diff --git a/flight/modules/FixedWingPathFollower/fixedwingpathfollower.c b/flight/modules/FixedWingPathFollower/fixedwingpathfollower.c
index 64edbe53d..cb602536e 100644
--- a/flight/modules/FixedWingPathFollower/fixedwingpathfollower.c
+++ b/flight/modules/FixedWingPathFollower/fixedwingpathfollower.c
@@ -181,52 +181,50 @@ static void pathfollowerTask(__attribute__((unused)) void *parameters)
 
         uint8_t result;
         // Check the combinations of flightmode and pathdesired mode
-        switch (flightStatus.FlightMode) {
-        case FLIGHTSTATUS_FLIGHTMODE_POSITIONHOLD:
-        case FLIGHTSTATUS_FLIGHTMODE_RETURNTOBASE:
-            if (pathDesired.Mode == PATHDESIRED_MODE_FLYENDPOINT) {
-                updatePathVelocity();
-                result = updateFixedDesiredAttitude();
-                if (result) {
-                    AlarmsSet(SYSTEMALARMS_ALARM_GUIDANCE, SYSTEMALARMS_ALARM_OK);
+        if (flightStatus.ControlChain.PathFollower == FLIGHTSTATUS_CONTROLCHAIN_TRUE) {
+            if (flightStatus.ControlChain.PathPlanner == FLIGHTSTATUS_CONTROLCHAIN_FALSE) {
+                if (pathDesired.Mode == PATHDESIRED_MODE_FLYENDPOINT) {
+                    updatePathVelocity();
+                    result = updateFixedDesiredAttitude();
+                    if (result) {
+                        AlarmsSet(SYSTEMALARMS_ALARM_GUIDANCE, SYSTEMALARMS_ALARM_OK);
+                    } else {
+                        AlarmsSet(SYSTEMALARMS_ALARM_GUIDANCE, SYSTEMALARMS_ALARM_WARNING);
+                    }
                 } else {
-                    AlarmsSet(SYSTEMALARMS_ALARM_GUIDANCE, SYSTEMALARMS_ALARM_WARNING);
+                    AlarmsSet(SYSTEMALARMS_ALARM_GUIDANCE, SYSTEMALARMS_ALARM_ERROR);
                 }
             } else {
-                AlarmsSet(SYSTEMALARMS_ALARM_GUIDANCE, SYSTEMALARMS_ALARM_ERROR);
-            }
-            break;
-        case FLIGHTSTATUS_FLIGHTMODE_PATHPLANNER:
-            pathStatus.UID    = pathDesired.UID;
-            pathStatus.Status = PATHSTATUS_STATUS_INPROGRESS;
-            switch (pathDesired.Mode) {
-            case PATHDESIRED_MODE_FLYENDPOINT:
-            case PATHDESIRED_MODE_FLYVECTOR:
-            case PATHDESIRED_MODE_FLYCIRCLERIGHT:
-            case PATHDESIRED_MODE_FLYCIRCLELEFT:
-                updatePathVelocity();
-                result = updateFixedDesiredAttitude();
-                if (result) {
+                pathStatus.UID    = pathDesired.UID;
+                pathStatus.Status = PATHSTATUS_STATUS_INPROGRESS;
+                switch (pathDesired.Mode) {
+                case PATHDESIRED_MODE_FLYENDPOINT:
+                case PATHDESIRED_MODE_FLYVECTOR:
