diff --git a/conf/flight_plans/flight_plan.dtd b/conf/flight_plans/flight_plan.dtd
index d5b12f86a3..477b7c40d4 100644
--- a/conf/flight_plans/flight_plan.dtd
+++ b/conf/flight_plans/flight_plan.dtd
@@ -166,7 +166,11 @@ radius CDATA #REQUIRED>
 <!ATTLIST oval
 p1 CDATA #REQUIRED
 p2 CDATA #REQUIRED
-radius CDATA #REQUIRED>
+vmode CDATA #IMPLIED
+pitch CDATA #IMPLIED
+throttle CDATA #IMPLIED
+radius CDATA #REQUIRED
+until CDATA #IMPLIED>
 
 <!ATTLIST survey_rectangle
 grid CDATA #REQUIRED
diff --git a/sw/tools/gen_flight_plan.ml b/sw/tools/gen_flight_plan.ml
index e9759d29dc..22dd53ee20 100644
--- a/sw/tools/gen_flight_plan.ml
+++ b/sw/tools/gen_flight_plan.ml
@@ -418,6 +418,13 @@ let rec print_stage = fun index_of_waypoints x ->
 	let r = parsed_attrib  x "radius" in
 	let _vmode = output_vmode x p1 "" in
 	lprintf "Oval(%s, %s, %s);\n" p1 p2 r;
+	begin
+	  try
+	    let c = parsed_attrib x "until" in
+	    lprintf "if (%s) NextStageAndBreak();\n" c
+	  with
+	    ExtXml.Error _ -> ()
+	end;
 	lprintf "break;\n"
     | "set" ->
 	stage ();