diff --git a/flight/modules/PathPlanner/pathplanner.c b/flight/modules/PathPlanner/pathplanner.c
index c15b024e7..c5bc903c2 100644
--- a/flight/modules/PathPlanner/pathplanner.c
+++ b/flight/modules/PathPlanner/pathplanner.c
@@ -49,6 +49,7 @@
 #include <sanitycheck.h>
 #include <vtolpathfollowersettings.h>
 #include <statusvtolautotakeoff.h>
+#include <statusvtolland.h>
 #include <manualcontrolcommand.h>
 
 // Private constants
@@ -79,6 +80,7 @@ static uint8_t conditionPointingTowardsNext();
 static uint8_t conditionPythonScript();
 static uint8_t conditionImmediate();
 static void SettingsUpdatedCb(__attribute__((unused)) UAVObjEvent *ev);
+static void planner_setup_pathdesired_land(PathDesiredData *pathDesired);
 static void planner_setup_pathdesired_takeoff(PathDesiredData *pathDesired);
 static void planner_setup_pathdesired(PathDesiredData *pathDesired);
 
@@ -130,6 +132,8 @@ int32_t PathPlannerInitialize()
     VelocityStateInitialize();
     WaypointInitialize();
     WaypointActiveInitialize();
+    StatusVtolAutoTakeoffInitialize();
+    StatusVtolLandInitialize();
 
     pathPlannerHandle = PIOS_CALLBACKSCHEDULER_Create(&pathPlannerTask, CALLBACK_PRIORITY_REGULAR, TASK_PRIORITY, CALLBACKINFO_RUNNING_PATHPLANNER0, STACK_SIZE_BYTES);
     pathDesiredUpdaterHandle = PIOS_CALLBACKSCHEDULER_Create(&updatePathDesired, CALLBACK_PRIORITY_CRITICAL, TASK_PRIORITY, CALLBACKINFO_RUNNING_PATHPLANNER1, STACK_SIZE_BYTES);
@@ -335,6 +339,9 @@ void updatePathDesired()
     case PATHACTION_MODE_AUTOTAKEOFF:
         planner_setup_pathdesired_takeoff(&pathDesired);
         break;
+    case PATHACTION_MODE_LAND:
+        planner_setup_pathdesired_land(&pathDesired);
+        break;
     default:
         planner_setup_pathdesired(&pathDesired);
         break;
@@ -508,6 +515,32 @@ static void planner_setup_pathdesired_takeoff(PathDesiredData *pathDesired)
     pathDesired->UID  = waypointActive.Index;
 }
 
+static void planner_setup_pathdesired_land(PathDesiredData *pathDesired)
+{
+    PositionStateData positionState;
+
+    PositionStateGet(&positionState);
+    float velocity_down;
+
+    FlightModeSettingsLandingVelocityGet(&velocity_down);
+
+    pathDesired->Start.North = positionState.North;
+    pathDesired->Start.East  = positionState.East;
+    pathDesired->Start.Down  = positionState.Down;
+    pathDesired->ModeParameters[PATHDESIRED_MODEPARAMETER_LAND_VELOCITYVECTOR_NORTH] = 0.0f;
+    pathDesired->ModeParameters[PATHDESIRED_MODEPARAMETER_LAND_VELOCITYVECTOR_EAST]  = 0.0f;
+    pathDesired->ModeParameters[PATHDESIRED_MODEPARAMETER_LAND_VELOCITYVECTOR_DOWN]  = velocity_down;
+
+    pathDesired->End.North = positionState.North;
+    pathDesired->End.East  = positionState.East;
+    pathDesired->End.Down  = positionState.Down;
+
+    pathDesired->StartingVelocity = 0.0f;
+    pathDesired->EndingVelocity   = 0.0f;
+    pathDesired->Mode = PATHDESIRED_MODE_LAND;
+    pathDesired->ModeParameters[PATHDESIRED_MODEPARAMETER_LAND_OPTIONS] = (float)PATHDESIRED_MODEPARAMETER_LAND_OPTION_HORIZONTAL_PH;
+}
+
 
 // helper function to go to a specific waypoint
 static void setWaypoint(uint16_t num)
diff --git a/flight/targets/boards/discoveryf4bare/firmware/UAVObjects.inc b/flight/targets/boards/discoveryf4bare/firmware/UAVObjects.inc
index b53518358..b2fe81720 100644
--- a/flight/targets/boards/discoveryf4bare/firmware/UAVObjects.inc
+++ b/flight/targets/boards/discoveryf4bare/firmware/UAVObjects.inc
@@ -20,6 +20,7 @@
 # (all architectures)
 UAVOBJSRCFILENAMES =
 UAVOBJSRCFILENAMES += statusvtolland
+UAVOBJSRCFILENAMES += statusvtolautotakeoff
 UAVOBJSRCFILENAMES += vtolselftuningstats
 UAVOBJSRCFILENAMES += accelgyrosettings
 UAVOBJSRCFILENAMES += accessorydesired