diff --git a/ADIS_Csharp/RaspiControl/Application.cs b/ADIS_Csharp/RaspiControl/Application.cs
index 38d395a..dd15244 100644
--- a/ADIS_Csharp/RaspiControl/Application.cs
+++ b/ADIS_Csharp/RaspiControl/Application.cs
@@ -32,6 +32,10 @@ namespace RaspiControl {
 
         public void Status_StatusChanged(object? sender, StatusEventArgs e) {
             try {
+                if(e.Status == RoboStatus.Manual) {
+                    this.sm.MoveNext(Command.manualMode);
+                    this.smHandler();
+                }
                 if (e.Status == RoboStatus.Auto) {
                     this.sm.MoveNext(Command.autoMode);
                     this.smHandler();
@@ -44,7 +48,7 @@ namespace RaspiControl {
                     this.sm.MoveNext(Command.failure);
                     this.smHandler();
                 }
-            }catch(Exception ex) {
+            } catch (Exception ex) {
                 this.log.Error(ex.Message);
             }
         }
diff --git a/ADIS_Csharp/RaspiControl/StateMachine.cs b/ADIS_Csharp/RaspiControl/StateMachine.cs
index e2f3b29..b842125 100644
--- a/ADIS_Csharp/RaspiControl/StateMachine.cs
+++ b/ADIS_Csharp/RaspiControl/StateMachine.cs
@@ -33,7 +33,8 @@ namespace RaspiControl {
         autoMode,
         finished,
         failure,
-        none
+        none,
+        manualMode
     }
     internal class StateMachine {
 
@@ -70,10 +71,13 @@ namespace RaspiControl {
                     {new StateTransition(ProcessState.Ready,Command.JoystickDown), ProcessState.StartMoveManual },
                     {new StateTransition(ProcessState.Ready,Command.JoystickLeft), ProcessState.StartMoveManual },
                     {new StateTransition(ProcessState.Ready,Command.JoystickRight), ProcessState.StartMoveManual },
+                    {new StateTransition(ProcessState.Ready,Command.autoMode), ProcessState.Auto },
+                    {new StateTransition(ProcessState.Ready,Command.manualMode), ProcessState.Ready },
 
 
                     {new StateTransition(ProcessState.StartMoveManual,Command.none), ProcessState.MoveManual },
                     {new StateTransition(ProcessState.StartMoveManual, Command.autoMode), ProcessState.Auto },
+                    {new StateTransition(ProcessState.StartMoveManual, Command.manualMode), ProcessState.StartMoveManual },
 
                     {new StateTransition(ProcessState.MoveManualF, Command.none), ProcessState.MoveManual },
                     {new StateTransition(ProcessState.MoveManualF, Command.autoMode), ProcessState.Auto },
@@ -101,18 +105,22 @@ namespace RaspiControl {
                     {new StateTransition(ProcessState.ResumeMoveManual, Command.autoMode), ProcessState.Auto },
 
                     {new StateTransition(ProcessState.Auto, Command.finished), ProcessState.Final },
-                    {new StateTransition(ProcessState.Auto, Command.JoystickUp), ProcessState.StartMoveManual },
-                    {new StateTransition(ProcessState.Auto, Command.JoystickDown), ProcessState.StartMoveManual },
-                    {new StateTransition(ProcessState.Auto, Command.JoystickLeft), ProcessState.StartMoveManual },
-                    {new StateTransition(ProcessState.Auto, Command.JoystickRight), ProcessState.StartMoveManual },
-                    {new StateTransition(ProcessState.Auto, Command.JoystickCenter), ProcessState.StartMoveManual },
+                    //{new StateTransition(ProcessState.Auto, Command.JoystickUp), ProcessState.StartMoveManual },
+                    //{new StateTransition(ProcessState.Auto, Command.JoystickDown), ProcessState.StartMoveManual },
+                    //{new StateTransition(ProcessState.Auto, Command.JoystickLeft), ProcessState.StartMoveManual },
+                    //{new StateTransition(ProcessState.Auto, Command.JoystickRight), ProcessState.StartMoveManual },
+                    //{new StateTransition(ProcessState.Auto, Command.JoystickCenter), ProcessState.StartMoveManual },
                     {new StateTransition(ProcessState.Auto, Command.failure), ProcessState.Error },
+                    {new StateTransition(ProcessState.Auto, Command.manualMode), ProcessState.ResumeMoveManual },
+
+                    {new StateTransition(ProcessState.Error, Command.JoystickUp), ProcessState.ResumeMoveManual },
+                    {new StateTransition(ProcessState.Error, Command.JoystickDown), ProcessState.ResumeMoveManual },
+                    {new StateTransition(ProcessState.Error, Command.JoystickLeft), ProcessState.ResumeMoveManual },
+                    {new StateTransition(ProcessState.Error, Command.JoystickRight), ProcessState.ResumeMoveManual },
+                    {new StateTransition(ProcessState.Error, Command.JoystickCenter), ProcessState.ResumeMoveManual },
+                    {new StateTransition(ProcessState.Error, Command.finished), ProcessState.Final },
+                    {new StateTransition(ProcessState.Error, Command.manualMode), ProcessState.ResumeMoveManual },
 
-                    {new StateTransition(ProcessState.Error, Command.JoystickUp), ProcessState.StartMoveManual },
-                    {new StateTransition(ProcessState.Error, Command.JoystickDown), ProcessState.StartMoveManual },
-                    {new StateTransition(ProcessState.Error, Command.JoystickLeft), ProcessState.StartMoveManual },
-                    {new StateTransition(ProcessState.Error, Command.JoystickRight), ProcessState.StartMoveManual },
-                    {new StateTransition(ProcessState.Error, Command.JoystickCenter), ProcessState.StartMoveManual },
                 };
         }