diff --git a/Tools/fsm_visualisation.py b/Tools/fsm_visualisation.py
new file mode 100755
index 0000000000..c678ef0f4b
--- /dev/null
+++ b/Tools/fsm_visualisation.py
@@ -0,0 +1,201 @@
+#!/usr/bin/env python3
+
+"""fsm_visualisation.py: Create dot code and dokuwiki table from a state transition table
+
+convert dot code to png using graphviz:
+
+dot fsm.dot -Tpng -o fsm.png
+"""
+
+import argparse
+import re
+
+__author__      = "Julian Oes"
+
+def get_dot_header():
+
+    return """digraph finite_state_machine {
+    graph [ dpi = 300 ];
+    ratio = 1.5
+    node [shape = circle];"""
+
+def get_dot_footer():
+
+    return """}\n"""
+
+def main():
+
+    # parse input arguments
+    parser = argparse.ArgumentParser(description='Create dot code and dokuwiki table from a state transition table.')
+    parser.add_argument("-i", "--input-file", default=None, help="choose file to parse")
+    parser.add_argument("-d", "--dot-file", default=None, help="choose file for output dot file")
+    parser.add_argument("-t", "--table-file", default=None, help="choose file for output of table")
+    args = parser.parse_args()
+    
+    # open source file
+    if args.input_file == None:
+        exit('please specify file')
+    f = open(args.input_file,'r')
+    source = f.read()
+
+    # search for state transition table and extract the table itself
+    #     first look for StateTable::Tran
+    #     then accept anything including newline until {
+    #     but don't accept the definition (without ;)
+    #     then extract anything inside the brackets until };
+    match = re.search(r'StateTable::Tran(?:.|\n!;)*\{((?:.|\n)*?)\};', source)
+
+    if not match:
+        exit('no state transition table found')
+
+    table_source = match.group(1)
+
+    # bookkeeping for error checking
+    num_errors_found = 0
+
+    states = []
+    events = []
+
+    # first get all states and events
+    for table_line in table_source.split('\n'):
+
+        match = re.search(r'/\*\s+\w+_STATE_(\w+)\s+\*/', table_line)
+        if match:
+            states.append(str(match.group(1)))
+            # go to next line
+            continue
+
+        if len(states) == 1:
+            match = re.search(r'/\*\s+EVENT_(\w+)\s+\*/', table_line)
+            if match:
+                events.append(str(match.group(1)))
+
+    print('Found %d states and %d events' % (len(states), len(events)))
+
+
+    # keep track of origin state
+    state = None
+
+    # fill dot code in here
+    dot_code = ''
+
+    # create table len(states)xlen(events)
+    transition_table = [[[] for x in range(len(states))] for y in range(len(events))]
+
+    # now fill the transition table and write the dot code
+    for table_line in table_source.split('\n'):
+        
+        # get states
+        #     from: /* NAV_STATE_NONE */
+        #     extract only "NONE"
+        match = re.search(r'/\*\s+\w+_STATE_(\w+)\s+\*/', table_line)
+        if match:
+            state = match.group(1)
+            state_index = states.index(state)
+            # go to next line
+            continue
+
+        # can't advance without proper state
+        if state == None:
+            continue
+
+        # get event and next state
+        #     from /* EVENT_READY_REQUESTED */      {ACTION(&Navigator::start_ready), NAV_STATE_READY}
+        #     extract "READY_REQUESTED" and "READY" if there is ACTION
+        match_action = re.search(r'/\*\s+EVENT_(\w+)\s+\*/\s+\{ACTION\((?:.|\n)*\w+_STATE_(\w+)', table_line)
