diff --git a/msg/manual_control_setpoint.msg b/msg/manual_control_setpoint.msg
index 424453d699..48f2df00a5 100644
--- a/msg/manual_control_setpoint.msg
+++ b/msg/manual_control_setpoint.msg
@@ -3,6 +3,15 @@ uint8 SWITCH_POS_NONE = 0		# switch is not mapped
 uint8 SWITCH_POS_ON = 1			# switch activated (value = 1)
 uint8 SWITCH_POS_MIDDLE = 2		# middle position (value = 0)
 uint8 SWITCH_POS_OFF = 3		# switch not activated (value = -1)
+uint8 MODE_SLOT_NONE = 0		# no mode slot assigned
+uint8 MODE_SLOT_1 = 1			# mode slot 1 selected
+uint8 MODE_SLOT_2 = 2			# mode slot 2 selected
+uint8 MODE_SLOT_3 = 3			# mode slot 3 selected
+uint8 MODE_SLOT_4 = 4			# mode slot 4 selected
+uint8 MODE_SLOT_5 = 5			# mode slot 5 selected
+uint8 MODE_SLOT_6 = 6			# mode slot 6 selected
+uint8 MODE_SLOT_MAX = 7			# number of slots plus one
+
 uint64 timestamp
 
 # Any of the channels may not be available and be set to NaN
@@ -44,3 +53,4 @@ uint8 loiter_switch		 # loiter 2 position switch (optional): _MISSION_, LOITER
 uint8 acro_switch		 # acro 2 position switch (optional): _MANUAL_, ACRO
 uint8 offboard_switch	 # offboard 2 position switch (optional): _NORMAL_, OFFBOARD
 uint8 kill_switch		 # throttle kill: _NORMAL_, KILL
+uint8 mode_slot			 # the slot a specific model selector is in