diff --git a/src/FirmwarePlugin/APM/ArduPlaneFirmwarePlugin.cc b/src/FirmwarePlugin/APM/ArduPlaneFirmwarePlugin.cc
index 03ec7a339964428cede8ed1750b723eb3c47e5d1..30d474e26f9a1c9e3653bc883a362cf7cf577583 100644
--- a/src/FirmwarePlugin/APM/ArduPlaneFirmwarePlugin.cc
+++ b/src/FirmwarePlugin/APM/ArduPlaneFirmwarePlugin.cc
@@ -16,50 +16,58 @@ APMPlaneMode::APMPlaneMode(uint32_t mode, bool settable)
     : APMCustomMode(mode, settable)
 {
     setEnumToStringMapping({ 
-        {MANUAL,         "Manual"},
-        {CIRCLE,         "Circle"},
-        {STABILIZE,      "Stabilize"},
-        {TRAINING,       "Training"},
-        {ACRO,           "Acro"},
-        {FLY_BY_WIRE_A,  "FBW A"},
-        {FLY_BY_WIRE_B,  "FBW B"},
-        {CRUISE,         "Cruise"},
-        {AUTOTUNE,       "Autotune"},
-        {AUTO,           "Auto"},
-        {RTL,            "RTL"},
-        {LOITER,         "Loiter"},
-        {GUIDED,         "Guided"},
-        {INITIALIZING,   "Initializing"},
-        {QSTABILIZE,     "QuadPlane Stabilize"},
-        {QHOVER,         "QuadPlane Hover"},
-        {QLOITER,        "QuadPlane Loiter"},
-        {QLAND,          "QuadPlane Land"},
-        {QRTL,           "QuadPlane RTL"},
+        { MANUAL,           "Manual" },
+        { CIRCLE,           "Circle" },
+        { STABILIZE,        "Stabilize" },
+        { TRAINING,         "Training" },
+        { ACRO,             "Acro" },
+        { FLY_BY_WIRE_A,    "FBW A" },
+        { FLY_BY_WIRE_B,    "FBW B" },
+        { CRUISE,           "Cruise" },
+        { AUTOTUNE,         "Autotune" },
+        { AUTO,             "Auto" },
+        { RTL,              "RTL" },
+        { LOITER,           "Loiter" },
+        { TAKEOFF,          "Takeoff" },
+        { AVOID_ADSB,       "Avoid ADSB" },
+        { GUIDED,           "Guided" },
+        { INITIALIZING,     "Initializing" },
+        { QSTABILIZE,       "QuadPlane Stabilize" },
+        { QHOVER,           "QuadPlane Hover" },
+        { QLOITER,          "QuadPlane Loiter" },
+        { QLAND,            "QuadPlane Land" },
+        { QRTL,             "QuadPlane RTL" },
+        { QAUTOTUNE,        "QuadPlane AutoTune" },
+        { QACRO,            "QuadPlane Acro" },
     });
 }
 
 ArduPlaneFirmwarePlugin::ArduPlaneFirmwarePlugin(void)
 {
     setSupportedModes({
-        APMPlaneMode(APMPlaneMode::MANUAL          ,true),
-        APMPlaneMode(APMPlaneMode::CIRCLE          ,true),
-        APMPlaneMode(APMPlaneMode::STABILIZE       ,true),
-        APMPlaneMode(APMPlaneMode::TRAINING        ,true),
-        APMPlaneMode(APMPlaneMode::ACRO            ,true),
-        APMPlaneMode(APMPlaneMode::FLY_BY_WIRE_A   ,true),
-        APMPlaneMode(APMPlaneMode::FLY_BY_WIRE_B   ,true),
-        APMPlaneMode(APMPlaneMode::CRUISE          ,true),
-        APMPlaneMode(APMPlaneMode::AUTOTUNE        ,true),
-        APMPlaneMode(APMPlaneMode::AUTO            ,true),
-        APMPlaneMode(APMPlaneMode::RTL             ,true),
-        APMPlaneMode(APMPlaneMode::LOITER          ,true),
-        APMPlaneMode(APMPlaneMode::GUIDED          ,true),
-        APMPlaneMode(APMPlaneMode::INITIALIZING    ,false),
-        APMPlaneMode(APMPlaneMode::QSTABILIZE      ,true),
-        APMPlaneMode(APMPlaneMode::QHOVER          ,true),
-        APMPlaneMode(APMPlaneMode::QLOITER         ,true),
-        APMPlaneMode(APMPlaneMode::QLAND           ,true),
-        APMPlaneMode(APMPlaneMode::QRTL            ,true),
+        APMPlaneMode(APMPlaneMode::MANUAL,          true),
+        APMPlaneMode(APMPlaneMode::CIRCLE,          true),
+        APMPlaneMode(APMPlaneMode::STABILIZE,       true),
+        APMPlaneMode(APMPlaneMode::TRAINING,        true),
+        APMPlaneMode(APMPlaneMode::ACRO,            true),
+        APMPlaneMode(APMPlaneMode::FLY_BY_WIRE_A,   true),
+        APMPlaneMode(APMPlaneMode::FLY_BY_WIRE_B,   true),
+        APMPlaneMode(APMPlaneMode::CRUISE,          true),
+        APMPlaneMode(APMPlaneMode::AUTOTUNE,        true),
+        APMPlaneMode(APMPlaneMode::AUTO,            true),
+        APMPlaneMode(APMPlaneMode::RTL,             true),
+        APMPlaneMode(APMPlaneMode::LOITER,          true),
+        APMPlaneMode(APMPlaneMode::TAKEOFF,         true),
+        APMPlaneMode(APMPlaneMode::AVOID_ADSB,      false),
+        APMPlaneMode(APMPlaneMode::GUIDED,          true),
+        APMPlaneMode(APMPlaneMode::INITIALIZING,    false),
+        APMPlaneMode(APMPlaneMode::QSTABILIZE,      true),
+        APMPlaneMode(APMPlaneMode::QHOVER,          true),
+        APMPlaneMode(APMPlaneMode::QLOITER,         true),
+        APMPlaneMode(APMPlaneMode::QLAND,           true),
+        APMPlaneMode(APMPlaneMode::QRTL,            true),
+        APMPlaneMode(APMPlaneMode::QAUTOTUNE,       true),
+        APMPlaneMode(APMPlaneMode::QACRO,           true),
     });
 
     if (!_remapParamNameIntialized) {
diff --git a/src/FirmwarePlugin/APM/ArduPlaneFirmwarePlugin.h b/src/FirmwarePlugin/APM/ArduPlaneFirmwarePlugin.h
index 0094a669dc441e98ba3896df77b9536a8dd80084..f8c934574076f689a255685766d51645358a0746 100644
--- a/src/FirmwarePlugin/APM/ArduPlaneFirmwarePlugin.h
+++ b/src/FirmwarePlugin/APM/ArduPlaneFirmwarePlugin.h
@@ -33,8 +33,8 @@ public:
         AUTO          = 10,
         RTL           = 11,
         LOITER        = 12,
-        RESERVED_13   = 13, // RESERVED FOR FUTURE USE
-        RESERVED_14   = 14, // RESERVED FOR FUTURE USE
+        TAKEOFF       = 13,
+        AVOID_ADSB    = 14,
         GUIDED        = 15,
         INITIALIZING  = 16,
         QSTABILIZE    = 17,
@@ -42,6 +42,8 @@ public:
         QLOITER       = 19,
         QLAND         = 20,
         QRTL          = 21,
+        QAUTOTUNE     = 22,
+        QACRO         = 23,
     };
 
     APMPlaneMode(uint32_t mode, bool settable);