+
+        # get event and next state
+        #     from      /* EVENT_NONE_REQUESTED */      {NO_ACTION, NAV_STATE_NONE},
+        #     extract "NONE_REQUESTED" and "NAV_STATE_NONE" if there is NO_ACTION
+        match_no_action = re.search(r'/\*\s+EVENT_(\w+)\s+\*/\s+\{NO_ACTION(?:.|\n)*\w+_STATE_(\w+)', table_line)
+        
+        # ignore lines with brackets only
+        if match_action or match_no_action:
+            
+            # only write arrows for actions
+            if match_action:                
+                event = match_action.group(1)
+                new_state = match_action.group(2)
+                dot_code += '    ' + state + ' -> ' + new_state + '[ label = "' + event + '"];\n'
+
+            elif match_no_action:
+                event = match_no_action.group(1)
+                new_state = match_no_action.group(2)
+
+                # check for state changes without action
+                if state != new_state:
+                    print('Error: no action but state change:')
+                    print('State: ' + state + ' changed to: ' + new_state)
+                    print(table_line)
+                    num_errors_found += 1
+
+            # check for wrong events
+            if event not in events:
+                print('Error: unknown event: ' + event)
+                print(table_line)
+                num_errors_found += 1
+
+            # check for wrong new states
+            if new_state not in states:
+                print('Error: unknown new state: ' + new_state)
+                print(table_line)
+                num_errors_found += 1
+
+            # save new state in transition table
+            event_index = events.index(event)
+
+            # bold for action
+            if match_action:
+                transition_table[event_index][state_index] = '**' + new_state + '**'
+            else:
+                transition_table[event_index][state_index] = new_state
+
+    
+    
+    # assemble dot code
+    dot_code = get_dot_header() + dot_code + get_dot_footer()
+    
+    # write or print dot file
+    if args.dot_file:
+        f = open(args.dot_file,'w')
+        f.write(dot_code)
+        print('Wrote dot file')
+    else:
+        print('##########Dot-start##########')
+        print(dot_code)
+        print('##########Dot-end############')
+    
+
+    # assemble doku wiki table
+    table_code = '| ^ '
+    # start with header of all states
+    for state in states:
+        table_code += state + ' ^ '
+
+    table_code += '\n'
+
+    # add events and new states
+    for event, row in zip(events, transition_table):
+        table_code += '^ ' + event + ' | ' 
+        for new_state in row:
+            table_code += new_state + ' | '
+        table_code += '\n'
+
+    # write or print wiki table
+    if args.table_file:
+        f = open(args.table_file,'w')
+        f.write(table_code)
+        print('Wrote table file')
+    else:
+        print('##########Table-start########')
+        print(table_code)
+        print('##########Table-end##########')
+
+    # report obvous errors
+    if num_errors_found:
+        print('Obvious errors found: %d' % num_errors_found)
+    else:
+        print('No obvious errors found')
+
+if __name__ == '__main__':
+    main()
diff --git a/src/modules/navigator/navigator_main.cpp b/src/modules/navigator/navigator_main.cpp
index dd471928e3..e6b7ef93d8 100644
