diff --git a/APMrover2/system.cpp b/APMrover2/system.cpp
index 3fb26486e5..a652ce3d6c 100644
--- a/APMrover2/system.cpp
+++ b/APMrover2/system.cpp
@@ -268,6 +268,7 @@ bool Rover::set_mode(Mode &new_mode, mode_reason_t reason)
 
     control_mode_reason = reason;
     logger.Write_Mode(control_mode->mode_number(), control_mode_reason);
+    gcs().send_message(MSG_HEARTBEAT);
 
     notify_mode(control_mode);
     return true;