diff --git a/msg/commander_state.msg b/msg/commander_state.msg
index 9733d72a51..38c94931f1 100644
--- a/msg/commander_state.msg
+++ b/msg/commander_state.msg
@@ -15,6 +15,7 @@ uint8 MAIN_STATE_AUTO_TAKEOFF = 10
 uint8 MAIN_STATE_AUTO_LAND = 11
 uint8 MAIN_STATE_AUTO_FOLLOW_TARGET = 12
 uint8 MAIN_STATE_AUTO_PRECLAND = 13
-uint8 MAIN_STATE_MAX = 14
+uint8 MAIN_STATE_ORBIT = 14
+uint8 MAIN_STATE_MAX = 15
 
 uint8 main_state		    	# main state machine
diff --git a/msg/vehicle_status.msg b/msg/vehicle_status.msg
index 7d55b6e33e..956233fd95 100644
--- a/msg/vehicle_status.msg
+++ b/msg/vehicle_status.msg
@@ -42,7 +42,8 @@ uint8 NAVIGATION_STATE_AUTO_TAKEOFF = 17	# Takeoff
 uint8 NAVIGATION_STATE_AUTO_LAND = 18		# Land
 uint8 NAVIGATION_STATE_AUTO_FOLLOW_TARGET = 19	# Auto Follow
 uint8 NAVIGATION_STATE_AUTO_PRECLAND = 20	# Precision land with landing target
-uint8 NAVIGATION_STATE_MAX = 21
+uint8 NAVIGATION_STATE_ORBIT = 21       # Orbit in a circle
+uint8 NAVIGATION_STATE_MAX = 22
 
 uint8 RC_IN_MODE_DEFAULT = 0
 uint8 RC_IN_MODE_OFF = 1