diff --git a/src/isar_robot/config/settings.py b/src/isar_robot/config/settings.py
index 0c068e6e..0ba9791e 100644
--- a/src/isar_robot/config/settings.py
+++ b/src/isar_robot/config/settings.py
@@ -19,6 +19,8 @@ def __init__(self) -> None:
     SHOULD_FAIL_NORMAL_TASK: bool = Field(default=False)
     SHOULD_FAIL_RETURN_TO_HOME_TASK: bool = Field(default=False)
     SHOULD_FAIL_RETURN_TO_HOME_MISSION: bool = Field(default=False)
+    SHOULD_FAIL_TO_STOP_NORMAL_MISSION: bool = Field(default=False)
+    SHOULD_FAIL_TO_STOP_RETURN_TO_HOME_MISSION: bool = Field(default=False)
     SHOULD_HAVE_RANDOM_BATTERY_LEVEL: bool = Field(default=False)
     ROBOT_POSE_PUBLISH_INTERVAL: float = Field(default=5)
     ROBOT_BATTERY_PUBLISH_INTERVAL: float = Field(default=2)
diff --git a/src/isar_robot/robotinterface.py b/src/isar_robot/robotinterface.py
index ccc4d3f5..736e29dd 100644
--- a/src/isar_robot/robotinterface.py
+++ b/src/isar_robot/robotinterface.py
@@ -6,6 +6,7 @@
 from threading import Thread
 from typing import Callable, List, Optional
 
+from robot_interface.models.exceptions.robot_exceptions import RobotActionException
 from robot_interface.models.inspection.inspection import Inspection
 from robot_interface.models.mission.mission import Mission
 from robot_interface.models.mission.status import RobotStatus, TaskStatus
@@ -77,6 +78,17 @@ def task_status(self, task_id: str) -> TaskStatus:
         return TaskStatus.Successful
 
     def stop(self) -> None:
+        if (
+            isinstance(self.current_task, ReturnToHome)
+            and settings.SHOULD_FAIL_TO_STOP_RETURN_TO_HOME_MISSION
+        ):
+            raise RobotActionException("Failed to stop return home missios")
+        if (
+            not isinstance(self.current_task, ReturnToHome)
+            and self.current_task is not None
+            and settings.SHOULD_FAIL_TO_STOP_NORMAL_MISSION
+        ):
+            raise RobotActionException("Failed to stop missios")
         return
 
     def get_inspection(self, task: InspectionTask) -> Inspection: