diff --git a/src/FirmwarePlugin/PX4/PX4FirmwarePlugin.cc b/src/FirmwarePlugin/PX4/PX4FirmwarePlugin.cc
index cf76d12af2..e8838fa6bb 100644
--- a/src/FirmwarePlugin/PX4/PX4FirmwarePlugin.cc
+++ b/src/FirmwarePlugin/PX4/PX4FirmwarePlugin.cc
@@ -33,24 +33,26 @@ PX4FirmwarePluginInstanceData::PX4FirmwarePluginInstanceData(QObject* parent)
 }
 
 PX4FirmwarePlugin::PX4FirmwarePlugin()
-    : _manualFlightMode     (tr("Manual"))
-    , _acroFlightMode       (tr("Acro"))
-    , _stabilizedFlightMode (tr("Stabilized"))
-    , _rattitudeFlightMode  (tr("Rattitude"))
-    , _altCtlFlightMode     (tr("Altitude"))
-    , _posCtlFlightMode     (tr("Position"))
-    , _offboardFlightMode   (tr("Offboard"))
-    , _readyFlightMode      (tr("Ready"))
-    , _takeoffFlightMode    (tr("Takeoff"))
-    , _holdFlightMode       (tr("Hold"))
-    , _missionFlightMode    (tr("Mission"))
-    , _rtlFlightMode        (tr("Return"))
-    , _landingFlightMode    (tr("Land"))
-    , _preclandFlightMode   (tr("Precision Land"))
-    , _rtgsFlightMode       (tr("Return to Groundstation"))
-    , _followMeFlightMode   (tr("Follow Me"))
-    , _simpleFlightMode     (tr("Simple"))
-    , _orbitFlightMode      (tr("Orbit"))
+    : _manualFlightMode          (tr("Manual"))
+    , _acroFlightMode            (tr("Acro"))
+    , _stabilizedFlightMode      (tr("Stabilized"))
+    , _rattitudeFlightMode       (tr("Rattitude"))
+    , _altCtlFlightMode          (tr("Altitude"))
+    , _posCtlFlightMode          (tr("Position"))
+    , _offboardFlightMode        (tr("Offboard"))
+    , _readyFlightMode           (tr("Ready"))
+    , _takeoffFlightMode         (tr("Takeoff"))
+    , _holdFlightMode            (tr("Hold"))
+    , _missionFlightMode         (tr("Mission"))
+    , _rtlFlightMode             (tr("Return"))
+    , _landingFlightMode         (tr("Land"))
+    , _preclandFlightMode        (tr("Precision Land"))
+    , _rtgsFlightMode            (tr("Return to Groundstation"))
+    , _followMeFlightMode        (tr("Follow Me"))
+    , _simpleFlightMode          (tr("Simple"))
+    , _orbitFlightMode           (tr("Orbit"))
+    , _prismaManualFlightMode    (tr("Prisma Manual"))
+    , _prismaOffboardFlightMode  (tr("Prisma Offboard"))
 {
     qmlRegisterType<PX4SimpleFlightModesController>     ("QGroundControl.Controllers", 1, 0, "PX4SimpleFlightModesController");
     qmlRegisterType<AirframeComponentController>        ("QGroundControl.Controllers", 1, 0, "AirframeComponentController");
@@ -75,16 +77,19 @@ PX4FirmwarePlugin::PX4FirmwarePlugin()
         { PX4_CUSTOM_MAIN_MODE_OFFBOARD,    0,                                      true,   false,  true },
         { PX4_CUSTOM_MAIN_MODE_SIMPLE,      0,                                      false,  false,  true },
         { PX4_CUSTOM_MAIN_MODE_POSCTL,      PX4_CUSTOM_SUB_MODE_POSCTL_POSCTL,      true,   true,   true },
-        { PX4_CUSTOM_MAIN_MODE_POSCTL,      PX4_CUSTOM_SUB_MODE_POSCTL_ORBIT,       false,  false,   false },
+        { PX4_CUSTOM_MAIN_MODE_POSCTL,      PX4_CUSTOM_SUB_MODE_POSCTL_ORBIT,       false,  false,  false},
         { PX4_CUSTOM_MAIN_MODE_AUTO,        PX4_CUSTOM_SUB_MODE_AUTO_LOITER,        true,   true,   true },
         { PX4_CUSTOM_MAIN_MODE_AUTO,        PX4_CUSTOM_SUB_MODE_AUTO_MISSION,       true,   true,   true },
         { PX4_CUSTOM_MAIN_MODE_AUTO,        PX4_CUSTOM_SUB_MODE_AUTO_RTL,           true,   true,   true },
         { PX4_CUSTOM_MAIN_MODE_AUTO,        PX4_CUSTOM_SUB_MODE_AUTO_FOLLOW_TARGET, true,   false,  true },
         { PX4_CUSTOM_MAIN_MODE_AUTO,        PX4_CUSTOM_SUB_MODE_AUTO_LAND,          false,  true,   true },
-        { PX4_CUSTOM_MAIN_MODE_AUTO,        PX4_CUSTOM_SUB_MODE_AUTO_PRECLAND,      true,  false,  true },
+        { PX4_CUSTOM_MAIN_MODE_AUTO,        PX4_CUSTOM_SUB_MODE_AUTO_PRECLAND,      true,   false,  true },
         { PX4_CUSTOM_MAIN_MODE_AUTO,        PX4_CUSTOM_SUB_MODE_AUTO_READY,         false,  true,   true },
         { PX4_CUSTOM_MAIN_MODE_AUTO,        PX4_CUSTOM_SUB_MODE_AUTO_RTGS,          false,  true,   true },
         { PX4_CUSTOM_MAIN_MODE_AUTO,        PX4_CUSTOM_SUB_MODE_AUTO_TAKEOFF,       false,  true,   true },
+        { PX4_CUSTOM_MAIN_MODE_PRISMA,      PX4_CUSTOM_SUB_MODE_PRISMA_MAN,         true,   true,   true },
+        { PX4_CUSTOM_MAIN_MODE_PRISMA,      PX4_CUSTOM_SUB_MODE_PRISMA_1,           true,   false,  true },
+        
     };
 
