diff --git a/conf/messages.xml b/conf/messages.xml
index be036e4175..7a3745f81b 100644
--- a/conf/messages.xml
+++ b/conf/messages.xml
@@ -68,6 +68,7 @@
     <field name="ap_mode" type="uint8" values="MANUAL|AUTO1|AUTO2|HOME"/>
     <field name="ap_gaz" type="uint8" values="MANUAL|AUTO_GAZ|AUTO_CLIMB|AUTO_ALT"/>
     <field name="ap_lateral" type="uint8" values="MANUAL|ROLL_RATE|ROLL|COURSE"/>
+    <field name="ap_horizontal" type="uint8" values="WAYPOINT|ROUTE|CIRCLE"/>
     <field name="if_calib_mode" type="uint8" values="NONE|DOWN|UP"/>
     <field name="mcu1_status" type="uint8" values="LOST|OK|REALLY_LOST"/>	
     <field name="lls_calib" type="uint8" values="LLS_CALIB_MODE_OFF|LLS_CALIB_MODE_ON"/>
@@ -301,6 +302,7 @@
     <field name="ac_id" type="string"/>
     <field name="ap_mode" type="string" values="MANUAL|AUTO1|AUTO2|HOME"/>
     <field name="lat_mode" type="string" values="MANUAL|ROLL_RATE|ROLL|COURSE"/>
+    <field name="horiz_mode" type="string" values="WAYPOINT|ROUTE|CIRCLE"/>
     <field name="gaz_mode" type="string" values="MANUAL|GAZ|CLIMB|ALT"/>
     <field name="gps_mode" type="string" values="NOFIX|DRO|2D|3D|GPSDRO"/>
     <field name="flight_time" type="uint32" />
@@ -374,7 +376,23 @@
     <field name="ir_contrast" type="float"/>
     <field name="time_scale" type="float"/>
   </message>
+
   <message name="WORLD_ENV_REQ" id="21"/>
+
+  <message name="CIRCLE_STATUS" ID="22">
+     <field name="ac_id" type="string"/>
+     <field name="circle_east" type="float" unit="m"/>
+     <field name="circle_north" type="float" unit="m"/>
+     <field name="radius" type="int16" unit="m"/>
+     </message>
+	
+   <message name="SEGMENT_STATUS" ID="23">
+      <field name="ac_id" type="string"/>
+      <field name="segment1_east" type="float" unit="m"/>
+      <field name="segment1_north" type="float" unit="m"/>
+      <field name="segment2_east" type="float" unit="m"/>
+      <field name="segment2_north" type="float" unit="m"/>
+  </message>
 </class>
 
 </protocol>