diff --git a/flight/Modules/PathPlanner/pathplanner.c b/flight/Modules/PathPlanner/pathplanner.c
index 57f617560..0f4707ce0 100644
--- a/flight/Modules/PathPlanner/pathplanner.c
+++ b/flight/Modules/PathPlanner/pathplanner.c
@@ -146,7 +146,7 @@ static void pathPlannerTask(void *parameters)
 				// We hit this waypoint
 				if (r2 < (MIN_RADIUS * MIN_RADIUS)) {
 					switch(waypoint.Action) {
-						case WAYPOINT_ACTION_NEXT:
+						case WAYPOINT_ACTION_PATHTONEXT:
 							waypointActive.Index++;
 							WaypointActiveSet(&waypointActive);
 
@@ -160,6 +160,8 @@ static void pathPlannerTask(void *parameters)
 							pathDesired.Mode = PATHDESIRED_MODE_ENDPOINT;
 							PathDesiredSet(&pathDesired);
 							break;
+						case WAYPOINT_ACTION_STOP:
+							break;
 						default:
 							PIOS_DEBUG_Assert(0);
 					}
@@ -179,7 +181,7 @@ static void pathPlannerTask(void *parameters)
 
 				if (progress.fractional_progress >= 1) {
 					switch(waypoint.Action) {
-						case WAYPOINT_ACTION_NEXT:
+						case WAYPOINT_ACTION_PATHTONEXT:
 							waypointActive.Index++;
 							WaypointActiveSet(&waypointActive);
 
@@ -193,6 +195,8 @@ static void pathPlannerTask(void *parameters)
 							pathDesired.Mode = PATHDESIRED_MODE_ENDPOINT;
 							PathDesiredSet(&pathDesired);
 							break;
+						case WAYPOINT_ACTION_STOP:
+							break;
 						default:
 							PIOS_DEBUG_Assert(0);
 					}
@@ -300,7 +304,7 @@ static void createPathBox()
 	// Draw O
 	WaypointData waypoint;
 	waypoint.Velocity[0] = 2; // Since for now this isn't directional just set a mag
-	waypoint.Action = WAYPOINT_ACTION_NEXT;
+	waypoint.Action = WAYPOINT_ACTION_PATHTONEXT;
 
 	waypoint.Position[0] = 5;
 	waypoint.Position[1] = 5;
@@ -337,7 +341,7 @@ static void createPathLogo()
 		waypoint.Position[1] = 30 * cos(i / 19.0 * 2 * M_PI);
 		waypoint.Position[0] = 50 * sin(i / 19.0 * 2 * M_PI);
 		waypoint.Position[2] = -50;
-		waypoint.Action = WAYPOINT_ACTION_NEXT;
+		waypoint.Action = WAYPOINT_ACTION_PATHTONEXT;
 		WaypointCreateInstance();
 		bad_inits += (WaypointInstSet(i, &waypoint) != 0);
 	}
@@ -347,7 +351,7 @@ static void createPathLogo()
 		waypoint.Position[1] = 55 + 20 * cos(i / 10.0 * M_PI - M_PI / 2);
 		waypoint.Position[0] = 25 + 25 * sin(i / 10.0 * M_PI - M_PI / 2);
 		waypoint.Position[2] = -50;
-		waypoint.Action = WAYPOINT_ACTION_NEXT;
+		waypoint.Action = WAYPOINT_ACTION_PATHTONEXT;
 		WaypointCreateInstance();
 		bad_inits += (WaypointInstSet(i, &waypoint) != 0);
 	}
@@ -355,7 +359,7 @@ static void createPathLogo()
 	waypoint.Position[1] = 35;
 	waypoint.Position[0] = -50;
 	waypoint.Position[2] = -50;
-	waypoint.Action = WAYPOINT_ACTION_NEXT;
+	waypoint.Action = WAYPOINT_ACTION_PATHTONEXT;
 	WaypointCreateInstance();
 	WaypointInstSet(35, &waypoint);
 	
