diff --git a/docs/diagrams/src/motor_state.wsd b/docs/diagrams/src/motor_state.wsd
index d864398..5a26b55 100644
--- a/docs/diagrams/src/motor_state.wsd
+++ b/docs/diagrams/src/motor_state.wsd
@@ -43,5 +43,6 @@ Operational --> Stopped : fault detected
 
 Stopped --> Initialization : reset [r]
 Stopped --> Operational : set operational [o]
+Stopped --> PreOperational : set pre-operational [p]
 
 @enduml
diff --git a/src/stopped_state.cpp b/src/stopped_state.cpp
index cf72752..c531a3b 100644
--- a/src/stopped_state.cpp
+++ b/src/stopped_state.cpp
@@ -61,6 +61,13 @@ void StoppedState::command(char c)
 
         context->to_operational();
     }
+
+    else if (c == 'p' || c == 'P')
+    {
+        Serial.println("Command: set pre-operational");
+
+        context->to_pre_operational();
+    }
 }