diff --git a/protobuf_definitions/message_formats.proto b/protobuf_definitions/message_formats.proto
index 390469ae..986cf854 100644
--- a/protobuf_definitions/message_formats.proto
+++ b/protobuf_definitions/message_formats.proto
@@ -686,6 +686,8 @@ enum NotificationType {
   NOTIFICATION_TYPE_VIDEO_PARTITION_NOT_MOUNTED = 33; // Video partition not mounted.
   NOTIFICATION_TYPE_DVL_PROTOCOL_UNSUPPORTED = 34; // DVL firmware speaks a protocol version Blunux does not support.
   NOTIFICATION_TYPE_INSTRUCTION_STARTED = 35; // A mission instruction started; the value names it.
+  NOTIFICATION_TYPE_MISSION_PAUSED_BY_INSTRUCTION = 36; // Paused after an instruction with pause_on_completion.
+  NOTIFICATION_TYPE_MISSION_UPDATED = 37; // The loaded mission was changed; the value is its revision.
 }
 
 // List of available notification levels.
diff --git a/protobuf_definitions/mission_planning.proto b/protobuf_definitions/mission_planning.proto
index 1b5c3cba..55f6451f 100644
--- a/protobuf_definitions/mission_planning.proto
+++ b/protobuf_definitions/mission_planning.proto
@@ -18,13 +18,14 @@ message Mission {
   float default_surge_speed = 7; // Default cruise speed of the mission (m/s) (optional).
   float default_heave_speed = 8; // Default heave speed of the mission (m/s) (optional).
   float default_circle_of_acceptance = 9; // Default circle of acceptance for waypoints (m) (optional).
+  uint32 revision = 10; // Set by the drone, increases with every SetInstructionUpdateReq.
 }
 
 // A mission consists of one or multiple instructions. One instruction can be of different types.
 message Instruction {
   uint32 id = 1;
   uint32 group_id = 2; // Group id used for polygons.
-  bool auto_continue = 3; // False will pause the mission after this instruction.
+  bool pause_on_completion = 3; // Pause the mission after this instruction. RunMissionCtrl continues it.
   oneof command {
     WaypointCommand waypoint_command = 4; // Go to waypoint.
     DepthSetPointCommand depth_set_point_command = 5; // Go to depth.
@@ -100,6 +101,12 @@ message ControlModeCommand {
 }
 
 // A WaypointCommand will request the drone to drive to a point automatically.
+// InsertInstruction adds an instruction to the loaded mission.
+message InsertInstruction {
+  Instruction instruction = 1; // The instruction to add. Its id must be new to the mission.
+  uint32 before_id = 2; // Id of the instruction to insert in front of. 0 appends to the end.
+}
+
 message WaypointCommand {
   Waypoint waypoint = 1; // Waypoint to go to.
 }
@@ -358,6 +365,9 @@ message MissionStatus {
   repeated uint32 completed_path_segment_ids = 7; // Ids of the completed path segments.
   uint32 total_number_of_path_segments = 8; // Total number of path segments in the mission.
   uint32 id = 9; // Mission id of the active mission.
+  uint32 active_instruction_id = 10; // Id of the instruction that is running, 0 when none.
+  uint32 revision = 11; // Revision of the loaded mission, see Mission.revision.
+  string failure_reason = 12; // Why the mission failed to load or start or was aborted by the drone.
 }
 
 // Outcome of an instruction started with RunInstructionCtrl.
diff --git a/protobuf_definitions/req_rep.proto b/protobuf_definitions/req_rep.proto
index 796735eb..f0d18c68 100644
--- a/protobuf_definitions/req_rep.proto
+++ b/protobuf_definitions/req_rep.proto
@@ -145,13 +145,23 @@ message GetMissionRep {
   Mission mission = 1; // Active mission with waypoints.
 }
 
-// Updates an instruction in current mission with a new instruction payload.
+// Changes one instruction of the loaded mission. The mission is validated and
+// planned again as a whole and Mission.revision increases. An instruction that
+// has completed cannot be changed. Replacing or removing the instruction that
+// is running stops it; a replacement starts from where the drone is.
 message SetInstructionUpdateReq {
-  Instruction instruction = 1; // instruction that will replace the desired instruction.
+  oneof operation {
+    Instruction replace = 1; // Replace the instruction that has the same id.
+    InsertInstruction insert = 2; // Add an instruction.
+    uint32 remove_id = 3; // Remove the instruction with this id.
+  }
 }
 
 // Response after updating an instruction in the current mission.
 message SetInstructionUpdateRep {
+  bool accepted = 1; // True when the mission was changed.
+  string reason = 2; // Why the change was refused.
+  uint32 revision = 3; // Revision of the mission after the change.
 }
 
 // Set the heading mode used in dead reckoning.