+                case PATHDESIRED_MODE_FLYCIRCLERIGHT:
+                case PATHDESIRED_MODE_FLYCIRCLELEFT:
+                    updatePathVelocity();
+                    result = updateFixedDesiredAttitude();
+                    if (result) {
+                        AlarmsSet(SYSTEMALARMS_ALARM_GUIDANCE, SYSTEMALARMS_ALARM_OK);
+                    } else {
+                        pathStatus.Status = PATHSTATUS_STATUS_CRITICAL;
+                        AlarmsSet(SYSTEMALARMS_ALARM_GUIDANCE, SYSTEMALARMS_ALARM_WARNING);
+                    }
+                    break;
+                case PATHDESIRED_MODE_FIXEDATTITUDE:
+                    updateFixedAttitude(pathDesired.ModeParameters);
                     AlarmsSet(SYSTEMALARMS_ALARM_GUIDANCE, SYSTEMALARMS_ALARM_OK);
-                } else {
+                    break;
+                case PATHDESIRED_MODE_DISARMALARM:
+                    AlarmsSet(SYSTEMALARMS_ALARM_GUIDANCE, SYSTEMALARMS_ALARM_CRITICAL);
+                    break;
+                default:
                     pathStatus.Status = PATHSTATUS_STATUS_CRITICAL;
-                    AlarmsSet(SYSTEMALARMS_ALARM_GUIDANCE, SYSTEMALARMS_ALARM_WARNING);
+                    AlarmsSet(SYSTEMALARMS_ALARM_GUIDANCE, SYSTEMALARMS_ALARM_ERROR);
+                    break;
                 }
-                break;
-            case PATHDESIRED_MODE_FIXEDATTITUDE:
-                updateFixedAttitude(pathDesired.ModeParameters);
-                AlarmsSet(SYSTEMALARMS_ALARM_GUIDANCE, SYSTEMALARMS_ALARM_OK);
-                break;
-            case PATHDESIRED_MODE_DISARMALARM:
-                AlarmsSet(SYSTEMALARMS_ALARM_GUIDANCE, SYSTEMALARMS_ALARM_CRITICAL);
-                break;
-            default:
-                pathStatus.Status = PATHSTATUS_STATUS_CRITICAL;
-                AlarmsSet(SYSTEMALARMS_ALARM_GUIDANCE, SYSTEMALARMS_ALARM_ERROR);
-                break;
             }
-            break;
-        default:
+        } else {
             // Be cleaner and get rid of global variables
             northVelIntegral = 0;
             eastVelIntegral  = 0;
@@ -234,8 +232,6 @@ static void pathfollowerTask(__attribute__((unused)) void *parameters)
             courseIntegral   = 0;
             speedIntegral    = 0;
             powerIntegral    = 0;
-
-            break;
         }
         PathStatusSet(&pathStatus);
     }
diff --git a/flight/modules/PathPlanner/pathplanner.c b/flight/modules/PathPlanner/pathplanner.c
index eba9e2092..364ee2480 100644
--- a/flight/modules/PathPlanner/pathplanner.c
+++ b/flight/modules/PathPlanner/pathplanner.c
@@ -138,7 +138,7 @@ static void pathPlannerTask()
 
