diff --git a/brain_box_msgs/CMakeLists.txt b/brain_box_msgs/CMakeLists.txt
index ef78d75..bd59515 100644
--- a/brain_box_msgs/CMakeLists.txt
+++ b/brain_box_msgs/CMakeLists.txt
@@ -116,6 +116,10 @@ rosidl_generate_interfaces(${PROJECT_NAME}
 	msg/MarkerType.msg
 	msg/MaxMinAve.msg
 	msg/MissionIdArray.msg
+	msg/MissionEvent.msg
+	msg/MissionStatus.msg
+	msg/PreflightCheckResult.msg
+	msg/PreflightStatus.msg
 	msg/NodeStatus.msg
 	msg/NormalsStamped.msg
 	msg/NormalWithPoint.msg
@@ -210,6 +214,15 @@ rosidl_generate_interfaces(${PROJECT_NAME}
 	srv/SDKPermissionControl.srv
 	srv/SegmentSearch.srv
 	srv/VelocityControl.srv
+	srv/AbortMission.srv
+	srv/GetMissionStatus.srv
+	srv/LaunchMission.srv
+	srv/MissionPreflight.srv
+	srv/PauseMission.srv
+	srv/PreflightRun.srv
+	srv/LoadFlightPlan.srv
+	srv/ResumeMission.srv
+	srv/ValidateFlightPlan.srv
 	srv/VxFlightPlan.srv
 	srv/VxMissionExec.srv
 	
diff --git a/brain_box_msgs/action/VxFlightExec.action b/brain_box_msgs/action/VxFlightExec.action
index 5577776..426b4d1 100644
--- a/brain_box_msgs/action/VxFlightExec.action
+++ b/brain_box_msgs/action/VxFlightExec.action
@@ -7,6 +7,7 @@
 # key="FP_START" value="id"			start flight plan with id
 # key="FP_ABORT" value=""  			abort currently executing flight plan
 # key="FP_PAUSE" value=""			pause currently executing flight plan  
+# key="FP_RESUME" value=""			resume currently paused flight plan
 
