diff --git a/backend/api/Controllers/MissionController.cs b/backend/api/Controllers/MissionController.cs
index e2add2b17..b71457e1d 100644
--- a/backend/api/Controllers/MissionController.cs
+++ b/backend/api/Controllers/MissionController.cs
@@ -158,6 +158,7 @@ public async Task<ActionResult<byte[]>> GetMap([FromRoute] string id)
     [ProducesResponseType(StatusCodes.Status400BadRequest)]
     [ProducesResponseType(StatusCodes.Status401Unauthorized)]
     [ProducesResponseType(StatusCodes.Status403Forbidden)]
+    [ProducesResponseType(StatusCodes.Status404NotFound)]
     [ProducesResponseType(StatusCodes.Status500InternalServerError)]
     public async Task<ActionResult<Mission>> Create(
         [FromBody] ScheduledMissionQuery scheduledMissionQuery
@@ -234,6 +235,52 @@ [FromBody] ScheduledMissionQuery scheduledMissionQuery
         return CreatedAtAction(nameof(GetMissionById), new { id = newMission.Id }, newMission);
     }
 
+    /// <summary>
+    /// Schedule a custom mission
+    /// </summary>
+    /// <remarks>
+    /// <para> This query schedules a custom mission defined in the incoming json </para>
+    /// </remarks>
+    [HttpPost]
+    [Route("custom")]
+    [ProducesResponseType(typeof(Mission), StatusCodes.Status201Created)]
+    [ProducesResponseType(StatusCodes.Status400BadRequest)]
+    [ProducesResponseType(StatusCodes.Status401Unauthorized)]
+    [ProducesResponseType(StatusCodes.Status403Forbidden)]
+    [ProducesResponseType(StatusCodes.Status404NotFound)]
+    [ProducesResponseType(StatusCodes.Status500InternalServerError)]
+    public async Task<ActionResult<Mission>> Create(
+        [FromBody] CustomMissionQuery customMissionQuery
+    )
+    {
+        var robot = await _robotService.ReadById(customMissionQuery.RobotId);
+        if (robot is null)
+            return NotFound($"Could not find robot with id {customMissionQuery.RobotId}");
+
+        var missionTasks = customMissionQuery.Tasks.Select(task => new MissionTask(task)).ToList();
+
+        var scheduledMission = new Mission
+        {
+            Name = customMissionQuery.Name,
+            Robot = robot,
+            EchoMissionId = 0,
+            Status = MissionStatus.Pending,
+            DesiredStartTime = customMissionQuery.DesiredStartTime,
+            Tasks = missionTasks,
+            AssetCode = customMissionQuery.AssetCode,
+            Map = new MissionMap()
+        };
+
+        await _mapService.AssignMapToMission(scheduledMission);
+
+        if (scheduledMission.Tasks.Any())
+            scheduledMission.CalculateEstimatedDuration();
+
+        var newMission = await _missionService.Create(scheduledMission);
+
+        return CreatedAtAction(nameof(GetMissionById), new { id = newMission.Id }, newMission);
+    }
+
     /// <summary>
     /// Deletes the mission with the specified id from the database.
     /// </summary>
diff --git a/backend/api/Controllers/Models/CustomMissionQuery.cs b/backend/api/Controllers/Models/CustomMissionQuery.cs
new file mode 100644
index 000000000..75c036d3b
--- /dev/null
+++ b/backend/api/Controllers/Models/CustomMissionQuery.cs
@@ -0,0 +1,41 @@
+using Api.Database.Models;
+
+namespace Api.Controllers.Models
+{
+    public struct CustomInspectionQuery
+    {
+        public InspectionType InspectionType { get; set; }
+
+        public float? VideoDuration { get; set; }
+
+        public string? AnalysisTypes { get; set; }
+    }
+
+    public struct CustomTaskQuery
+    {
+        public int TaskOrder { get; set; }
+
+        public Position InspectionTarget { get; set; }
+
+        public Pose RobotPose { get; set; }
+
+        public List<CustomInspectionQuery> Inspections { get; set; }
+    }
+
+    public struct CustomMissionQuery
+    {
+        public string RobotId { get; set; }
+
+        public DateTimeOffset DesiredStartTime { get; set; }
+
+        public string AssetCode { get; set; }
+
+        public string Name { get; set; }
+
+        public string? Description { get; set; }
+
+        public string? Comment { get; set; }
+
+        public List<CustomTaskQuery> Tasks { get; set; }
+    }
+}
diff --git a/backend/api/Database/Models/Inspection.cs b/backend/api/Database/Models/Inspection.cs
index 80d31bd70..a637c055f 100644
--- a/backend/api/Database/Models/Inspection.cs
+++ b/backend/api/Database/Models/Inspection.cs
@@ -69,6 +69,14 @@ public Inspection(EchoInspection echoInspection)
             Status = InspectionStatus.NotStarted;
         }
 
+        public Inspection(CustomInspectionQuery inspectionQuery)
+        {
+            InspectionType = inspectionQuery.InspectionType;
+            VideoDuration = inspectionQuery.VideoDuration;
+            AnalysisTypes = inspectionQuery.AnalysisTypes;
+            Status = InspectionStatus.NotStarted;
+        }
+
         public void UpdateWithIsarInfo(IsarStep isarStep)
         {
             UpdateStatus(isarStep.StepStatus);
diff --git a/backend/api/Database/Models/MissionTask.cs b/backend/api/Database/Models/MissionTask.cs
index 4c83ecfc6..b71f93f49 100644
--- a/backend/api/Database/Models/MissionTask.cs
+++ b/backend/api/Database/Models/MissionTask.cs
@@ -83,6 +83,18 @@ public MissionTask(EchoTag echoTag, Position tagPosition)
             Status = TaskStatus.NotStarted;
         }
 
+        // ReSharper disable once NotNullOrRequiredMemberIsNotInitialized
+        public MissionTask(CustomTaskQuery taskQuery)
+        {
+            Inspections = taskQuery.Inspections
+                .Select(inspection => new Inspection(inspection))
+                .ToList();
+            InspectionTarget = taskQuery.InspectionTarget;
+            RobotPose = taskQuery.RobotPose;
+            TaskOrder = taskQuery.TaskOrder;
+            Status = TaskStatus.NotStarted;
+        }
+
         public void UpdateWithIsarInfo(IsarTask isarTask)
         {
             UpdateStatus(isarTask.TaskStatus);