     FlightStatusData flightStatus;
     FlightStatusGet(&flightStatus);
-    if (flightStatus.FlightMode != FLIGHTSTATUS_FLIGHTMODE_PATHPLANNER) {
+    if (flightStatus.ControlChain.PathPlanner != FLIGHTSTATUS_CONTROLCHAIN_TRUE) {
         pathplanner_active = false;
         if (!validPathPlan) {
             // unverified path plans are only a warning while we are not in pathplanner mode
diff --git a/flight/modules/Stabilization/stabilization.c b/flight/modules/Stabilization/stabilization.c
index 354bf9eef..db56e9de8 100644
--- a/flight/modules/Stabilization/stabilization.c
+++ b/flight/modules/Stabilization/stabilization.c
@@ -50,7 +50,6 @@
 #include "flightstatus.h"
 #include "manualcontrolsettings.h"
 #include "flightmodesettings.h"
-#include "manualcontrol.h" // Just to get a macro
 #include "taskinfo.h"
 
 // Math libraries
@@ -669,7 +668,7 @@ static void stabilizationTask(__attribute__((unused)) void *parameters)
             }
         }
 
-        if (PARSE_FLIGHT_MODE(flightStatus.FlightMode) != FLIGHTMODE_MANUAL) {
+        if (flightStatus.ControlChain.Stabilization == FLIGHTSTATUS_CONTROLCHAIN_TRUE) {
             ActuatorDesiredSet(&actuatorDesired);
         } else {
             // Force all axes to reinitialize when engaged
diff --git a/flight/modules/VtolPathFollower/vtolpathfollower.c b/flight/modules/VtolPathFollower/vtolpathfollower.c
index 101dbec2d..9efcffe3e 100644
--- a/flight/modules/VtolPathFollower/vtolpathfollower.c
+++ b/flight/modules/VtolPathFollower/vtolpathfollower.c
@@ -206,55 +206,53 @@ static void vtolPathFollowerTask(__attribute__((unused)) void *parameters)
         PathDesiredGet(&pathDesired);
 
         // Check the combinations of flightmode and pathdesired mode
-        switch (flightStatus.FlightMode) {
-        case FLIGHTSTATUS_FLIGHTMODE_LAND:
-        case FLIGHTSTATUS_FLIGHTMODE_POSITIONHOLD:
-        case FLIGHTSTATUS_FLIGHTMODE_RETURNTOBASE:
-            if (pathDesired.Mode == PATHDESIRED_MODE_FLYENDPOINT) {
-                updateEndpointVelocity();
-                updateVtolDesiredAttitude(false);
-                AlarmsSet(SYSTEMALARMS_ALARM_GUIDANCE, SYSTEMALARMS_ALARM_OK);
+        if (flightStatus.ControlChain.PathFollower == FLIGHTSTATUS_CONTROLCHAIN_TRUE) {
+            if (flightStatus.ControlChain.PathPlanner == FLIGHTSTATUS_CONTROLCHAIN_FALSE) {
+                if (flightStatus.FlightMode == FLIGHTSTATUS_FLIGHTMODE_POI) {
+                    if (pathDesired.Mode == PATHDESIRED_MODE_FLYENDPOINT) {
+                        updateEndpointVelocity();
+                        updateVtolDesiredAttitude(true);
+                        updatePOIBearing();
+                    } else {
+                        AlarmsSet(SYSTEMALARMS_ALARM_GUIDANCE, SYSTEMALARMS_ALARM_ERROR);
+                    }
+                } else {
+                    if (pathDesired.Mode == PATHDESIRED_MODE_FLYENDPOINT) {
+                        updateEndpointVelocity();
+                        updateVtolDesiredAttitude(false);
+                        AlarmsSet(SYSTEMALARMS_ALARM_GUIDANCE, SYSTEMALARMS_ALARM_OK);
+                    } else {
+                        AlarmsSet(SYSTEMALARMS_ALARM_GUIDANCE, SYSTEMALARMS_ALARM_ERROR);
+                    }
+                }
             } else {
-                AlarmsSet(SYSTEMALARMS_ALARM_GUIDANCE, SYSTEMALARMS_ALARM_ERROR);
+                pathStatus.UID    = pathDesired.UID;
+                pathStatus.Status = PATHSTATUS_STATUS_INPROGRESS;
+                switch (pathDesired.Mode) {
+                // TODO: Make updateVtolDesiredAttitude and velocity report success and update PATHSTATUS_STATUS accordingly
+                case PATHDESIRED_MODE_FLYENDPOINT:
+                case PATHDESIRED_MODE_FLYVECTOR:
+                case PATHDESIRED_MODE_FLYCIRCLERIGHT:
+                case PATHDESIRED_MODE_FLYCIRCLELEFT:
+                    updatePathVelocity();
+                    updateVtolDesiredAttitude(false);
+                    AlarmsSet(SYSTEMALARMS_ALARM_GUIDANCE, SYSTEMALARMS_ALARM_OK);
