diff --git a/frontend/src/lib/_fbs/open-shock/serialization/configuration/estop-config.ts b/frontend/src/lib/_fbs/open-shock/serialization/configuration/estop-config.ts
index 6eb9b148..ac41c7bd 100644
--- a/frontend/src/lib/_fbs/open-shock/serialization/configuration/estop-config.ts
+++ b/frontend/src/lib/_fbs/open-shock/serialization/configuration/estop-config.ts
@@ -43,8 +43,16 @@ active():boolean {
   return offset ? !!this.bb!.readInt8(this.bb_pos + offset) : false;
 }
 
+/**
+ * Set When EmergencyStop is a latching switch
+ */
+latching():boolean {
+  const offset = this.bb!.__offset(this.bb_pos, 10);
+  return offset ? !!this.bb!.readInt8(this.bb_pos + offset) : false;
+}
+
 static startEStopConfig(builder:flatbuffers.Builder) {
-  builder.startObject(3);
+  builder.startObject(4);
 }
 
 static addEnabled(builder:flatbuffers.Builder, enabled:boolean) {
@@ -59,16 +67,21 @@ static addActive(builder:flatbuffers.Builder, active:boolean) {
   builder.addFieldInt8(2, +active, +false);
 }
 
+static addLatching(builder:flatbuffers.Builder, latching:boolean) {
+  builder.addFieldInt8(3, +latching, +false);
+}
+
 static endEStopConfig(builder:flatbuffers.Builder):flatbuffers.Offset {
   const offset = builder.endObject();
   return offset;
 }
 
-static createEStopConfig(builder:flatbuffers.Builder, enabled:boolean, gpioPin:number, active:boolean):flatbuffers.Offset {
+static createEStopConfig(builder:flatbuffers.Builder, enabled:boolean, gpioPin:number, active:boolean, latching:boolean):flatbuffers.Offset {
   EStopConfig.startEStopConfig(builder);
   EStopConfig.addEnabled(builder, enabled);
   EStopConfig.addGpioPin(builder, gpioPin);
   EStopConfig.addActive(builder, active);
+  EStopConfig.addLatching(builder, latching);
   return EStopConfig.endEStopConfig(builder);
 }
 }
diff --git a/include/Common.h b/include/Common.h
index 665acee7..a70a08d1 100644
--- a/include/Common.h
+++ b/include/Common.h
@@ -33,6 +33,10 @@
 #define OPENSHOCK_ESTOP_PIN OPENSHOCK_GPIO_INVALID
 #endif
 
+#ifndef OPENSHOCK_ESTOP_LATCHING
+#define OPENSHOCK_ESTOP_LATCHING 0
+#endif
+
 // Check if OPENSHOCK_FW_USERAGENT is overridden trough compiler flags, if not, generate a default useragent.
 #ifndef OPENSHOCK_FW_USERAGENT
 #define OPENSHOCK_FW_USERAGENT OPENSHOCK_FW_HOSTNAME "/" OPENSHOCK_FW_VERSION " (arduino-esp32; " OPENSHOCK_FW_BOARD "; " OPENSHOCK_FW_CHIP "; Espressif)"
diff --git a/include/config/EStopConfig.h b/include/config/EStopConfig.h
index de726734..87414c1d 100644
--- a/include/config/EStopConfig.h
+++ b/include/config/EStopConfig.h
@@ -7,10 +7,12 @@
 namespace OpenShock::Config {
   struct EStopConfig : public ConfigBase<Serialization::Configuration::EStopConfig> {
     EStopConfig();
-    EStopConfig(bool enabled, gpio_num_t gpioPin);
+    EStopConfig(bool enabled, gpio_num_t gpioPin, bool latching, bool active);
 
     bool enabled;
     gpio_num_t gpioPin;
+    bool latching;
+    bool active;
 
     void ToDefault() override;
 
