff --git a/src/FirmwarePlugin/APM/ArduCopterFirmwarePlugin.cc b/src/FirmwarePlugin/APM/ArduCopterFirmwarePlugin.cc
index e5ba76c473292b28e317c23e6a08263d68407f61..10e5abbad5b03b8cfc6968871701342ef3c8dd47 100644
--- a/src/FirmwarePlugin/APM/ArduCopterFirmwarePlugin.cc
+++ b/src/FirmwarePlugin/APM/ArduCopterFirmwarePlugin.cc
@@ -23,50 +23,56 @@ APMCopterMode::APMCopterMode(uint32_t mode, bool settable) :
     APMCustomMode(mode, settable)
 {
     setEnumToStringMapping({
-        {STABILIZE,      "Stabilize"},
-        {ACRO,           "Acro"},
-        {ALT_HOLD,       "Altitude Hold"},
-        {AUTO,           "Auto"},
-        {GUIDED,         "Guided"},
-        {LOITER,         "Loiter"},
-        {RTL,            "RTL"},
-        {CIRCLE,         "Circle"},
-        {LAND,           "Land"},
-        {DRIFT,          "Drift"},
-        {SPORT,          "Sport"},
-        {FLIP,           "Flip"},
-        {AUTOTUNE,       "Autotune"},
-        {POS_HOLD,       "Position Hold"},
-        {BRAKE,          "Brake"},
-        {THROW,          "Throw"},
-        {AVOID_ADSB,     "Avoid ADSB"},
-        {GUIDED_NOGPS,   "Guided No GPS"},
-        {SAFE_RTL,       "Smart RTL"},
+        { STABILIZE,    "Stabilize"},
+        { ACRO,         "Acro"},
+        { ALT_HOLD,     "Altitude Hold"},
+        { AUTO,         "Auto"},
+        { GUIDED,       "Guided"},
+        { LOITER,       "Loiter"},
+        { RTL,          "RTL"},
+        { CIRCLE,       "Circle"},
+        { LAND,         "Land"},
+        { DRIFT,        "Drift"},
+        { SPORT,        "Sport"},
+        { FLIP,         "Flip"},
+        { AUTOTUNE,     "Autotune"},
+        { POS_HOLD,     "Position Hold"},
+        { BRAKE,        "Brake"},
+        { THROW,        "Throw"},
+        { AVOID_ADSB,   "Avoid ADSB"},
+        { GUIDED_NOGPS, "Guided No GPS"},
+        { SMART_RTL,    "Smart RTL"},
+        { FLOWHOLD,     "Flow Hold" },
+        { FOLLOW,       "Follow Vehicle" },
+        { ZIGZAG,       "ZigZag" },
     });
 }
 
 ArduCopterFirmwarePlugin::ArduCopterFirmwarePlugin(void)
 {
     setSupportedModes({
-        APMCopterMode(APMCopterMode::STABILIZE ,true),
-        APMCopterMode(APMCopterMode::ACRO      ,true),
-        APMCopterMode(APMCopterMode::ALT_HOLD  ,true),
-        APMCopterMode(APMCopterMode::AUTO      ,true),
-        APMCopterMode(APMCopterMode::GUIDED    ,true),
-        APMCopterMode(APMCopterMode::LOITER    ,true),
-        APMCopterMode(APMCopterMode::RTL       ,true),
-        APMCopterMode(APMCopterMode::CIRCLE    ,true),
-        APMCopterMode(APMCopterMode::LAND      ,true),
-        APMCopterMode(APMCopterMode::DRIFT     ,true),
-        APMCopterMode(APMCopterMode::SPORT     ,true),
-        APMCopterMode(APMCopterMode::FLIP      ,true),
-        APMCopterMode(APMCopterMode::AUTOTUNE  ,true),
-        APMCopterMode(APMCopterMode::POS_HOLD  ,true),
-        APMCopterMode(APMCopterMode::BRAKE     ,true),
-        APMCopterMode(APMCopterMode::THROW     ,true),
-        APMCopterMode(APMCopterMode::AVOID_ADSB,true),
-        APMCopterMode(APMCopterMode::GUIDED_NOGPS,true),
-        APMCopterMode(APMCopterMode::SAFE_RTL,true),
+        APMCopterMode(APMCopterMode::STABILIZE,     true),
+        APMCopterMode(APMCopterMode::ACRO,          true),
+        APMCopterMode(APMCopterMode::ALT_HOLD,      true),
+        APMCopterMode(APMCopterMode::AUTO,          true),
+        APMCopterMode(APMCopterMode::GUIDED,        true),
+        APMCopterMode(APMCopterMode::LOITER,        true),
+        APMCopterMode(APMCopterMode::RTL,           true),
+        APMCopterMode(APMCopterMode::CIRCLE,        true),
+        APMCopterMode(APMCopterMode::LAND,          true),
+        APMCopterMode(APMCopterMode::DRIFT,         true),
+        APMCopterMode(APMCopterMode::SPORT,         true),
+        APMCopterMode(APMCopterMode::FLIP,          true),
+        APMCopterMode(APMCopterMode::AUTOTUNE,      true),
+        APMCopterMode(APMCopterMode::POS_HOLD,      true),
+        APMCopterMode(APMCopterMode::BRAKE,         true),
+        APMCopterMode(APMCopterMode::THROW,         true),
+        APMCopterMode(APMCopterMode::AVOID_ADSB,    true),
+        APMCopterMode(APMCopterMode::GUIDED_NOGPS,  true),
+        APMCopterMode(APMCopterMode::SMART_RTL,     true),
+        APMCopterMode(APMCopterMode::FLOWHOLD,      true),
+        APMCopterMode(APMCopterMode::FOLLOW,        true),
+        APMCopterMode(APMCopterMode::ZIGZAG,        true),
     });
 