+                    break;
+                case PATHDESIRED_MODE_FIXEDATTITUDE:
+                    updateFixedAttitude(pathDesired.ModeParameters);
+                    AlarmsSet(SYSTEMALARMS_ALARM_GUIDANCE, SYSTEMALARMS_ALARM_OK);
+                    break;
+                case PATHDESIRED_MODE_DISARMALARM:
+                    AlarmsSet(SYSTEMALARMS_ALARM_GUIDANCE, SYSTEMALARMS_ALARM_CRITICAL);
+                    break;
+                default:
+                    pathStatus.Status = PATHSTATUS_STATUS_CRITICAL;
+                    AlarmsSet(SYSTEMALARMS_ALARM_GUIDANCE, SYSTEMALARMS_ALARM_ERROR);
+                    break;
+                }
+                PathStatusSet(&pathStatus);
             }
-            break;
-        case FLIGHTSTATUS_FLIGHTMODE_PATHPLANNER:
-            pathStatus.UID    = pathDesired.UID;
-            pathStatus.Status = PATHSTATUS_STATUS_INPROGRESS;
-            switch (pathDesired.Mode) {
-            // TODO: Make updateVtolDesiredAttitude and velocity report success and update PATHSTATUS_STATUS accordingly
-            case PATHDESIRED_MODE_FLYENDPOINT:
-            case PATHDESIRED_MODE_FLYVECTOR:
-            case PATHDESIRED_MODE_FLYCIRCLERIGHT:
-            case PATHDESIRED_MODE_FLYCIRCLELEFT:
-                updatePathVelocity();
-                updateVtolDesiredAttitude(false);
-                AlarmsSet(SYSTEMALARMS_ALARM_GUIDANCE, SYSTEMALARMS_ALARM_OK);
-                break;
-            case PATHDESIRED_MODE_FIXEDATTITUDE:
-                updateFixedAttitude(pathDesired.ModeParameters);
-                AlarmsSet(SYSTEMALARMS_ALARM_GUIDANCE, SYSTEMALARMS_ALARM_OK);
-                break;
-            case PATHDESIRED_MODE_DISARMALARM:
-                AlarmsSet(SYSTEMALARMS_ALARM_GUIDANCE, SYSTEMALARMS_ALARM_CRITICAL);
-                break;
-            default:
-                pathStatus.Status = PATHSTATUS_STATUS_CRITICAL;
-                AlarmsSet(SYSTEMALARMS_ALARM_GUIDANCE, SYSTEMALARMS_ALARM_ERROR);
-                break;
-            }
-            PathStatusSet(&pathStatus);
-            break;
-        case FLIGHTSTATUS_FLIGHTMODE_POI:
-            if (pathDesired.Mode == PATHDESIRED_MODE_FLYENDPOINT) {
-                updateEndpointVelocity();
-                updateVtolDesiredAttitude(true);
-                updatePOIBearing();
-            } else {
-                AlarmsSet(SYSTEMALARMS_ALARM_GUIDANCE, SYSTEMALARMS_ALARM_ERROR);
-            }
-            break;
-        default:
+        } else {
             // Be cleaner and get rid of global variables
             northVelIntegral = 0;
             eastVelIntegral  = 0;
@@ -267,8 +265,6 @@ static void vtolPathFollowerTask(__attribute__((unused)) void *parameters)
             StabilizationDesiredData stabDesired;
             StabilizationDesiredGet(&stabDesired);
             thrustOffset = stabDesired.Thrust;
-
-            break;
         }
 
         AlarmsClear(SYSTEMALARMS_ALARM_GUIDANCE);
diff --git a/shared/uavobjectdefinition/flightstatus.xml b/shared/uavobjectdefinition/flightstatus.xml
index 9c9336c1a..a7009f4c4 100644
--- a/shared/uavobjectdefinition/flightstatus.xml
+++ b/shared/uavobjectdefinition/flightstatus.xml
@@ -6,6 +6,14 @@
 	<!-- Note these enumerated values should be the same as ManualControlSettings -->
         <field name="FlightMode" units="" type="enum" elements="1" options="Manual,Stabilized1,Stabilized2,Stabilized3,Autotune,AltitudeHold,AltitudeVario,VelocityControl,PositionHold,ReturnToBase,Land,PathPlanner,POI"/>
 
+	<field name="ControlChain" units="bool" type="enum" options="false,true">
+		<elementnames>
+			<elementname>Stabilization</elementname>
+			<elementname>PathFollower</elementname>
+			<elementname>PathPlanner</elementname>
+		</elementnames>
+	</field>
+
         <access gcs="readwrite" flight="readwrite"/>
         <telemetrygcs acked="false" updatemode="manual" period="0"/>
         <telemetryflight acked="false" updatemode="onchange" period="5000"/>