diff --git a/conf/flight_plans/flight_plan.dtd b/conf/flight_plans/flight_plan.dtd
index 55ab9bb1cb..1f9952e7df 100644
--- a/conf/flight_plans/flight_plan.dtd
+++ b/conf/flight_plans/flight_plan.dtd
@@ -17,14 +17,14 @@
 <!ELEMENT exceptions (exception*)>
 
 <!ELEMENT blocks (block+)>
-<!ELEMENT block (exception|while|heading|attitude|go|xyz|set|call|circle|deroute|stay|follow|survey_rectangle|for|return|eight|oval|home)*>
+<!ELEMENT block (exception|while|heading|attitude|go|xyz|set|call|circle|deroute|stay|follow|survey_rectangle|bungeetakeoff|for|return|eight|oval|home)*>
 
 <!ELEMENT include (arg|with)*>
 <!ELEMENT arg EMPTY>
 <!ELEMENT with EMPTY>
 
-<!ELEMENT while (exception|while|heading|attitude|go|xyz|set|call|circle|deroute|stay|follow|survey_rectangle|for|return|eight|oval)*>
-<!ELEMENT for (exception|while|heading|attitude|go|xyz|set|call|circle|deroute|stay|follow|survey_rectangle|for|return|eight|oval)*>
+<!ELEMENT while (exception|while|heading|attitude|go|xyz|set|call|circle|deroute|stay|follow|survey_rectangle|bungeetakeoff|for|return|eight|oval)*>
+<!ELEMENT for (exception|while|heading|attitude|go|xyz|set|call|circle|deroute|stay|follow|survey_rectangle|bungeetakeoff|for|return|eight|oval)*>
 <!ELEMENT exception EMPTY>
 <!ELEMENT heading EMPTY>
 <!ELEMENT attitude EMPTY>
@@ -37,6 +37,7 @@
 <!ELEMENT eight EMPTY>
 <!ELEMENT oval EMPTY>
 <!ELEMENT survey_rectangle EMPTY>
+<!ELEMENT bungeetakeoff EMPTY>
 <!ELEMENT deroute EMPTY>
 <!ELEMENT stay EMPTY>
 <!ELEMENT follow EMPTY>
@@ -174,6 +175,8 @@ orientation CDATA #IMPLIED
 wp1 CDATA #REQUIRED
 wp2 CDATA #REQUIRED>
 
+<!ATTLIST bungeetakeoff
+BungeeWP CDATA #REQUIRED>
 
 <!ATTLIST stay
 wp CDATA #REQUIRED
diff --git a/sw/tools/gen_flight_plan.ml b/sw/tools/gen_flight_plan.ml
index 6d81517ae4..7eb4d7ddb3 100644
--- a/sw/tools/gen_flight_plan.ml
+++ b/sw/tools/gen_flight_plan.ml
@@ -232,7 +232,7 @@ let rec index_stage = fun x ->
     | "heading" | "attitude" | "go" | "stay" | "xyz" | "set" | "circle" ->
 	incr stage;
 	Xml.Element (Xml.tag x, Xml.attribs x@["no", soi !stage], Xml.children x)
-    | "survey_rectangle" | "eight" | "oval"->
+    | "bungeetakeoff"| "survey_rectangle" | "eight" | "oval"->
 	incr stage; incr stage;
 	Xml.Element (Xml.tag x, Xml.attribs x@["no", soi !stage], Xml.children x)
     | "exception" ->
@@ -440,6 +440,17 @@ let rec print_stage = fun index_of_waypoints x ->
 	stage ();
 	lprintf "NavSurveyRectangle(%s, %s);\n" wp1 wp2;
 	lprintf "break;\n"
+    | "bungeetakeoff" ->
+        let bwp = get_index_waypoint (ExtXml.attrib x "BungeeWP") index_of_waypoints in
+	stage ();
+	lprintf "if (! (InitializeBungeeTakeoff(%s)))\n" bwp;
+	lprintf "   NextStageAndBreak();\n";
+	lprintf "break;\n";
+	left ();
+	stage ();
+	lprintf "if (! (BungeeTakeoff()))\n";
+	lprintf "   NextStageAndBreak();\n";
+	lprintf "break;\n"
     | _s -> failwith "Unreachable"
   end;
   left ()