diff --git a/src/FirmwarePlugin/APM/ArduRoverFirmwarePlugin.cc b/src/FirmwarePlugin/APM/ArduRoverFirmwarePlugin.cc
index 3009dfae8e868d4c6ceab476396415f215be1e4b..b75fb2f39dd98f7cab711dc395a59d112cd12060 100644
--- a/src/FirmwarePlugin/APM/ArduRoverFirmwarePlugin.cc
+++ b/src/FirmwarePlugin/APM/ArduRoverFirmwarePlugin.cc
@@ -18,11 +18,14 @@ APMRoverMode::APMRoverMode(uint32_t mode, bool settable)
 {
     QMap<uint32_t,QString> enumToString;
     enumToString.insert(MANUAL,         "Manual");
-    enumToString.insert(LEARNING,       "Learning");
+    enumToString.insert(ACRO,           "Acro");
     enumToString.insert(STEERING,       "Steering");
     enumToString.insert(HOLD,           "Hold");
+    enumToString.insert(LOITER,         "Loiter");
+    enumToString.insert(SIMPLE,         "Simple");
     enumToString.insert(AUTO,           "Auto");
     enumToString.insert(RTL,            "RTL");
+    enumToString.insert(SMART_RTL,      "Smart RTL");
     enumToString.insert(GUIDED,         "Guided");
     enumToString.insert(INITIALIZING,   "Initializing");
 
@@ -33,11 +36,14 @@ ArduRoverFirmwarePlugin::ArduRoverFirmwarePlugin(void)
 {
     QList<APMCustomMode> supportedFlightModes;
     supportedFlightModes << APMRoverMode(APMRoverMode::MANUAL       ,true);
-    supportedFlightModes << APMRoverMode(APMRoverMode::LEARNING     ,true);
+    supportedFlightModes << APMRoverMode(APMRoverMode::ACRO         ,true);
     supportedFlightModes << APMRoverMode(APMRoverMode::STEERING     ,true);
     supportedFlightModes << APMRoverMode(APMRoverMode::HOLD         ,true);
+    supportedFlightModes << APMRoverMode(APMRoverMode::LOITER       ,true);
+    supportedFlightModes << APMRoverMode(APMRoverMode::SIMPLE       ,true);
     supportedFlightModes << APMRoverMode(APMRoverMode::AUTO         ,true);
     supportedFlightModes << APMRoverMode(APMRoverMode::RTL          ,true);
+    supportedFlightModes << APMRoverMode(APMRoverMode::SMART_RTL    ,true);
     supportedFlightModes << APMRoverMode(APMRoverMode::GUIDED       ,true);
     supportedFlightModes << APMRoverMode(APMRoverMode::INITIALIZING ,false);
     setSupportedModes(supportedFlightModes);
diff --git a/src/FirmwarePlugin/APM/ArduRoverFirmwarePlugin.h b/src/FirmwarePlugin/APM/ArduRoverFirmwarePlugin.h
index 21467655c444b8620a26fb7ef28afe9cda2c665e..98d932ec329a78cec63d0bf647b0b78037f8aab8 100644
--- a/src/FirmwarePlugin/APM/ArduRoverFirmwarePlugin.h
+++ b/src/FirmwarePlugin/APM/ArduRoverFirmwarePlugin.h
@@ -20,23 +20,17 @@ class APMRoverMode : public APMCustomMode
 {
 public:
     enum Mode {
-        MANUAL        = 0,
-        RESERVED_1    = 1, // RESERVED FOR FUTURE USE
-        LEARNING      = 2,
-        STEERING      = 3,
-        HOLD          = 4,
-        RESERVED_5    = 5, // RESERVED FOR FUTURE USE
-        RESERVED_6    = 6, // RESERVED FOR FUTURE USE
-        RESERVED_7    = 7, // RESERVED FOR FUTURE USE
-        RESERVED_8    = 8, // RESERVED FOR FUTURE USE
-        RESERVED_9    = 9, // RESERVED FOR FUTURE USE
-        AUTO          = 10,
-        RTL           = 11,
-        RESERVED_12   = 12, // RESERVED FOR FUTURE USE
-        RESERVED_13   = 13, // RESERVED FOR FUTURE USE
-        RESERVED_14   = 14, // RESERVED FOR FUTURE USE
-        GUIDED        = 15,
-        INITIALIZING  = 16,
+        MANUAL          = 0,
+        ACRO            = 1,
+        STEERING        = 3,
+        HOLD            = 4,
+        LOITER          = 5,
+        SIMPLE          = 7,
+        AUTO            = 10,
+        RTL             = 11,
+        SMART_RTL       = 12,
+        GUIDED          = 15,
+        INITIALIZING    = 16,
     };
     static const int modeCount = 17;