diff --git a/APMrover2/Parameters.cpp b/APMrover2/Parameters.cpp
index 9583896e6b..cc6f367f78 100644
--- a/APMrover2/Parameters.cpp
+++ b/APMrover2/Parameters.cpp
@@ -684,7 +684,7 @@ const AP_Param::GroupInfo ParametersG2::var_info[] = {
     // @Param: MIS_DONE_BEHAVE
     // @DisplayName: Mission done behave
     // @Description: Mode to become after mission done
-    // @Values: 0:Hold,1:Loiter
+    // @Values: 0:Hold,1:Loiter, 2:Acro
     // @User: Standard
     AP_GROUPINFO("MIS_DONE_BEHAVE", 38, ParametersG2, mis_done_behave, 0),
 
diff --git a/APMrover2/commands_logic.cpp b/APMrover2/commands_logic.cpp
index 34bbe0e098..e00d31ca82 100644
--- a/APMrover2/commands_logic.cpp
+++ b/APMrover2/commands_logic.cpp
@@ -112,6 +112,11 @@ void ModeAuto::exit_mission()
     if (g2.mis_done_behave == MIS_DONE_BEHAVE_LOITER && rover.set_mode(rover.mode_loiter, MODE_REASON_MISSION_END)) {
         return;
     }
+
+    if (g2.mis_done_behave == MIS_DONE_BEHAVE_ACRO && rover.set_mode(rover.mode_acro, MODE_REASON_MISSION_END)) {
+        return;
+    }
+
     rover.set_mode(rover.mode_hold, MODE_REASON_MISSION_END);
 }
 
diff --git a/APMrover2/mode.h b/APMrover2/mode.h
index 0f5cbc4533..9226896dba 100644
--- a/APMrover2/mode.h
+++ b/APMrover2/mode.h
@@ -319,7 +319,8 @@ private:
 
     enum Mis_Done_Behave {
         MIS_DONE_BEHAVE_HOLD      = 0,
-        MIS_DONE_BEHAVE_LOITER    = 1
+        MIS_DONE_BEHAVE_LOITER    = 1,
+        MIS_DONE_BEHAVE_ACRO      = 2
     };
 
     // Loiter control