diff --git a/src/SCRIPTS/TELEMETRY/iNav.lua b/src/SCRIPTS/TELEMETRY/iNav.lua
index 3b6a925..b20cc4b 100644
--- a/src/SCRIPTS/TELEMETRY/iNav.lua
+++ b/src/SCRIPTS/TELEMETRY/iNav.lua
@@ -210,39 +210,55 @@ function inav.background()
 		data.headFree = false
 		data.headingHold = false
 		data.altHold = false
-		local modeA = data.mode * 0.0001
-		local modeB = data.mode * 0.001 % 10
-		local modeC = data.mode * 0.01 % 10
-		local modeD = data.mode * 0.1 % 10
-		local modeE = data.mode % 10
-		if bit32.band(modeD, 2) == 2 then
+		local modeA = data.mode * 0.000001 % 10
+		local modeB = data.mode * 0.00001 % 10
+		local modeC = data.mode * 0.0001 % 10
+		local modeD = data.mode * 0.001 % 10
+		local modeE = data.mode * 0.01 % 10
+		local modeF = data.mode * 0.1 % 10
+		local modeG = data.mode % 10
+		if bit32.band(modeF, 2) == 2 then
 			data.modeId = 2 -- Horizon
-		elseif bit32.band(modeD, 1) == 1 then
+		elseif bit32.band(modeF, 1) == 1 then
 			data.modeId = 3 -- Angle
 		else
 			data.modeId = 4 -- Acro
 		end
-		data.headFree = bit32.band(modeB, 4) == 4
-		data.headingHold = bit32.band(modeC, 1) == 1
-		if bit32.band(modeE, 4) == 4 then
+		data.headFree = bit32.band(modeD, 4) == 4
+		data.headingHold = bit32.band(modeE, 1) == 1
+		if bit32.band(modeG, 4) == 4 then
 			data.armed = true
-			data.altHold = (bit32.band(modeC, 2) == 2 or bit32.band(modeC, 4) == 4)
+			data.altHold = (bit32.band(modeE, 2) == 2 or bit32.band(modeE, 4) == 4)
 			homeReset = data.satellites >= 4000
-			data.modeId = bit32.band(modeC, 4) == 4 and 7 or data.modeId -- Pos hold
+			data.modeId = bit32.band(modeE, 4) == 4 and 7 or data.modeId -- Pos hold
 		else
 			preArmMode = data.modeId
-			data.modeId = (bit32.band(modeE, 2) == 2 or modeE == 0) and (data.throttle > -920 and 12 or 5) or 6 -- Not OK to arm(5) / Throttle warning(12) / Ready to fly(6)
+			data.modeId = (bit32.band(modeG, 2) == 2 or modeG == 0) and (data.throttle > -920 and 12 or 5) or 6 -- Not OK to arm(5) / Throttle warning(12) / Ready to fly(6)
 		end
-		if bit32.band(modeA, 4) == 4 then
+		if bit32.band(modeC, 4) == 4 then
 			data.modeId = 11 -- Failsafe
-		elseif bit32.band(modeB, 1) == 1 then
+		elseif bit32.band(modeD, 1) == 1 then
 			data.modeId = 10 -- RTH
-		elseif bit32.band(modeD, 4) == 4 then
+		elseif bit32.band(modeF, 4) == 4 then
 			data.modeId = 9 -- Manual
-		elseif bit32.band(modeB, 2) == 2 then
+		elseif bit32.band(modeD, 2) == 2 then
 			data.modeId = 8 -- Waypoint
-		elseif bit32.band(modeB, 8) == 8 then
+		elseif bit32.band(modeD, 8) == 8 and bit32.band(modeE, 2) == 2 then
 			data.modeId = 13 -- Cruise
+		elseif bit32.band(modeD, 8) == 8 then
+			data.modeId = 20 -- Course Hold
+		elseif bit32.band(modeA, 1) == 1 then
+			data.modeId = 19 -- WRTH
+		elseif bit32.band(modeA, 2) == 2 then
+			data.modeId = 14 -- Angle Hold
