diff --git a/protos/action_server/action_server.proto b/protos/action_server/action_server.proto
index 62086386e..6599e4d66 100644
--- a/protos/action_server/action_server.proto
+++ b/protos/action_server/action_server.proto
@@ -34,6 +34,10 @@ service ActionServerService {
     rpc SetAllowableFlightModes(SetAllowableFlightModesRequest) returns(SetAllowableFlightModesResponse) { option (mavsdk.options.async_type) = SYNC; }
     // Get which modes the vehicle can transition to (Manual always allowed)
     rpc GetAllowableFlightModes(GetAllowableFlightModesRequest) returns(GetAllowableFlightModesResponse) { option (mavsdk.options.async_type) = SYNC; }
+    // Set/override the armed/disarmed state of the vehicle directly, and notify subscribers
+    rpc SetArmedState(SetArmedStateRequest) returns(SetArmedStateResponse) { option (mavsdk.options.async_type) = SYNC; }
+    // Set/override the flight mode of the vehicle directly, and notify subscribers
+    rpc SetFlightMode(SetFlightModeRequest) returns(SetFlightModeResponse) { option (mavsdk.options.async_type) = SYNC; }
 }
 
 message SetAllowTakeoffRequest {
@@ -55,6 +59,14 @@ message SetAllowableFlightModesRequest
     AllowableFlightModes flight_modes = 1;
 }
 
+message SetArmedStateRequest {
+    bool is_armed = 1; // Is armed now?
+}
+
+message SetFlightModeRequest {
+    FlightMode flight_mode = 1; // Current vehicle flight mode, e.g. Takeoff/Mission/Land/etc.
+}
+
 message GetAllowableFlightModesRequest {}
 
 message SubscribeArmDisarmRequest {}
@@ -126,6 +138,14 @@ message GetAllowableFlightModesResponse {
     AllowableFlightModes flight_modes = 1;
 }
 
+message SetArmedStateResponse {
+    ActionServerResult action_server_result = 1;
+}
+
+message SetFlightModeResponse {
+    ActionServerResult action_server_result = 1;
+}
+
 // State to check if the vehicle can transition to
 // respective flightmodes
 message AllowableFlightModes {