--- a/src/modules/navigator/navigator_main.cpp
+++ b/src/modules/navigator/navigator_main.cpp
@@ -927,7 +927,7 @@ Navigator::status()
 
 StateTable::Tran const Navigator::myTable[NAV_STATE_MAX][MAX_EVENT] = {
 	{
-		/* STATE_NONE */
+		/* NAV_STATE_NONE */
 		/* EVENT_NONE_REQUESTED */		{NO_ACTION, NAV_STATE_NONE},
 		/* EVENT_READY_REQUESTED */		{ACTION(&Navigator::start_ready), NAV_STATE_READY},
 		/* EVENT_LOITER_REQUESTED */		{ACTION(&Navigator::start_loiter), NAV_STATE_LOITER},
@@ -938,7 +938,7 @@ StateTable::Tran const Navigator::myTable[NAV_STATE_MAX][MAX_EVENT] = {
 		/* EVENT_HOME_POSITION_CHANGED */	{NO_ACTION, NAV_STATE_NONE},
 	},
 	{
-		/* STATE_READY */
+		/* NAV_STATE_READY */
 		/* EVENT_NONE_REQUESTED */		{ACTION(&Navigator::start_none), NAV_STATE_NONE},
 		/* EVENT_READY_REQUESTED */		{NO_ACTION, NAV_STATE_READY},
 		/* EVENT_LOITER_REQUESTED */		{NO_ACTION, NAV_STATE_READY},
@@ -949,7 +949,7 @@ StateTable::Tran const Navigator::myTable[NAV_STATE_MAX][MAX_EVENT] = {
 		/* EVENT_HOME_POSITION_CHANGED */	{NO_ACTION, NAV_STATE_READY},
 	},
 	{
-		/* STATE_LOITER */
+		/* NAV_STATE_LOITER */
 		/* EVENT_NONE_REQUESTED */		{ACTION(&Navigator::start_none), NAV_STATE_NONE},
 		/* EVENT_READY_REQUESTED */		{NO_ACTION, NAV_STATE_LOITER},
 		/* EVENT_LOITER_REQUESTED */		{NO_ACTION, NAV_STATE_LOITER},
@@ -960,7 +960,7 @@ StateTable::Tran const Navigator::myTable[NAV_STATE_MAX][MAX_EVENT] = {
 		/* EVENT_HOME_POSITION_CHANGED */	{NO_ACTION, NAV_STATE_LOITER},
 	},
 	{
-		/* STATE_MISSION */
+		/* NAV_STATE_MISSION */
 		/* EVENT_NONE_REQUESTED */		{ACTION(&Navigator::start_none), NAV_STATE_NONE},
 		/* EVENT_READY_REQUESTED */		{ACTION(&Navigator::start_ready), NAV_STATE_READY},
 		/* EVENT_LOITER_REQUESTED */		{ACTION(&Navigator::start_loiter), NAV_STATE_LOITER},
@@ -971,7 +971,7 @@ StateTable::Tran const Navigator::myTable[NAV_STATE_MAX][MAX_EVENT] = {
 		/* EVENT_HOME_POSITION_CHANGED */	{NO_ACTION, NAV_STATE_MISSION},
 	},
 	{
-		/* STATE_RTL */
+		/* NAV_STATE_RTL */
 		/* EVENT_NONE_REQUESTED */		{ACTION(&Navigator::start_none), NAV_STATE_NONE},
 		/* EVENT_READY_REQUESTED */		{ACTION(&Navigator::start_ready), NAV_STATE_READY},
 		/* EVENT_LOITER_REQUESTED */		{ACTION(&Navigator::start_loiter), NAV_STATE_LOITER},
@@ -982,15 +982,15 @@ StateTable::Tran const Navigator::myTable[NAV_STATE_MAX][MAX_EVENT] = {
 		/* EVENT_HOME_POSITION_CHANGED */	{ACTION(&Navigator::start_rtl), NAV_STATE_RTL},	// TODO need to reset rtl_state
 	},
 	{
-		/* STATE_LAND */
+		/* NAV_STATE_LAND */
 		/* EVENT_NONE_REQUESTED */		{ACTION(&Navigator::start_none), NAV_STATE_NONE},
 		/* EVENT_READY_REQUESTED */		{ACTION(&Navigator::start_ready), NAV_STATE_READY},
 		/* EVENT_LOITER_REQUESTED */		{ACTION(&Navigator::start_loiter), NAV_STATE_LOITER},
 		/* EVENT_MISSION_REQUESTED */		{ACTION(&Navigator::start_mission), NAV_STATE_MISSION},
 		/* EVENT_RTL_REQUESTED */		{ACTION(&Navigator::start_rtl), NAV_STATE_RTL},
 		/* EVENT_LAND_REQUESTED */		{NO_ACTION, NAV_STATE_LAND},
-		/* EVENT_MISSION_CHANGED */		{NO_ACTION, NAV_STATE_RTL},
-		/* EVENT_HOME_POSITION_CHANGED */	{ACTION(&Navigator::start_rtl), NAV_STATE_RTL},
+		/* EVENT_MISSION_CHANGED */		{NO_ACTION, NAV_STATE_LAND},
+		/* EVENT_HOME_POSITION_CHANGED */	{NO_ACTION, NAV_STATE_LAND},
 	},
 };
 
@@ -1607,6 +1607,7 @@ Navigator::publish_control_mode()
 
 		case MAIN_STATE_AUTO:
 			navigator_enabled = true;
+			break;
 
 		default:
 			break;