diff --git a/conf/messages.xml b/conf/messages.xml
index b6ce932e59..157f37ee4c 100644
--- a/conf/messages.xml
+++ b/conf/messages.xml
@@ -1814,7 +1814,7 @@
     <field name="rc_status"    type="uint8" values="OK|LOST|REALLY_LOST"/>
     <field name="frame_rate"   type="uint8" unit="Hz"/>
     <field name="gps_status"   type="uint8" values="NO_FIX|NA|NA|3Dfix"/>
-    <field name="ap_mode"      type="uint8" values="FAILSAFE|KILL|RATE_DIRECT|ATTITUDE_DIRECT|RATE_RC_CLIMB|ATTITUDE_RC_CLIMB|ATTITUDE_CLIMB|RATE_Z_HOLD|ATTITUDE_Z_HOLD|HOVER_DIRECT|HOVER_CLIMB|HOVER_Z_HOLD|NAV"/>
+    <field name="ap_mode"      type="uint8" values="FAILSAFE|KILL|RATE_DIRECT|ATTITUDE_DIRECT|RATE_RC_CLIMB|ATTITUDE_RC_CLIMB|ATTITUDE_CLIMB|RATE_Z_HOLD|ATTITUDE_Z_HOLD|HOVER_DIRECT|HOVER_CLIMB|HOVER_Z_HOLD|NAV|RC_DIRECT|CARE_FREE"/>
     <field name="ap_in_flight" type="uint8" values="ON_GROUND|IN_FLIGHT"/>
     <field name="ap_motors_on" type="uint8" values="MOTORS_OFF|MOTORS_ON"/>
     <field name="ap_h_mode"    type="uint8" values="KILL|RATE|ATTITUDE|HOVER|NAV"/>
diff --git a/conf/settings/rotorcraft_basic.xml b/conf/settings/rotorcraft_basic.xml
index a053af6a4c..00883dccf2 100644
--- a/conf/settings/rotorcraft_basic.xml
+++ b/conf/settings/rotorcraft_basic.xml
@@ -4,7 +4,7 @@
   <dl_settings>
 
     <dl_settings NAME="System">
-       <dl_setting var="autopilot_mode_auto2" min="0" step="1" max="13" module="autopilot" shortname="auto2" values="Fail|Kill|Rate|Att|Rate_rcC|Att_rcC|Att_C|Rate_Z|Att_Z|Hover|Hover_C|Hover_Z|Nav|RC_D"/>
+       <dl_setting var="autopilot_mode_auto2" min="0" step="1" max="14" module="autopilot" shortname="auto2" values="Fail|Kill|Rate|Att|Rate_rcC|Att_rcC|Att_C|Rate_Z|Att_Z|Hover|Hover_C|Hover_Z|Nav|RC_D|CareFree"/>
       <dl_setting var="kill_throttle" min="0" step="1" max="1" module="autopilot" values="Resurrect|Kill" handler="KillThrottle"/>
       <dl_setting var="autopilot_power_switch" min="0" step="1" max="1" module="autopilot" values="OFF|ON" handler="SetPowerSwitch">
         <strip_button name="POWER ON" icon="on.png" value="1" group="power_switch"/>
diff --git a/sw/ground_segment/tmtc/server_globals.ml b/sw/ground_segment/tmtc/server_globals.ml
index fb6d60214b..0d81357ce9 100644
--- a/sw/ground_segment/tmtc/server_globals.ml
+++ b/sw/ground_segment/tmtc/server_globals.ml
@@ -4,7 +4,7 @@ let hostname = ref "localhost"
 
 (** FIXME: Should be read from messages.xml *)
 let fixedwing_ap_modes = [|"MANUAL";"AUTO1";"AUTO2";"HOME";"NOGPS";"FAIL"|]
-let rotorcraft_ap_modes = [|"SAFE";"KILL";"RATE";"ATT";"R_RCC";"A_RCC";"ATT_C";"R_ZH";"A_ZH";"HOVER";"HOV_C";"H_ZH";"NAV";"RC_D"|]
+let rotorcraft_ap_modes = [|"SAFE";"KILL";"RATE";"ATT";"R_RCC";"A_RCC";"ATT_C";"R_ZH";"A_ZH";"HOVER";"HOV_C";"H_ZH";"NAV";"RC_D";"CF"|]
 let _AUTO2 = 2
 let gaz_modes = [|"MANUAL";"GAZ";"CLIMB";"ALT"|]
 let lat_modes = [|"MANUAL";"ROLL_RATE";"ROLL";"COURSE"|]