diff --git a/backend/api/Database/Models/MissionRun.cs b/backend/api/Database/Models/MissionRun.cs
index 1aabe673a..d95da39b6 100644
--- a/backend/api/Database/Models/MissionRun.cs
+++ b/backend/api/Database/Models/MissionRun.cs
@@ -192,7 +192,7 @@ var inspection in task.Inspections.Where(inspection => !inspection.IsCompleted)
 
         public bool IsLocalizationMission() { return Tasks is [{ Type: MissionTaskType.Localization }]; }
 
-        public bool IsDriveToMission() { return Tasks is [{ Type: MissionTaskType.DriveTo }]; }
+        public bool IsReturnHomeMission() { return Tasks is [{ Type: MissionTaskType.ReturnHome }]; }
     }
 
     public enum MissionStatus
diff --git a/backend/api/Database/Models/MissionTask.cs b/backend/api/Database/Models/MissionTask.cs
index 0b5c944ff..228a0c7f8 100644
--- a/backend/api/Database/Models/MissionTask.cs
+++ b/backend/api/Database/Models/MissionTask.cs
@@ -56,7 +56,7 @@ public MissionTask(Pose robotPose, MissionTaskType type)
                     Status = TaskStatus.NotStarted;
                     Inspections = new List<Inspection>();
                     break;
-                case MissionTaskType.DriveTo:
+                case MissionTaskType.ReturnHome:
                     Type = type;
                     Description = "Return to home";
                     RobotPose = robotPose;
@@ -65,7 +65,7 @@ public MissionTask(Pose robotPose, MissionTaskType type)
                     Inspections = new List<Inspection>();
                     break;
                 default:
-                    throw new MissionTaskNotFoundException("MissionTaskType should be Localization or DriveTo");
+                    throw new MissionTaskNotFoundException("MissionTaskType should be Localization or ReturnHome");
             }
         }
 
@@ -175,7 +175,7 @@ public void UpdateStatus(IsarTaskStatus isarStatus)
 
         public static string ConvertMissionTaskTypeToIsarTaskType(MissionTaskType missionTaskType)
         {
-            if (missionTaskType == MissionTaskType.DriveTo) { return "drive_to"; }
+            if (missionTaskType == MissionTaskType.ReturnHome) { return "drive_to"; }
             else { return missionTaskType.ToString().ToLower(CultureInfo.CurrentCulture); }
         }
     }
@@ -195,6 +195,6 @@ public enum MissionTaskType
     {
         Inspection,
         Localization,
-        DriveTo
+        ReturnHome
     }
 }
diff --git a/backend/api/Services/MissionRunService.cs b/backend/api/Services/MissionRunService.cs
index df6d34aae..c92492714 100644
--- a/backend/api/Services/MissionRunService.cs
+++ b/backend/api/Services/MissionRunService.cs
@@ -191,7 +191,7 @@ public async Task<bool> PendingOrOngoingReturnToHomeMissionRunExists(string robo
             var pendingMissionRuns = await ReadMissionRunQueue(robotId);
             foreach (var pendingMissionRun in pendingMissionRuns)
             {
-                if (pendingMissionRun.IsDriveToMission()) { return true; }
+                if (pendingMissionRun.IsReturnHomeMission()) { return true; }
             }
             var ongoingMissionRuns = await GetMissionRunsWithSubModels()
                 .Where(missionRun => missionRun.Robot.Id == robotId && missionRun.Status == MissionStatus.Ongoing)
@@ -199,7 +199,7 @@ public async Task<bool> PendingOrOngoingReturnToHomeMissionRunExists(string robo
                 .ToListAsync();
             foreach (var ongoingMissionRun in ongoingMissionRuns)
             {
-                if (ongoingMissionRun.IsDriveToMission()) { return true; }
+                if (ongoingMissionRun.IsReturnHomeMission()) { return true; }
             }
             return false;
 
@@ -398,7 +398,7 @@ MissionRunQueryStringParameters parameters
 
             Expression<Func<MissionRun, bool>> returnTohomeFilter = !parameters.ExcludeReturnToHome
                 ? missionRun => true
-                : missionRun => !(missionRun.Tasks.Count() == 1 && missionRun.Tasks.All(task => task.Type == MissionTaskType.DriveTo));
+                : missionRun => !(missionRun.Tasks.Count() == 1 && missionRun.Tasks.All(task => task.Type == MissionTaskType.ReturnHome));
 
             var minStartTime = DateTimeUtilities.UnixTimeStampToDateTime(parameters.MinStartTime);
             var maxStartTime = DateTimeUtilities.UnixTimeStampToDateTime(parameters.MaxStartTime);
diff --git a/backend/api/Services/ReturnToHomeService.cs b/backend/api/Services/ReturnToHomeService.cs
index 9f0335ef1..43636c977 100644
--- a/backend/api/Services/ReturnToHomeService.cs
+++ b/backend/api/Services/ReturnToHomeService.cs
@@ -45,7 +45,7 @@ private async Task<bool> IsRobotHome(string robotId)
                 return false;
             }
 
-            return lastExecutedMissionRun.IsDriveToMission();
+            return lastExecutedMissionRun.IsReturnHomeMission();
         }
         private async Task<bool> IsReturnToHomeMissionAlreadyScheduled(string robotId)
         {
@@ -98,7 +98,7 @@ private async Task<MissionRun> ScheduleReturnToHomeMissionRun(string robotId)
                 DesiredStartTime = DateTime.UtcNow,
                 Tasks = new List<MissionTask>
                 {
-                    new(new Pose(robot.CurrentArea.Deck.DefaultLocalizationPose.Pose), MissionTaskType.DriveTo)
+                    new(new Pose(robot.CurrentArea.Deck.DefaultLocalizationPose.Pose), MissionTaskType.ReturnHome)
                 },
                 Map = new MapMetadata()
             };