diff --git a/msg/HomePosition.msg b/msg/HomePosition.msg
index 15bb16a..e6a5172 100644
--- a/msg/HomePosition.msg
+++ b/msg/HomePosition.msg
@@ -17,3 +17,5 @@ bool valid_hpos		# true when the latitude and longitude have been set
 bool valid_lpos		# true when the local position (xyz) has been set
 
 bool manual_home	# true when home position was set manually
+
+uint32 update_count 	# update counter of the home position
diff --git a/msg/MissionResult.msg b/msg/MissionResult.msg
index 26dfbce..463232e 100644
--- a/msg/MissionResult.msg
+++ b/msg/MissionResult.msg
@@ -1,9 +1,8 @@
 uint64 timestamp				# time since system start (microseconds)
-uint8 MISSION_EXECUTION_MODE_NORMAL = 0	# Execute the mission according to the planned items
-uint8 MISSION_EXECUTION_MODE_REVERSE = 1	# Execute the mission in reverse order, ignoring commands and converting all waypoints to normal ones
-uint8 MISSION_EXECUTION_MODE_FAST_FORWARD = 2	# Execute the mission as fast as possible, for example converting loiter waypoints to normal ones
 
-uint32 instance_count		# Instance count of this mission. Increments monotonically whenever the mission is modified
+uint16 mission_update_counter   # Counter for the mission for which the result was generated
+uint16 geofence_update_counter  # Counter for the corresponding geofence for which the result was generated (used for mission feasibility)
+uint64 home_position_counter  	# Counter of the home position for which the result was generated (used for mission feasibility)
 
 int32 seq_reached		# Sequence of the mission item which has been reached, default -1
 uint16 seq_current		# Sequence of the current mission item