diff --git a/src/RoveCommManifest.h b/src/RoveCommManifest.h
index 8e621d4..7f90d92 100644
--- a/src/RoveCommManifest.h
+++ b/src/RoveCommManifest.h
@@ -577,12 +577,22 @@ enum MULTIMEDIABOARD_DISPLAYSTATE {TELEOP,AUTONOMY,REACHED_GOAL};
 #define RC_AUTONOMYBOARD_DISABLEAUTONOMY_DATA_TYPE                    uint8_t   
 
 //[Lat, Lon]
-#define RC_AUTONOMYBOARD_ADDWAYPOINTS_DATA_ID                         11002     
-#define RC_AUTONOMYBOARD_ADDWAYPOINTS_DATA_COUNT                      2         
-#define RC_AUTONOMYBOARD_ADDWAYPOINTS_DATA_TYPE                       double    
+#define RC_AUTONOMYBOARD_ADDPOSITIONLEG_DATA_ID                       11002     
+#define RC_AUTONOMYBOARD_ADDPOSITIONLEG_DATA_COUNT                    2         
+#define RC_AUTONOMYBOARD_ADDPOSITIONLEG_DATA_TYPE                     double    
+
+//[Lat, Lon]
+#define RC_AUTONOMYBOARD_ADDMARKERLEG_DATA_ID                         11003     
+#define RC_AUTONOMYBOARD_ADDMARKERLEG_DATA_COUNT                      2         
+#define RC_AUTONOMYBOARD_ADDMARKERLEG_DATA_TYPE                       double  
+
+//[Lat, Lon]
+#define RC_AUTONOMYBOARD_ADDGATELEG_DATA_ID                           11004     
+#define RC_AUTONOMYBOARD_ADDGATELEG_DATA_COUNT                        2         
+#define RC_AUTONOMYBOARD_ADDGATELEG_DATA_TYPE                         double  
 
 //
-#define RC_AUTONOMYBOARD_CLEARWAYPOINTS_DATA_ID                       11003     
+#define RC_AUTONOMYBOARD_CLEARWAYPOINTS_DATA_ID                       11005     
 #define RC_AUTONOMYBOARD_CLEARWAYPOINTS_DATA_COUNT                    1         
 #define RC_AUTONOMYBOARD_CLEARWAYPOINTS_DATA_TYPE                     uint8_t   
 
@@ -629,4 +639,4 @@ enum MULTIMEDIABOARD_DISPLAYSTATE {TELEOP,AUTONOMY,REACHED_GOAL};
 #define RC_HEATERBOARD_OVERHEAT_DATA_COUNT                            1         
 #define RC_HEATERBOARD_OVERHEAT_DATA_TYPE                             uint8_t   
 
-#endif // RoveCommManifest_h
\ No newline at end of file
+#endif // RoveCommManifest_h
diff --git a/src/manifest.json b/src/manifest.json
index 0137b7c..66dfce5 100644
--- a/src/manifest.json
+++ b/src/manifest.json
@@ -624,14 +624,26 @@
           "dataCount": 1,
           "comments": ""
         },
-        "AddWaypoints": {
+        "AddPositionLeg": {
           "dataId": 11002,
           "dataType": "DOUBLE_T",
           "dataCount": 2,
           "comments": "[Lat, Lon]"
         },
-        "ClearWaypoints": {
+        "AddMarkerLeg": {
           "dataId": 11003,
+          "dataType": "DOUBLE_T",
+          "dataCount": 2,
+          "comments": "[Lat, Lon]"
+        },
+        "AddGateLeg": {
+          "dataId": 11004,
+          "dataType": "DOUBLE_T",
+          "dataCount": 2,
+          "comments": "[Lat, Lon]"
+        },
+        "ClearWaypoints": {
+          "dataId": 11005,
           "dataType": "UINT8_T",
           "dataCount": 1,
           "comments": ""