diff --git a/shared/uavobjectdefinition/flightmodesettings.xml b/shared/uavobjectdefinition/flightmodesettings.xml
index d68c89bb4..c96f78a28 100644
--- a/shared/uavobjectdefinition/flightmodesettings.xml
+++ b/shared/uavobjectdefinition/flightmodesettings.xml
@@ -78,37 +78,38 @@
                units=""
                type="enum"
                elements="6"
-               options="Manual,Stabilized1,Stabilized2,Stabilized3,Stabilized4,Stabilized5,Stabilized6,Autotune,PositionHold,ReturnToBase,Land,PathPlanner,POI"
+               options="Manual,Stabilized1,Stabilized2,Stabilized3,Stabilized4,Stabilized5,Stabilized6,Autotune,PositionHold,PositionVarioFPV,PositionVarioLOS,PositionVarioNSEW,ReturnToBase,Land,PathPlanner,POI,AutoCruise"
                defaultvalue="Stabilized1,Stabilized2,Stabilized3,Stabilized4,Stabilized5,Stabilized6"
                limits="\
-                       %0401NE:Autotune:PositionHold:ReturnToBase:Land:PathPlanner:POI,\
-                       %0402NE:Autotune:PositionHold:ReturnToBase:Land:PathPlanner:POI,\
-                       %0903NE:Autotune:PositionHold:ReturnToBase:Land:PathPlanner:POI;\
+                       %0401NE:Autotune:PositionHold:PositionVarioFPV:PositionVarioLOS:PositionVarioNSEW:ReturnToBase:Land:PathPlanner:POI:AutoCruise,\
+                       %0402NE:Autotune:PositionHold:PositionVarioFPV:PositionVarioLOS:PositionVarioNSEW:ReturnToBase:Land:PathPlanner:POI:AutoCruise,\
+                       %0903NE:Autotune:AutoCruise;\
                        \
-                       %0401NE:Autotune:PositionHold:ReturnToBase:Land:PathPlanner:POI,\
-                       %0402NE:Autotune:PositionHold:ReturnToBase:Land:PathPlanner:POI,\
-                       %0903NE:Autotune:PositionHold:ReturnToBase:Land:PathPlanner:POI;\
+                       %0401NE:Autotune:PositionHold:PositionVarioFPV:PositionVarioLOS:PositionVarioNSEW:ReturnToBase:Land:PathPlanner:POI:AutoCruise,\
+                       %0402NE:Autotune:PositionHold:PositionVarioFPV:PositionVarioLOS:PositionVarioNSEW:ReturnToBase:Land:PathPlanner:POI:AutoCruise,\
+                       %0903NE:Autotune:AutoCruise;\
                        \
-                       %0401NE:Autotune:PositionHold:ReturnToBase:Land:PathPlanner:POI,\
-                       %0402NE:Autotune:PositionHold:ReturnToBase:Land:PathPlanner:POI,\
-                       %0903NE:Autotune:PositionHold:ReturnToBase:Land:PathPlanner:POI;\
+                       %0401NE:Autotune:PositionHold:PositionVarioFPV:PositionVarioLOS:PositionVarioNSEW:ReturnToBase:Land:PathPlanner:POI:AutoCruise,\
+                       %0402NE:Autotune:PositionHold:PositionVarioFPV:PositionVarioLOS:PositionVarioNSEW:ReturnToBase:Land:PathPlanner:POI:AutoCruise,\
+                       %0903NE:Autotune:AutoCruise;\
                        \
-                       %0401NE:Autotune:PositionHold:ReturnToBase:Land:PathPlanner:POI,\
-                       %0402NE:Autotune:PositionHold:ReturnToBase:Land:PathPlanner:POI,\
-                       %0903NE:Autotune:PositionHold:ReturnToBase:Land:PathPlanner:POI;\
+                       %0401NE:Autotune:PositionHold:PositionVarioFPV:PositionVarioLOS:PositionVarioNSEW:ReturnToBase:Land:PathPlanner:POI:AutoCruise,\
+                       %0402NE:Autotune:PositionHold:PositionVarioFPV:PositionVarioLOS:PositionVarioNSEW:ReturnToBase:Land:PathPlanner:POI:AutoCruise,\
+                       %0903NE:Autotune:AutoCruise;\
                        \
-                       %0401NE:Autotune:PositionHold:ReturnToBase:Land:PathPlanner:POI,\
-                       %0402NE:Autotune:PositionHold:ReturnToBase:Land:PathPlanner:POI,\
-                       %0903NE:Autotune:PositionHold:ReturnToBase:Land:PathPlanner:POI;\
+                       %0401NE:Autotune:PositionHold:PositionVarioFPV:PositionVarioLOS:PositionVarioNSEW:ReturnToBase:Land:PathPlanner:POI:AutoCruise,\
+                       %0402NE:Autotune:PositionHold:PositionVarioFPV:PositionVarioLOS:PositionVarioNSEW:ReturnToBase:Land:PathPlanner:POI:AutoCruise,\
+                       %0903NE:Autotune:AutoCruise;\
                        \
-                       %0401NE:Autotune:PositionHold:ReturnToBase:Land:PathPlanner:POI,\
-                       %0402NE:Autotune:PositionHold:ReturnToBase:Land:PathPlanner:POI,\
-                       %0903NE:Autotune:PositionHold:ReturnToBase:Land:PathPlanner:POI"/>
+                       %0401NE:Autotune:PositionHold:PositionVarioFPV:PositionVarioLOS:PositionVarioNSEW:ReturnToBase:Land:PathPlanner:POI:AutoCruise,\
+                       %0402NE:Autotune:PositionHold:PositionVarioFPV:PositionVarioLOS:PositionVarioNSEW:ReturnToBase:Land:PathPlanner:POI:AutoCruise,\
+                       %0903NE:Autotune:AutoCruise"/>
 