     // Must be in same order as above structure
@@ -107,6 +112,8 @@ PX4FirmwarePlugin::PX4FirmwarePlugin()
         &_readyFlightMode,
         &_rtgsFlightMode,
         &_takeoffFlightMode,
+        &_prismaManualFlightMode,
+        &_prismaOffboardFlightMode,
     };
 
     // Convert static information to dynamic list. This allows for plugin override class to manipulate list.
diff --git a/src/FirmwarePlugin/PX4/PX4FirmwarePlugin.h b/src/FirmwarePlugin/PX4/PX4FirmwarePlugin.h
index a0a8d62ad4..74b7312331 100644
--- a/src/FirmwarePlugin/PX4/PX4FirmwarePlugin.h
+++ b/src/FirmwarePlugin/PX4/PX4FirmwarePlugin.h
@@ -42,6 +42,8 @@ class PX4FirmwarePlugin : public FirmwarePlugin
     QString             takeControlFlightMode           (void) const override { return _manualFlightMode; }
     QString             gotoFlightMode                  (void) const override { return _holdFlightMode; }
     QString             followFlightMode                (void) const override { return _followMeFlightMode; };
+    QString             prismaManualFlightMode          (void) const  { return _prismaManualFlightMode; };
+    QString             prismaOffboardFlightMode        (void) const  { return _prismaOffboardFlightMode; };
     void                pauseVehicle                    (Vehicle* vehicle) override;
     void                guidedModeRTL                   (Vehicle* vehicle, bool smartRTL) override;
     void                guidedModeLand                  (Vehicle* vehicle) override;
@@ -108,6 +110,8 @@ class PX4FirmwarePlugin : public FirmwarePlugin
     QString _followMeFlightMode;
     QString _simpleFlightMode;
     QString _orbitFlightMode;
+    QString _prismaManualFlightMode;
+    QString _prismaOffboardFlightMode;
 
 private slots:
     void _mavCommandResult(int vehicleId, int component, int command, int result, bool noReponseFromVehicle);
diff --git a/src/FirmwarePlugin/PX4/px4_custom_mode.h b/src/FirmwarePlugin/PX4/px4_custom_mode.h
index d829734bb3..adf580a234 100644
--- a/src/FirmwarePlugin/PX4/px4_custom_mode.h
+++ b/src/FirmwarePlugin/PX4/px4_custom_mode.h
@@ -51,7 +51,9 @@ enum PX4_CUSTOM_MAIN_MODE {
 	PX4_CUSTOM_MAIN_MODE_OFFBOARD,
 	PX4_CUSTOM_MAIN_MODE_STABILIZED,
 	PX4_CUSTOM_MAIN_MODE_RATTITUDE,
-	PX4_CUSTOM_MAIN_MODE_SIMPLE /* unused, but reserved for future use */
+	PX4_CUSTOM_MAIN_MODE_SIMPLE, /* unused, but reserved for future use */
+	PX4_CUSTOM_MAIN_MODE_PRISMA
+	
 };
 
 enum PX4_CUSTOM_SUB_MODE_AUTO {
@@ -71,6 +73,11 @@ enum PX4_CUSTOM_SUB_MODE_POSCTL {
     PX4_CUSTOM_SUB_MODE_POSCTL_ORBIT
 };
 
+enum PX4_CUSTOM_SUB_MODE_PRISMA {
+	PX4_CUSTOM_SUB_MODE_PRISMA_1 = 1,
+	PX4_CUSTOM_SUB_MODE_PRISMA_MAN
+};
+
 union px4_custom_mode {
 	struct {
 		uint16_t reserved;