     if (!_remapParamNameIntialized) {
diff --git a/src/FirmwarePlugin/APM/ArduCopterFirmwarePlugin.h b/src/FirmwarePlugin/APM/ArduCopterFirmwarePlugin.h
index 563baf7b68fd7db0c300ecfbf24c94257cd574a2..a675e74a4a8f516d67bec0932d1ea5fe93315905 100644
--- a/src/FirmwarePlugin/APM/ArduCopterFirmwarePlugin.h
+++ b/src/FirmwarePlugin/APM/ArduCopterFirmwarePlugin.h
@@ -41,9 +41,11 @@ public:
         THROW       = 18,
         AVOID_ADSB  = 19,
         GUIDED_NOGPS= 20,
-        SAFE_RTL   = 21,   //Safe Return to Launch
+        SMART_RTL   = 21,  // SMART_RTL returns to home by retracing its steps
+        FLOWHOLD    = 22,  // FLOWHOLD holds position with optical flow without rangefinder
+        FOLLOW      = 23,  // follow attempts to follow another vehicle or ground station
+        ZIGZAG      = 24,  // ZIGZAG mode is able to fly in a zigzag manner with predefined point A and point B
     };
-    static const int modeCount = 22;
 
     APMCopterMode(uint32_t mode, bool settable);
 };
diff --git a/src/FirmwarePlugin/APM/ArduPlaneFirmwarePlugin.h b/src/FirmwarePlugin/APM/ArduPlaneFirmwarePlugin.h
index cd0ce2e8559353ac394e314f307f8fd535fc47e5..0094a669dc441e98ba3896df77b9536a8dd80084 100644
--- a/src/FirmwarePlugin/APM/ArduPlaneFirmwarePlugin.h
+++ b/src/FirmwarePlugin/APM/ArduPlaneFirmwarePlugin.h
@@ -42,7 +42,6 @@ public:
         QLOITER       = 19,
         QLAND         = 20,
         QRTL          = 21,
-        modeCount
     };
 
     APMPlaneMode(uint32_t mode, bool settable);
diff --git a/src/FirmwarePlugin/APM/ArduRoverFirmwarePlugin.h b/src/FirmwarePlugin/APM/ArduRoverFirmwarePlugin.h
index 6dd7882562f9ccc694842fb76cbcf784923a8614..ad17a034ccdcb5c39939c45facdb95d121b54db1 100644
--- a/src/FirmwarePlugin/APM/ArduRoverFirmwarePlugin.h
+++ b/src/FirmwarePlugin/APM/ArduRoverFirmwarePlugin.h
@@ -33,7 +33,6 @@ public:
         GUIDED          = 15,
         INITIALIZING    = 16,
     };
-    static const int modeCount = 17;
 
     APMRoverMode(uint32_t mode, bool settable);
 };
diff --git a/src/FirmwarePlugin/APM/ArduSubFirmwarePlugin.h b/src/FirmwarePlugin/APM/ArduSubFirmwarePlugin.h
index b826c1e0c92bd4bd505f93167962a20fbc9445d6..7f6426b07037fd0e7965d7de9c4daa778e24aade 100644
--- a/src/FirmwarePlugin/APM/ArduSubFirmwarePlugin.h
+++ b/src/FirmwarePlugin/APM/ArduSubFirmwarePlugin.h
@@ -96,7 +96,6 @@ public:
         RESERVED_18       = 18,
         MANUAL            = 19
     };
-    static const int modeCount = 20;
 
     APMSubMode(uint32_t mode, bool settable);
 };
diff --git a/src/Vehicle/Vehicle.cc b/src/Vehicle/Vehicle.cc
index eaa65792e629ae69582bc9f38540dd655aced5f2..c56c477d6b58d68ce86f577554c069bc196738f1 100644
--- a/src/Vehicle/Vehicle.cc
+++ b/src/Vehicle/Vehicle.cc
@@ -3041,7 +3041,7 @@ void Vehicle::guidedModeGotoLocation(const QGeoCoordinate& gotoCoord)
     if (!coordinate().isValid()) {
         return;
     }
-    double maxDistance = 1000.0;
+    double maxDistance = 10000.0;
     if (coordinate().distanceTo(gotoCoord) > maxDistance) {
         qgcApp()->showMessage(QString("New location is too far. Must be less than %1 %2").arg(qRound(FactMetaData::metersToAppSettingsDistanceUnits(maxDistance).toDouble())).arg(FactMetaData::appSettingsDistanceUnitsString()));
         return;