diff --git a/src/FirmwarePlugin/APM/ArduRoverFirmwarePlugin.cc b/src/FirmwarePlugin/APM/ArduRoverFirmwarePlugin.cc
index b75fb2f39dd98f7cab711dc395a59d112cd12060..01947c4c24406d87873a2ee0c624cedf31a3e860 100644
--- a/src/FirmwarePlugin/APM/ArduRoverFirmwarePlugin.cc
+++ b/src/FirmwarePlugin/APM/ArduRoverFirmwarePlugin.cc
@@ -22,6 +22,7 @@ APMRoverMode::APMRoverMode(uint32_t mode, bool settable)
     enumToString.insert(STEERING,       "Steering");
     enumToString.insert(HOLD,           "Hold");
     enumToString.insert(LOITER,         "Loiter");
+    enumToString.insert(FOLLOW,         "Follow");
     enumToString.insert(SIMPLE,         "Simple");
     enumToString.insert(AUTO,           "Auto");
     enumToString.insert(RTL,            "RTL");
@@ -40,6 +41,7 @@ ArduRoverFirmwarePlugin::ArduRoverFirmwarePlugin(void)
     supportedFlightModes << APMRoverMode(APMRoverMode::STEERING     ,true);
     supportedFlightModes << APMRoverMode(APMRoverMode::HOLD         ,true);
     supportedFlightModes << APMRoverMode(APMRoverMode::LOITER       ,true);
+    supportedFlightModes << APMRoverMode(APMRoverMode::FOLLOW       ,true);
     supportedFlightModes << APMRoverMode(APMRoverMode::SIMPLE       ,true);
     supportedFlightModes << APMRoverMode(APMRoverMode::AUTO         ,true);
     supportedFlightModes << APMRoverMode(APMRoverMode::RTL          ,true);
diff --git a/src/FirmwarePlugin/APM/ArduRoverFirmwarePlugin.h b/src/FirmwarePlugin/APM/ArduRoverFirmwarePlugin.h
index 98d932ec329a78cec63d0bf647b0b78037f8aab8..64d61334f5963a3fc5a062968adeb168642e30d0 100644
--- a/src/FirmwarePlugin/APM/ArduRoverFirmwarePlugin.h
+++ b/src/FirmwarePlugin/APM/ArduRoverFirmwarePlugin.h
@@ -25,6 +25,7 @@ public:
         STEERING        = 3,
         HOLD            = 4,
         LOITER          = 5,
+        FOLLOW          = 6,
         SIMPLE          = 7,
         AUTO            = 10,
         RTL             = 11,