diff --git a/flight/Revolution/UAVObjects.inc b/flight/Revolution/UAVObjects.inc
index b8dfcb546..f5573742b 100644
--- a/flight/Revolution/UAVObjects.inc
+++ b/flight/Revolution/UAVObjects.inc
@@ -59,8 +59,10 @@ UAVOBJSRCFILENAMES += nedaccel
 UAVOBJSRCFILENAMES += nedposition
 UAVOBJSRCFILENAMES += objectpersistence
 UAVOBJSRCFILENAMES += overosyncstats
-UAVOBJSRCFILENAMES += pathplannersettings
+UAVOBJSRCFILENAMES += pathcommand
 UAVOBJSRCFILENAMES += pathdesired
+UAVOBJSRCFILENAMES += pathplannersettings
+UAVOBJSRCFILENAMES += pathstatus
 UAVOBJSRCFILENAMES += positionactual
 UAVOBJSRCFILENAMES += ratedesired
 UAVOBJSRCFILENAMES += revocalibration
diff --git a/ground/openpilotgcs/src/plugins/uavobjects/uavobjects.pro b/ground/openpilotgcs/src/plugins/uavobjects/uavobjects.pro
index 05cb287cf..6bc71b400 100644
--- a/ground/openpilotgcs/src/plugins/uavobjects/uavobjects.pro
+++ b/ground/openpilotgcs/src/plugins/uavobjects/uavobjects.pro
@@ -54,8 +54,10 @@ HEADERS += $$UAVOBJECT_SYNTHETICS/accessorydesired.h \
     $$UAVOBJECT_SYNTHETICS/gpsposition.h \
     $$UAVOBJECT_SYNTHETICS/gpstime.h \
     $$UAVOBJECT_SYNTHETICS/gpssatellites.h \
+    $$UAVOBJECT_SYNTHETICS/pathcommand.h \
     $$UAVOBJECT_SYNTHETICS/pathdesired.h \
     $$UAVOBJECT_SYNTHETICS/pathplannersettings.h \
+    $$UAVOBJECT_SYNTHETICS/pathstatus.h \
     $$UAVOBJECT_SYNTHETICS/gpsvelocity.h \
     $$UAVOBJECT_SYNTHETICS/positionactual.h \
     $$UAVOBJECT_SYNTHETICS/flightbatterystate.h \
@@ -119,8 +121,10 @@ SOURCES += $$UAVOBJECT_SYNTHETICS/accessorydesired.cpp \
     $$UAVOBJECT_SYNTHETICS/gpsposition.cpp \
     $$UAVOBJECT_SYNTHETICS/gpstime.cpp \
     $$UAVOBJECT_SYNTHETICS/gpssatellites.cpp \
+    $$UAVOBJECT_SYNTHETICS/pathcommand.cpp \
     $$UAVOBJECT_SYNTHETICS/pathdesired.cpp \
     $$UAVOBJECT_SYNTHETICS/pathplannersettings.cpp \
+    $$UAVOBJECT_SYNTHETICS/pathstatus.cpp \
     $$UAVOBJECT_SYNTHETICS/gpsvelocity.cpp \
     $$UAVOBJECT_SYNTHETICS/positionactual.cpp \
     $$UAVOBJECT_SYNTHETICS/flightbatterystate.cpp \
diff --git a/shared/uavobjectdefinition/pathdesired.xml b/shared/uavobjectdefinition/pathdesired.xml
index b9816c2bd..9e279a97b 100644
--- a/shared/uavobjectdefinition/pathdesired.xml
+++ b/shared/uavobjectdefinition/pathdesired.xml
@@ -7,9 +7,18 @@
 	<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"/>
-	<!-- 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 -->
+	<field name="Mode" units="" type="enum" elements="1" options="FlyEndpoint,FlyVector,FlyCircleRight,FlyCircleLeft,
+		DriveEndpoint,DriveVector,DriveCircleLeft,DriveCircleRight,
+		FixedAttitude,
+		SetAccessory,
+		DisarmAlarm" default="0"/>
+	<!-- Endpoint mode - move directly towards endpoint regardless of position -->
+	<!-- Straight Mode - move across linear path through Start towards the waypoint end, adjusting velocity - continue straight -->
+	<!-- Circle Mode - move a circular pattern around End with radius End-Start (straight line in the vertical)-->
+	<field name="ModeParameters" units="" type="float" elements="4" default="0"/>
+
+	<field name="UID" units="" type="uint8" elements="1" default="0"/>
+	<!-- unique ID confirmed with pathfollower in pathstatus to acknowledge a change in PathDesired -->
 
         <access gcs="readwrite" flight="readwrite"/>
         <telemetrygcs acked="false" updatemode="manual" period="0"/>
diff --git a/shared/uavobjectdefinition/pathplannersettings.xml b/shared/uavobjectdefinition/pathplannersettings.xml
index c1f1aab20..da6560a5c 100644
--- a/shared/uavobjectdefinition/pathplannersettings.xml
+++ b/shared/uavobjectdefinition/pathplannersettings.xml
@@ -1,7 +1,6 @@
 <xml>
     <object name="PathPlannerSettings" singleinstance="true" settings="true">
         <description>Settings for the @ref PathPlanner Module</description>
-	<field name="PathMode" units="" type="enum" elements="1" options="ENDPOINT,PATH" defaultvalue="PATH"/>
 	<field name="PreprogrammedPath" units="" type="enum" elements="1" options="NONE,10M_BOX,LOGO" defaultvalue="NONE"/>
         <access gcs="readwrite" flight="readwrite"/>
         <telemetrygcs acked="true" updatemode="onchange" period="0"/>
diff --git a/shared/uavobjectdefinition/waypoint.xml b/shared/uavobjectdefinition/waypoint.xml
index 9a6ce5da7..45107e7d4 100644
--- a/shared/uavobjectdefinition/waypoint.xml
+++ b/shared/uavobjectdefinition/waypoint.xml
@@ -2,9 +2,8 @@
     <object name="Waypoint" singleinstance="false" settings="false">
         <description>A waypoint the aircraft can try and hit.  Used by the @ref PathPlanner module</description>
         <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="Velocity" units="m/s" type="float" elements="1"/>
+	<field name="Action" units="" type="uint8" elements="1" />
         <access gcs="readwrite" flight="readwrite"/>
         <telemetrygcs acked="false" updatemode="manual" period="0"/>
         <telemetryflight acked="false" updatemode="periodic" period="4000"/>