diff --git a/src/boards/Groundstation/Automated/Hub.cpp b/src/boards/Groundstation/Automated/Hub.cpp
index caa0dd88a2ccda4bce3278bec1ac85865aa3e223..67e6b6967645844db920068864589f1b763418fd 100644
--- a/src/boards/Groundstation/Automated/Hub.cpp
+++ b/src/boards/Groundstation/Automated/Hub.cpp
@@ -64,6 +64,7 @@ void Hub::dispatchOutgoingMsg(const mavlink_message_t& msg)
                 {MAV_ARP_CMD_FORCE_NO_FEEDBACK, TMTC_ARP_FORCE_NO_FEEDBACK},
                 {MAV_ARP_CMD_ARM, TMTC_ARP_ARM},
                 {MAV_ARP_CMD_DISARM, TMTC_ARP_DISARM},
+                {MAV_ARP_CMD_FOLLOW, TMTC_ARP_FOLLOW},
                 {MAV_ARP_CMD_CALIBRATE, TMTC_ARP_CALIBRATE},
                 {MAV_ARP_CMD_ENTER_TEST_MODE, TMTC_ARP_ENTER_TEST_MODE},
                 {MAV_ARP_CMD_EXIT_TEST_MODE, TMTC_ARP_EXIT_TEST_MODE},
diff --git a/src/boards/Groundstation/Automated/SMController/SMController.cpp b/src/boards/Groundstation/Automated/SMController/SMController.cpp
index a502f2a48e67ebf8c671138e5c09f8bb49848ad3..a2e1f47415ecb0edb82192a8411300a87993b393 100644
--- a/src/boards/Groundstation/Automated/SMController/SMController.cpp
+++ b/src/boards/Groundstation/Automated/SMController/SMController.cpp
@@ -502,7 +502,6 @@ State SMController::state_armed(const Event& event)
         {
             logStatus(SMControllerState::ARMED);
             ModuleManager::getInstance().get<Actuators>()->arm();
-            EventBroker::getInstance().post(ARP_ARMED, TOPIC_ARP);
             return HANDLED;
         }
         case EV_EXIT:
@@ -517,7 +516,7 @@ State SMController::state_armed(const Event& event)
         {
             return HANDLED;
         }
-        case ARP_ARMED:
+        case TMTC_ARP_FOLLOW:
         {
             return transition(&SMController::state_fix_antennas);
         }
@@ -733,7 +732,6 @@ State SMController::state_armed_nf(const Event& event)
         {
             logStatus(SMControllerState::ARMED_NF);
             ModuleManager::getInstance().get<Actuators>()->arm();
-            EventBroker::getInstance().post(ARP_ARMED, TOPIC_ARP);
             return HANDLED;
         }
         case EV_EXIT:
@@ -748,7 +746,7 @@ State SMController::state_armed_nf(const Event& event)
         {
             return HANDLED;
         }
-        case ARP_ARMED:
+        case TMTC_ARP_FOLLOW:
         {
             return transition(&SMController::state_fix_rocket_nf);
         }
diff --git a/src/boards/common/Events.h b/src/boards/common/Events.h
index 3d8a513a93d5b02bd3b465cd6d03e11d8800efd0..8946681a413610172df1d75d2d391d39d0c5e5b4 100644
--- a/src/boards/common/Events.h
+++ b/src/boards/common/Events.h
@@ -50,7 +50,6 @@ enum Events : uint8_t
     ADA_APOGEE_DETECTED,
     ARP_INIT_OK,
     ARP_INIT_ERROR,
-    ARP_ARMED,
     ARP_CAL_DONE,
     ARP_FIX_ANTENNAS,
     ARP_FIX_ROCKET,
@@ -118,6 +117,7 @@ enum Events : uint8_t
     TMTC_ARP_FORCE_NO_FEEDBACK,
     TMTC_ARP_ARM,
     TMTC_ARP_DISARM,
+    TMTC_ARP_FOLLOW,
     TMTC_ARP_CALIBRATE,
     TMTC_ARP_ENTER_TEST_MODE,
     TMTC_ARP_EXIT_TEST_MODE,
@@ -162,7 +162,6 @@ inline std::string getEventString(uint8_t event)
         {ADA_APOGEE_DETECTED, "ADA_APOGEE_DETECTED"},
         {ARP_INIT_OK, "ARP_INIT_OK"},
         {ARP_INIT_ERROR, "ARP_INIT_ERROR"},
-        {ARP_ARMED, "ARP_ARMED"},
         {ARP_CAL_DONE, "ARP_CAL_DONE"},
         {ARP_FIX_ANTENNAS, "ARP_FIX_ANTENNAS"},
         {ARP_FIX_ROCKET, "ARP_FIX_ROCKET"},
@@ -231,6 +230,7 @@ inline std::string getEventString(uint8_t event)
         {TMTC_ARP_ARM, "TMTC_ARP_ARM"},
         {TMTC_ARP_DISARM, "TMTC_ARP_DISARM"},
         {TMTC_ARP_CALIBRATE, "TMTC_ARP_CALIBRATE"},
+        {TMTC_ARP_FOLLOW, "TMTC_ARP_FOLLOW"},
         {TMTC_ARP_ENTER_TEST_MODE, "TMTC_ARP_ENTER_TEST_MODE"},
         {TMTC_ARP_EXIT_TEST_MODE, "TMTC_ARP_EXIT_TEST_MODE"},
         {MOTOR_START_TARS, "MOTOR_START_TARS"},