diff --git a/src/battle/hud.c b/src/battle/hud.c
index e781e9e..f8df36c 100644
--- a/src/battle/hud.c
+++ b/src/battle/hud.c
@@ -476,6 +476,10 @@ static void drawObjectives(void)
 		{
 			drawText(SCREEN_WIDTH / 2, 35, 14, TA_CENTER, colors.white, "%d / %d", battle.stats[STAT_ENEMIES_SURRENDERED], game.currentMission->challengeData.surrenderLimit);
 		}
+		else if (game.currentMission->challengeData.waypointLimit)
+		{
+			drawText(SCREEN_WIDTH / 2, 35, 14, TA_CENTER, colors.white, "%d / %d", battle.stats[STAT_WAYPOINTS_VISITED], game.currentMission->challengeData.waypointLimit);
+		}
 		else if (player->flags & EF_MUST_DISABLE)
 		{
 			drawText(SCREEN_WIDTH / 2, 35, 14, TA_CENTER, colors.white, _("System Power : %d%%"), player->systemPower);
diff --git a/src/challenges/challenges.c b/src/challenges/challenges.c
index f87f08c..738ea0f 100644
--- a/src/challenges/challenges.c
+++ b/src/challenges/challenges.c
@@ -29,6 +29,7 @@ static void updatePlayerKillsChallenge(Challenge *c);
 static void updateDisabledChallenge(Challenge *c);
 static void updateItemsChallenge(Challenge *c);
 static void updateSurrenderChallenge(Challenge *c);
+static void updateWaypointChallenge(Challenge *c);
 static void completeChallenge(void);
 static void failChallenge(void);
 static int updateChallenges(void);
@@ -63,6 +64,7 @@ void initChallenges(void)
 	challengeDescription[CHALLENGE_PLAYER_ITEMS] = _("Collect %d packages");
 	challengeDescription[CHALLENGE_RESCUE] = _("Rescue %d civilians");
 	challengeDescription[CHALLENGE_SURRENDER] = _("Cause %d enemies to surrender");
+	challengeDescription[CHALLENGE_WAYPOINTS] = _("Reach %d waypoints");
 
 	tail = &game.challengeMissionHead;
 
@@ -216,6 +218,11 @@ static int challengeFinished(void)
 		return 1;
 	}
 	
+	if (game.currentMission->challengeData.waypointLimit > 0 && (battle.stats[STAT_WAYPOINTS_VISITED]) >= game.currentMission->challengeData.waypointLimit)
+	{
+		return 1;
+	}
+	
 	if (game.currentMission->challengeData.eliminateThreats && !battle.hasThreats)
 	{
 		return 1;
@@ -283,6 +290,10 @@ static int updateChallenges(void)
 					case CHALLENGE_SURRENDER:
 						updateSurrenderChallenge(c);
 						break;
+						
+					case CHALLENGE_WAYPOINTS:
+						updateWaypointChallenge(c);
+						break;
 				}
 			}
 			
@@ -427,6 +438,14 @@ static void updateSurrenderChallenge(Challenge *c)
 	}
 }
 
+static void updateWaypointChallenge(Challenge *c)
+{
+	if (!c->passed)
+	{
+		c->passed = battle.stats[STAT_WAYPOINTS_VISITED] >= c->value;
+	}
+}
+
 char *getChallengeDescription(Challenge *c)
 {
 	if (c->type == CHALLENGE_TIME)
diff --git a/src/defs.h b/src/defs.h
index 6d056cc..6d5aecb 100644
--- a/src/defs.h
+++ b/src/defs.h
@@ -338,6 +338,7 @@ enum
 	CHALLENGE_RESCUE,
 	CHALLENGE_SURVIVE,
 	CHALLENGE_SURRENDER,
+	CHALLENGE_WAYPOINTS,
 	CHALLENGE_MAX
 };
 
diff --git a/src/system/lookup.c b/src/system/lookup.c
index dd914e7..be0c139 100644
--- a/src/system/lookup.c
+++ b/src/system/lookup.c
@@ -158,6 +158,7 @@ void initLookups(void)
 	addLookup("CHALLENGE_PLAYER_ITEMS", CHALLENGE_PLAYER_ITEMS);
 	addLookup("CHALLENGE_RESCUE", CHALLENGE_RESCUE);
 	addLookup("CHALLENGE_SURRENDER", CHALLENGE_SURRENDER);
+	addLookup("CHALLENGE_WAYPOINTS", CHALLENGE_WAYPOINTS);
 
 	addLookup("STAT_PERCENT_COMPLETE", STAT_PERCENT_COMPLETE);
 	addLookup("STAT_MISSIONS_STARTED", STAT_MISSIONS_STARTED);