+		elseif bit32.band(modeB, 1) == 1 then
+			data.modeId = 15 -- Auto land
+		elseif bit32.band(modeB, 2) == 2 then
+			data.modeId = 17 -- Turtle mode
+		elseif bit32.band(modeB, 4) == 4 then
+			data.modeId = 16 -- Geofence navigation
+		elseif bit32.band(modeB, 8) == 8 then
+			data.modeId = 18 -- Loiter
 		end
 	end
 
diff --git a/src/SCRIPTS/TELEMETRY/iNav/crsf.lua b/src/SCRIPTS/TELEMETRY/iNav/crsf.lua
index 7243fbc..2e971d6 100644
--- a/src/SCRIPTS/TELEMETRY/iNav/crsf.lua
+++ b/src/SCRIPTS/TELEMETRY/iNav/crsf.lua
@@ -113,7 +113,19 @@ local function crsf(data)
 		elseif data.fm == "WP" then
 			data.mode = 2015
 		elseif data.fm == "RTH" then
-			data.mode = 1615
+			data.mode = 1215
+		elseif data.fm == "LAND" then
+			data.mode = 100015
+		elseif data.fm == "GEO" then
+			data.mode = 400015
+		elseif data.fm == "TURT" then
+			data.mode = 200005
+		elseif data.fm == "WRTH" then
+			data.mode = 1000215
+		elseif data.fm == "LOTR" then
+			data.mode = 800215
+		elseif data.fm == "ANGH" then
+			data.mode = 2000005
 		elseif data.fm == "!FS!" then
 			data.mode = 40004
 		end
diff --git a/src/SCRIPTS/TELEMETRY/iNav/modes.lua b/src/SCRIPTS/TELEMETRY/iNav/modes.lua
index 9a02f1c..ed9150d 100644
--- a/src/SCRIPTS/TELEMETRY/iNav/modes.lua
+++ b/src/SCRIPTS/TELEMETRY/iNav/modes.lua
@@ -3,18 +3,25 @@ local HORUS = ...
 -- Modes: t=text / f=flags for text / w=wave file
 local modes = {
 	{ t = "! TELEM !", f = 3 },
-	{ t = "HORIZON",   f = 0, w = "hrznmd" },
-	{ t = "  ANGLE",   f = 0, w = "anglmd" },
-	{ t = "   ACRO",   f = 0, w = "acromd" },
-	{ t = " NOT OK ",  f = 3 },
-	{ t = "  READY",   f = 0, w = "ready" },
-	{ t = "POS HOLD",  f = 0, w = "poshld" },
-	{ t = "WAYPONT",   f = 0, w = "waypt" },
-	{ t = " MANUAL",   f = 0, w = "manmd" },
-	{ t = "   RTH   ", f = 3, w = "rtl" },
-	{ t = "! FAIL !",  f = 3, w = "fson" },
+	{ t = " HORIZON ", f = 0, w = "hrznmd" },
+	{ t = "  ANGLE  ", f = 0, w = "anglmd" },
+	{ t = "  ACRO   ", f = 0, w = "acromd" },
+	{ t = " NOT OK  ", f = 3 }, -- 5
+	{ t = "  READY  ", f = 0, w = "ready" },
+	{ t = "POS HOLD ", f = 0, w = "poshld" },
+	{ t = " WAYPONT ", f = 0, w = "waypt" },
+	{ t = " MANUAL  ", f = 0, w = "manmd" },
+	{ t = "   RTH   ", f = 3, w = "rtl" }, -- 10
+	{ t = "! FAIL  !", f = 3, w = "fson" },
 	{ t = "! THROT !", f = 3 },
-	{ t = " CRUISE",   f = 0, w = "cruzmd" }
+	{ t = " CRUISE  ", f = 0, w = "cruzmd" },
+	{ t = "ANGL HOLD", f = 0, w = "aglhld" },
+	{ t = "  LAND   ", f = 0, w = "landin" }, -- 15
+	{ t = " GEO NAV ", f = 0, w = "geonav" },
+	{ t = " TURTLE  ", f = 0, w = "turtle" },
+	{ t = " LOITER  ", f = 0, w = "loiter" },
+	{ t = " WP RTH  ", f = 0, w = "wrth" },
+	{ t = "CORSE HLD", f = 0, w = "crsh" } -- 20
 }
 
 local units = { [0] = "", "V", "A", "mA", "kts", "m/s", "f/s", "kmh", "MPH", "m", HORUS and "ft" or "'" }