diff --git a/flight/Revolution/UAVObjects.inc b/flight/Revolution/UAVObjects.inc
index f5573742b..326961d0d 100644
--- a/flight/Revolution/UAVObjects.inc
+++ b/flight/Revolution/UAVObjects.inc
@@ -59,7 +59,7 @@ UAVOBJSRCFILENAMES += nedaccel
 UAVOBJSRCFILENAMES += nedposition
 UAVOBJSRCFILENAMES += objectpersistence
 UAVOBJSRCFILENAMES += overosyncstats
-UAVOBJSRCFILENAMES += pathcommand
+UAVOBJSRCFILENAMES += pathaction
 UAVOBJSRCFILENAMES += pathdesired
 UAVOBJSRCFILENAMES += pathplannersettings
 UAVOBJSRCFILENAMES += pathstatus
diff --git a/ground/openpilotgcs/src/plugins/uavobjects/uavobjects.pro b/ground/openpilotgcs/src/plugins/uavobjects/uavobjects.pro
index 6bc71b400..ab54007b1 100644
--- a/ground/openpilotgcs/src/plugins/uavobjects/uavobjects.pro
+++ b/ground/openpilotgcs/src/plugins/uavobjects/uavobjects.pro
@@ -54,7 +54,7 @@ HEADERS += $$UAVOBJECT_SYNTHETICS/accessorydesired.h \
     $$UAVOBJECT_SYNTHETICS/gpsposition.h \
     $$UAVOBJECT_SYNTHETICS/gpstime.h \
     $$UAVOBJECT_SYNTHETICS/gpssatellites.h \
-    $$UAVOBJECT_SYNTHETICS/pathcommand.h \
+    $$UAVOBJECT_SYNTHETICS/pathaction.h \
     $$UAVOBJECT_SYNTHETICS/pathdesired.h \
     $$UAVOBJECT_SYNTHETICS/pathplannersettings.h \
     $$UAVOBJECT_SYNTHETICS/pathstatus.h \
@@ -121,7 +121,7 @@ SOURCES += $$UAVOBJECT_SYNTHETICS/accessorydesired.cpp \
     $$UAVOBJECT_SYNTHETICS/gpsposition.cpp \
     $$UAVOBJECT_SYNTHETICS/gpstime.cpp \
     $$UAVOBJECT_SYNTHETICS/gpssatellites.cpp \
-    $$UAVOBJECT_SYNTHETICS/pathcommand.cpp \
+    $$UAVOBJECT_SYNTHETICS/pathaction.cpp \
     $$UAVOBJECT_SYNTHETICS/pathdesired.cpp \
     $$UAVOBJECT_SYNTHETICS/pathplannersettings.cpp \
     $$UAVOBJECT_SYNTHETICS/pathstatus.cpp \
diff --git a/shared/uavobjectdefinition/pathaction.xml b/shared/uavobjectdefinition/pathaction.xml
new file mode 100644
index 000000000..abb95abcc
--- /dev/null
+++ b/shared/uavobjectdefinition/pathaction.xml
@@ -0,0 +1,28 @@
+<xml>
+    <object name="PathAction" singleinstance="false" settings="false">
+        <description>A waypoint command the pathplanner is to use at a certain waypoint</description>
+	<field name="Mode" units="" type="enum" elements="1" options="FlyEndpoint,FlyVector,FlyCircleRight,FlyCircleLeft,
+		DriveEndpoint,DriveVector,DriveCircleLeft,DriveCircleRight,
+		FixedAttitude,
+		SetAccessory,
+		DisarmAlarm" default="Endpoint" />
+	<field name="ModeParameters" units="" type="float" elements="4" default="0"/>
+
+	<field name="EndCondition" units="" type="enum" elements="1" options="None,TimeOut,
+		DistanceToTarget,LegRemaining,PointingTowardsNext,
+		AboveAltitude,BelowAltitude,
+		PointingTowardsNext,
+		PythonScript,
+		Immediate" default="None" />
+	<field name="ConditionParameters" units="" type="float" elements="4" default="0"/>
+
+	<field name="Command" units="" type="enum" elements="1" options="OnConditionNextWaypoint,OnConditionJumpWaypoint,IfConditionJumpWaypointElseNextWaypoint" default="OnConditionNextWaypoint" />
+	<field name="JumpDestination" units="waypoint" type="uint8" elements="1" default="0"/>
+	<field name="ErrorDestination" units="waypoint" type="uint8" elements="1" default="0"/>
+
+        <access gcs="readwrite" flight="readwrite"/>
+        <telemetrygcs acked="false" updatemode="manual" period="0"/>
+        <telemetryflight acked="false" updatemode="periodic" period="4000"/>
+        <logging updatemode="periodic" period="1000"/>
+    </object>
+</xml>
diff --git a/shared/uavobjectdefinition/pathstatus.xml b/shared/uavobjectdefinition/pathstatus.xml
new file mode 100644
index 000000000..70b1f2ba0
--- /dev/null
+++ b/shared/uavobjectdefinition/pathstatus.xml
@@ -0,0 +1,14 @@
+<xml>
+    <object name="PathStatus" singleinstance="true" settings="false">
+        <description>Status of the current path mode  Can come from any @ref PathFollower module</description>
+
+	<field name="UID" units="" type="uint8" elements="1" default="0"/>
+	<!-- unique ID confirmed with pathfollower in pathstatus to acknowledge a change in PathDesired -->
+	<field name="Status" units="" type="enum" elements="1" options="InProgress,Completed,Warning,Critical"/>
+
+        <access gcs="readwrite" flight="readwrite"/>
+        <telemetrygcs acked="false" updatemode="manual" period="0"/>
+        <telemetryflight acked="false" updatemode="onchange" period="0"/>
+        <logging updatemode="onchange" period="0"/>
+    </object>
+</xml>