@@ -363,42 +367,42 @@ static void createPathLogo()
 	waypoint.Position[1] = 35;
 	waypoint.Position[0] = -60;
 	waypoint.Position[2] = -30;
-	waypoint.Action = WAYPOINT_ACTION_NEXT;
+	waypoint.Action = WAYPOINT_ACTION_PATHTONEXT;
 	WaypointCreateInstance();
 	WaypointInstSet(36, &waypoint);
 
 	waypoint.Position[1] = 85;
 	waypoint.Position[0] = -60;
 	waypoint.Position[2] = -30;
-	waypoint.Action = WAYPOINT_ACTION_NEXT;
+	waypoint.Action = WAYPOINT_ACTION_PATHTONEXT;
 	WaypointCreateInstance();
 	WaypointInstSet(37, &waypoint);
 
 	waypoint.Position[1] = 85;
 	waypoint.Position[0] = 60;
 	waypoint.Position[2] = -30;
-	waypoint.Action = WAYPOINT_ACTION_NEXT;
+	waypoint.Action = WAYPOINT_ACTION_PATHTONEXT;
 	WaypointCreateInstance();
 	WaypointInstSet(38, &waypoint);
 	
 	waypoint.Position[1] = -40;
 	waypoint.Position[0] = 60;
 	waypoint.Position[2] = -30;
-	waypoint.Action = WAYPOINT_ACTION_NEXT;
+	waypoint.Action = WAYPOINT_ACTION_PATHTONEXT;
 	WaypointCreateInstance();
 	WaypointInstSet(39, &waypoint);
 
 	waypoint.Position[1] = -40;
 	waypoint.Position[0] = -60;
 	waypoint.Position[2] = -30;
-	waypoint.Action = WAYPOINT_ACTION_NEXT;
+	waypoint.Action = WAYPOINT_ACTION_PATHTONEXT;
 	WaypointCreateInstance();
 	WaypointInstSet(40, &waypoint);
 
 	waypoint.Position[1] = 35;
 	waypoint.Position[0] = -60;
 	waypoint.Position[2] = -30;
-	waypoint.Action = WAYPOINT_ACTION_NEXT;
+	waypoint.Action = WAYPOINT_ACTION_PATHTONEXT;
 	WaypointCreateInstance();
 	WaypointInstSet(41, &waypoint);
 
diff --git a/shared/uavobjectdefinition/pathdesired.xml b/shared/uavobjectdefinition/pathdesired.xml
index b9816c2bd..788efbcf5 100644
--- a/shared/uavobjectdefinition/pathdesired.xml
+++ b/shared/uavobjectdefinition/pathdesired.xml
@@ -7,7 +7,7 @@
 	<field name="StartingVelocity" units="m/s" type="float" elements="1" default="0"/>
 	<field name="EndingVelocity" units="m/s" type="float" elements="1" default="0"/>
 
-	<field name="Mode" units="" type="enum" elements="1" options="Endpoint,Path" default="0"/>
+	<field name="Mode" units="" type="enum" elements="1" options="Endpoint,Path,Land" default="0"/>
 	<!-- Endpoint Mode - Fly to end location and attempt to stay there -->
 	<!-- Path Mode - Attempt to fly a line from Start to End using specifed velocity -->
 
diff --git a/shared/uavobjectdefinition/waypoint.xml b/shared/uavobjectdefinition/waypoint.xml
index 9a6ce5da7..344a59792 100644
--- a/shared/uavobjectdefinition/waypoint.xml
+++ b/shared/uavobjectdefinition/waypoint.xml
@@ -4,7 +4,7 @@
         <field name="Position" units="m" type="float" elementnames="North, East, Down"/>
 	<field name="Velocity" units="m/s" type="float" elementnames="North, East, Down"/>
 	<field name="YawDesired" units="deg" type="float" elements="1"/>
-	<field name="Action" units="" type="enum" elements="1" options="Next,RTH,Loiter10s,Land"/>
+	<field name="Action" units="" type="enum" elements="1" options="PathToNext,EndpointToNext,RTH,Loiter10s,Land,Stop"/>
         <access gcs="readwrite" flight="readwrite"/>
         <telemetrygcs acked="false" updatemode="manual" period="0"/>
         <telemetryflight acked="false" updatemode="periodic" period="4000"/>