 brain_box_msgs/KeyValue command
 
diff --git a/brain_box_msgs/msg/MissionEvent.msg b/brain_box_msgs/msg/MissionEvent.msg
new file mode 100644
index 0000000..199a83f
--- /dev/null
+++ b/brain_box_msgs/msg/MissionEvent.msg
@@ -0,0 +1,4 @@
+builtin_interfaces/Time stamp
+string event    # PLAN_LOADED, VALIDATED, PREFLIGHT_READY, LAUNCHED, COMPLETED, ABORTED, ERROR
+string plan_id
+string message
diff --git a/brain_box_msgs/msg/MissionStatus.msg b/brain_box_msgs/msg/MissionStatus.msg
new file mode 100644
index 0000000..69a0027
--- /dev/null
+++ b/brain_box_msgs/msg/MissionStatus.msg
@@ -0,0 +1,16 @@
+builtin_interfaces/Time stamp
+
+# Mission executor states
+uint8 NO_PLAN=0
+uint8 PLAN_LOADED=1
+uint8 VALIDATED=2
+uint8 PREFLIGHT_READY=3
+uint8 RUNNING=4
+uint8 PAUSED=5
+uint8 COMPLETED=6
+uint8 ABORTED=7
+uint8 ERROR=8
+
+uint8 state
+string plan_id
+string message
diff --git a/brain_box_msgs/msg/PreflightCheckResult.msg b/brain_box_msgs/msg/PreflightCheckResult.msg
new file mode 100644
index 0000000..c5cb92e
--- /dev/null
+++ b/brain_box_msgs/msg/PreflightCheckResult.msg
@@ -0,0 +1,4 @@
+string check_name
+string category
+bool passed
+string reason
diff --git a/brain_box_msgs/msg/PreflightStatus.msg b/brain_box_msgs/msg/PreflightStatus.msg
new file mode 100644
index 0000000..9e876cd
--- /dev/null
+++ b/brain_box_msgs/msg/PreflightStatus.msg
@@ -0,0 +1,10 @@
+builtin_interfaces/Time stamp
+
+uint8 UNKNOWN=0
+uint8 IN_PROGRESS=1
+uint8 PASSED=2
+uint8 FAILED=3
+
+uint8 state
+bool overall_pass
+brain_box_msgs/PreflightCheckResult[] checks
diff --git a/brain_box_msgs/srv/AbortMission.srv b/brain_box_msgs/srv/AbortMission.srv
new file mode 100644
index 0000000..deb5aed
--- /dev/null
+++ b/brain_box_msgs/srv/AbortMission.srv
@@ -0,0 +1,4 @@
+---
+bool success
+string reason
+brain_box_msgs/MissionStatus status
diff --git a/brain_box_msgs/srv/GetMissionStatus.srv b/brain_box_msgs/srv/GetMissionStatus.srv
new file mode 100644
index 0000000..0cb8520
--- /dev/null
+++ b/brain_box_msgs/srv/GetMissionStatus.srv
@@ -0,0 +1,4 @@
+---
+brain_box_msgs/MissionStatus status
+bool success
+string reason
diff --git a/brain_box_msgs/srv/LaunchMission.srv b/brain_box_msgs/srv/LaunchMission.srv
new file mode 100644
index 0000000..117fbfa
--- /dev/null
+++ b/brain_box_msgs/srv/LaunchMission.srv
@@ -0,0 +1,5 @@
+bool force
+---
+bool success
+string reason
+brain_box_msgs/MissionStatus status
diff --git a/brain_box_msgs/srv/LoadFlightPlan.srv b/brain_box_msgs/srv/LoadFlightPlan.srv
new file mode 100644
index 0000000..b001bb0
--- /dev/null
+++ b/brain_box_msgs/srv/LoadFlightPlan.srv
@@ -0,0 +1,7 @@
+string plan_id_hint  # optional filename base; empty = derived from XML content
+string plan_content  # raw XML
+---
+bool success
+string reason
+string plan_id
+brain_box_msgs/MissionStatus status
diff --git a/brain_box_msgs/srv/MissionPreflight.srv b/brain_box_msgs/srv/MissionPreflight.srv
new file mode 100644
index 0000000..aa71256
--- /dev/null
+++ b/brain_box_msgs/srv/MissionPreflight.srv
@@ -0,0 +1,5 @@
+---
+bool success
+string reason
+brain_box_msgs/PreflightStatus preflight_status
+brain_box_msgs/MissionStatus mission_status
diff --git a/brain_box_msgs/srv/PauseMission.srv b/brain_box_msgs/srv/PauseMission.srv
new file mode 100644
index 0000000..deb5aed
--- /dev/null
+++ b/brain_box_msgs/srv/PauseMission.srv
@@ -0,0 +1,4 @@
+---
+bool success
+string reason
+brain_box_msgs/MissionStatus status
diff --git a/brain_box_msgs/srv/PreflightRun.srv b/brain_box_msgs/srv/PreflightRun.srv
new file mode 100644
index 0000000..b5ee833
--- /dev/null
+++ b/brain_box_msgs/srv/PreflightRun.srv
@@ -0,0 +1,3 @@
+string[] checks_to_skip
+---
+brain_box_msgs/PreflightStatus result
diff --git a/brain_box_msgs/srv/ResumeMission.srv b/brain_box_msgs/srv/ResumeMission.srv
new file mode 100644
index 0000000..deb5aed
--- /dev/null
+++ b/brain_box_msgs/srv/ResumeMission.srv
@@ -0,0 +1,4 @@
+---
+bool success
+string reason
+brain_box_msgs/MissionStatus status
diff --git a/brain_box_msgs/srv/ValidateFlightPlan.srv b/brain_box_msgs/srv/ValidateFlightPlan.srv
new file mode 100644
index 0000000..deb5aed
--- /dev/null
+++ b/brain_box_msgs/srv/ValidateFlightPlan.srv
@@ -0,0 +1,4 @@
+---
+bool success
+string reason
+brain_box_msgs/MissionStatus status