diff --git a/src/stateMachine.c b/src/stateMachine.c
index 25a8fc8..44d09e2 100644
--- a/src/stateMachine.c
+++ b/src/stateMachine.c
@@ -82,20 +82,40 @@ int stateM_handleEvent( struct stateMachine *fsm,
       while ( nextState->entryState )
          nextState = nextState->entryState;
 
-      /* Run exit action only if the current state is left (only if it does
+      /* Run exit actions only if the current state is left (only if it does
        * not return to itself): */
-      if ( nextState != fsm->currentState && fsm->currentState->exitAction )
-         fsm->currentState->exitAction( fsm->currentState->data, event );
+      if(nextState != fsm->currentState)
+      {
+		  if ( fsm->currentState->exitAction )
+			 fsm->currentState->exitAction( fsm->currentState->data, event );
+
+		  /* Call the current state's parent state exit action if it has one
+		   * and if new parent state is different than the current states parent
+		   * state */
+		  if ( fsm->currentState->parentState && fsm->currentState->parentState->entryAction &&
+			  (nextState->parentState != fsm->currentState->parentState) )
+			  fsm->currentState->parentState->exitAction( fsm->currentState->parentState->data, event );
+      }
 
       /* Run transition action (if any): */
       if ( transition->action )
          transition->action( fsm->currentState->data, event, nextState->
                data );
 
-      /* Call the new state's entry action if it has any (only if state does
+      /* Call the new state's entry actions if it has any (only if state does
        * not return to itself): */
-      if ( nextState != fsm->currentState && nextState->entryAction )
-         nextState->entryAction( nextState->data, event );
+      if(nextState != fsm->currentState)
+      {
+		  /* Call the new state's parent state entry action if it has one
+		   * and if its parent state is different than the current states parent
+		   * state */
+		  if ( nextState->parentState && nextState->parentState->entryAction &&
+			  (nextState->parentState != fsm->currentState->parentState) )
+			 nextState->parentState->entryAction( nextState->parentState->data, event );
+
+		  if ( nextState->entryAction )
+			 nextState->entryAction( nextState->data, event );
+      }
 
       fsm->previousState = fsm->currentState;
       fsm->currentState = nextState;