diff --git a/src/FirmwarePlugin/APM/ArduCopterFirmwarePlugin.cc b/src/FirmwarePlugin/APM/ArduCopterFirmwarePlugin.cc
index 0ae992b..d6b15d6 100644
--- a/src/FirmwarePlugin/APM/ArduCopterFirmwarePlugin.cc
+++ b/src/FirmwarePlugin/APM/ArduCopterFirmwarePlugin.cc
@@ -43,11 +43,12 @@ APMCopterMode::APMCopterMode(uint32_t mode, bool settable) :
         { GUIDED_NOGPS, "Guided No GPS"},
         { SMART_RTL,    "Smart RTL"},
         { FLOWHOLD,     "Flow Hold" },
-#if 0
-    // Follow me not ready for Stable
         { FOLLOW,       "Follow" },
-#endif
         { ZIGZAG,       "ZigZag" },
+        { SYSTEMID,     "SystemID" },
+        { AUTOROTATE,   "AutoRotate" },
+        { AUTO_RTL,     "AutoRTL" },
+        { TURTLE,       "Turtle" },
     });
 }
 
@@ -74,11 +75,13 @@ ArduCopterFirmwarePlugin::ArduCopterFirmwarePlugin(void)
         APMCopterMode(APMCopterMode::GUIDED_NOGPS,  true),
         APMCopterMode(APMCopterMode::SMART_RTL,     true),
         APMCopterMode(APMCopterMode::FLOWHOLD,      true),
-#if 0
-    // Follow me not ready for Stable
         APMCopterMode(APMCopterMode::FOLLOW,        true),
-#endif
         APMCopterMode(APMCopterMode::ZIGZAG,        true),
+        APMCopterMode(APMCopterMode::ZIGZAG,        true),
+        APMCopterMode(APMCopterMode::SYSTEMID,      true),
+        APMCopterMode(APMCopterMode::AUTOROTATE,    true),
+        APMCopterMode(APMCopterMode::AUTO_RTL,      true),
+        APMCopterMode(APMCopterMode::TURTLE,        true),
     });
 
     if (!_remapParamNameIntialized) {
@@ -134,10 +137,7 @@ bool ArduCopterFirmwarePlugin::multiRotorXConfig(Vehicle* vehicle)
     return vehicle->parameterManager()->getParameter(FactSystem::defaultComponentId, "FRAME")->rawValue().toInt() != 0;
 }
 
-#if 0
-    // Follow me not ready for Stable
 void ArduCopterFirmwarePlugin::sendGCSMotionReport(Vehicle* vehicle, FollowMe::GCSMotionReport& motionReport, uint8_t estimatationCapabilities)
 {
     _sendGCSMotionReport(vehicle, motionReport, estimatationCapabilities);
 }
-#endif
diff --git a/src/FirmwarePlugin/APM/ArduCopterFirmwarePlugin.h b/src/FirmwarePlugin/APM/ArduCopterFirmwarePlugin.h
index 0294872..f45693e 100644
--- a/src/FirmwarePlugin/APM/ArduCopterFirmwarePlugin.h
+++ b/src/FirmwarePlugin/APM/ArduCopterFirmwarePlugin.h
@@ -43,11 +43,12 @@ public:
         GUIDED_NOGPS= 20,
         SMART_RTL   = 21,  // SMART_RTL returns to home by retracing its steps
         FLOWHOLD    = 22,  // FLOWHOLD holds position with optical flow without rangefinder
-#if 0
-    // Follow me not ready for Stable
         FOLLOW      = 23,  // follow attempts to follow another vehicle or ground station
-#endif
         ZIGZAG      = 24,  // ZIGZAG mode is able to fly in a zigzag manner with predefined point A and point B
+        SYSTEMID    = 25,
+        AUTOROTATE  = 26,
+        AUTO_RTL    = 27,
+        TURTLE      = 28,
     };
 
     APMCopterMode(uint32_t mode, bool settable);
@@ -73,10 +74,7 @@ public:
     QString followFlightMode                    (void) const override { return QStringLiteral("Follow"); }
     QString autoDisarmParameter                 (Vehicle* vehicle) override { Q_UNUSED(vehicle); return QStringLiteral("DISARM_DELAY"); }
     bool    supportsSmartRTL                    (void) const override { return true; }
-#if 0
-    // Follow me not ready for Stable
     void    sendGCSMotionReport                 (Vehicle* vehicle, FollowMe::GCSMotionReport& motionReport, uint8_t estimatationCapabilities) override;
-#endif
 
 private:
     static bool _remapParamNameIntialized;
diff --git a/src/FirmwarePlugin/APM/ArduRoverFirmwarePlugin.cc b/src/FirmwarePlugin/APM/ArduRoverFirmwarePlugin.cc
index 4bb3157..2236f2b 100644
--- a/src/FirmwarePlugin/APM/ArduRoverFirmwarePlugin.cc
+++ b/src/FirmwarePlugin/APM/ArduRoverFirmwarePlugin.cc
@@ -81,10 +81,8 @@ bool ArduRoverFirmwarePlugin::supportsNegativeThrust(Vehicle* /*vehicle*/)
     return true;
 }
 
-#if 0
-    // Follow me not ready for Stable
 void ArduRoverFirmwarePlugin::sendGCSMotionReport(Vehicle* vehicle, FollowMe::GCSMotionReport& motionReport, uint8_t estimatationCapabilities)
 {
     _sendGCSMotionReport(vehicle, motionReport, estimatationCapabilities);
 }
-#endif
+
diff --git a/src/FirmwarePlugin/APM/ArduRoverFirmwarePlugin.h b/src/FirmwarePlugin/APM/ArduRoverFirmwarePlugin.h
index c82ef43..6484f08 100644
--- a/src/FirmwarePlugin/APM/ArduRoverFirmwarePlugin.h
+++ b/src/FirmwarePlugin/APM/ArduRoverFirmwarePlugin.h
@@ -25,10 +25,7 @@ public:
         STEERING        = 3,
         HOLD            = 4,
         LOITER          = 5,
-#if 0
-    // Follow me not ready for Stable
         FOLLOW          = 6,
-#endif
         SIMPLE          = 7,
         AUTO            = 10,
         RTL             = 11,
@@ -56,10 +53,7 @@ public:
     bool    supportsNegativeThrust                  (Vehicle *) final;
     bool    supportsSmartRTL                        (void) const override { return true; }
     QString offlineEditingParamFile                 (Vehicle* vehicle) override { Q_UNUSED(vehicle); return QStringLiteral(":/FirmwarePlugin/APM/Rover.OfflineEditing.params"); }
-#if 0
-    // Follow me not ready for Stable
     void    sendGCSMotionReport                     (Vehicle* vehicle, FollowMe::GCSMotionReport& motionReport, uint8_t estimatationCapabilities) override;
-#endif
 
 private:
     static bool _remapParamNameIntialized;