diff --git a/include/serialization/_fbs/HubConfig_generated.h b/include/serialization/_fbs/HubConfig_generated.h
index 4ba0eff8..f499c6b4 100644
--- a/include/serialization/_fbs/HubConfig_generated.h
+++ b/include/serialization/_fbs/HubConfig_generated.h
@@ -190,7 +190,8 @@ struct EStopConfig FLATBUFFERS_FINAL_CLASS : private ::flatbuffers::Table {
   enum FlatBuffersVTableOffset FLATBUFFERS_VTABLE_UNDERLYING_TYPE {
     VT_ENABLED = 4,
     VT_GPIO_PIN = 6,
-    VT_ACTIVE = 8
+    VT_ACTIVE = 8,
+    VT_LATCHING = 10
   };
   bool enabled() const {
     return GetField<uint8_t>(VT_ENABLED, 0) != 0;
@@ -203,11 +204,16 @@ struct EStopConfig FLATBUFFERS_FINAL_CLASS : private ::flatbuffers::Table {
   bool active() const {
     return GetField<uint8_t>(VT_ACTIVE, 0) != 0;
   }
+  /// Set When EmergencyStop is a latching switch
+  bool latching() const {
+    return GetField<uint8_t>(VT_LATCHING, 0) != 0;
+  }
   bool Verify(::flatbuffers::Verifier &verifier) const {
     return VerifyTableStart(verifier) &&
            VerifyField<uint8_t>(verifier, VT_ENABLED, 1) &&
            VerifyField<int8_t>(verifier, VT_GPIO_PIN, 1) &&
            VerifyField<uint8_t>(verifier, VT_ACTIVE, 1) &&
+           VerifyField<uint8_t>(verifier, VT_LATCHING, 1) &&
            verifier.EndTable();
   }
 };
@@ -225,6 +231,9 @@ struct EStopConfigBuilder {
   void add_active(bool active) {
     fbb_.AddElement<uint8_t>(EStopConfig::VT_ACTIVE, static_cast<uint8_t>(active), 0);
   }
+  void add_latching(bool latching) {
+    fbb_.AddElement<uint8_t>(EStopConfig::VT_LATCHING, static_cast<uint8_t>(latching), 0);
+  }
   explicit EStopConfigBuilder(::flatbuffers::FlatBufferBuilder &_fbb)
         : fbb_(_fbb) {
     start_ = fbb_.StartTable();
@@ -240,8 +249,10 @@ inline ::flatbuffers::Offset<EStopConfig> CreateEStopConfig(
     ::flatbuffers::FlatBufferBuilder &_fbb,
     bool enabled = false,
     int8_t gpio_pin = 0,
-    bool active = false) {
+    bool active = false,
+    bool latching = false) {
   EStopConfigBuilder builder_(_fbb);
+  builder_.add_latching(latching);
   builder_.add_active(active);
   builder_.add_gpio_pin(gpio_pin);
   builder_.add_enabled(enabled);
diff --git a/src/config/EStopConfig.cpp b/src/config/EStopConfig.cpp
index df78b092..bebdc00c 100644
--- a/src/config/EStopConfig.cpp
+++ b/src/config/EStopConfig.cpp
@@ -12,19 +12,25 @@ using namespace OpenShock::Config;
 EStopConfig::EStopConfig()
   : enabled(OpenShock::IsValidInputPin(OPENSHOCK_ESTOP_PIN))
   , gpioPin(static_cast<gpio_num_t>(OPENSHOCK_ESTOP_PIN))
+  , latching(OPENSHOCK_ESTOP_LATCHING)
+  , active(false)
 {
 }
 
-EStopConfig::EStopConfig(bool enabled, gpio_num_t gpioPin)
+EStopConfig::EStopConfig(bool enabled, gpio_num_t gpioPin, bool latching, bool active)
   : enabled(enabled)
   , gpioPin(gpioPin)
+  , latching(latching)
+  , active(active)
 {
 }
 
 void EStopConfig::ToDefault()
 {
-  enabled = OpenShock::IsValidInputPin(OPENSHOCK_ESTOP_PIN);
-  gpioPin = static_cast<gpio_num_t>(OPENSHOCK_ESTOP_PIN);
+  enabled  = OpenShock::IsValidInputPin(OPENSHOCK_ESTOP_PIN);
+  gpioPin  = static_cast<gpio_num_t>(OPENSHOCK_ESTOP_PIN);
+  latching = OPENSHOCK_ESTOP_LATCHING;
+  active   = false;
 }
 
 bool EStopConfig::FromFlatbuffers(const Serialization::Configuration::EStopConfig* config)
@@ -42,12 +48,16 @@ bool EStopConfig::FromFlatbuffers(const Serialization::Configuration::EStopConfi
     enabled = false;
   }
 
+  latching = config->latching();
+
+  active = config->active();
+
   return true;
 }
 
 flatbuffers::Offset<OpenShock::Serialization::Configuration::EStopConfig> EStopConfig::ToFlatbuffers(flatbuffers::FlatBufferBuilder& builder, bool withSensitiveData) const
 {
-  return Serialization::Configuration::CreateEStopConfig(builder, enabled, gpioPin);
+  return Serialization::Configuration::CreateEStopConfig(builder, enabled, gpioPin, active, latching);
 }
 
 bool EStopConfig::FromJSON(const cJSON* json)
@@ -69,6 +79,16 @@ bool EStopConfig::FromJSON(const cJSON* json)
     return false;
   }
 
+  if (!Internal::Utils::FromJsonBool(latching, json, "latching", OPENSHOCK_ESTOP_LATCHING)) {
+    OS_LOGE(TAG, "Failed to parse latching");
+    return false;
+  }
+
+  if (!Internal::Utils::FromJsonBool(active, json, "active", false)) {
+    OS_LOGE(TAG, "Failed to parse active");
+    return false;
+  }
+
   return true;
 }
 
@@ -78,6 +98,8 @@ cJSON* EStopConfig::ToJSON(bool withSensitiveData) const
 
   cJSON_AddBoolToObject(root, "enabled", enabled);
   cJSON_AddNumberToObject(root, "gpioPin", gpioPin);
+  cJSON_AddBoolToObject(root, "latching", latching);
+  cJSON_AddBoolToObject(root, "active", active);
 
   return root;
 }