         <field name="ArmedTimeout" units="ms" type="uint16" elements="1" defaultvalue="30000"/>
         <field name="ArmingSequenceTime" units="ms" type="uint16" elements="1" defaultvalue="1000"/>
         <field name="DisarmingSequenceTime" units="ms" type="uint16" elements="1" defaultvalue="1000"/>
         <field name="ReturnToBaseAltitudeOffset" units="m" type="float" elements="1" defaultvalue="10"/>
+        <field name="PositionHoldMaxGradient" units="m,m/s" type="float" elementnames="Distance,Speed" defaultvalue="10,10"/>
         <access gcs="readwrite" flight="readwrite"/>
         <telemetrygcs acked="true" updatemode="onchange" period="0"/>
         <telemetryflight acked="true" updatemode="onchange" period="0"/>
diff --git a/shared/uavobjectdefinition/flightstatus.xml b/shared/uavobjectdefinition/flightstatus.xml
index 494cf474e..794d02b17 100644
--- a/shared/uavobjectdefinition/flightstatus.xml
+++ b/shared/uavobjectdefinition/flightstatus.xml
@@ -4,7 +4,7 @@
         <field name="Armed" units="" type="enum" elements="1" options="Disarmed,Arming,Armed" defaultvalue="Disarmed"/>
 
 	<!-- Note these enumerated values should be the same as ManualControlSettings -->
-        <field name="FlightMode" units="" type="enum" elements="1" options="Manual,Stabilized1,Stabilized2,Stabilized3,Stabilized4,Stabilized5,Stabilized6,Autotune,PositionHold,ReturnToBase,Land,PathPlanner,POI"/>
+        <field name="FlightMode" units="" type="enum" elements="1" options="Manual,Stabilized1,Stabilized2,Stabilized3,Stabilized4,Stabilized5,Stabilized6,Autotune,PositionHold,PositionVarioFPV,PositionVarioLOS,PositionVarioNSEW,ReturnToBase,Land,PathPlanner,POI,AutoCruise"/>
 
 	<field name="ControlChain" units="bool" type="enum" options="false,true">
 		<elementnames>