diff --git a/ArduCopter/mode_circle.cpp b/ArduCopter/mode_circle.cpp
index c86de8856d..1c73b807dd 100644
--- a/ArduCopter/mode_circle.cpp
+++ b/ArduCopter/mode_circle.cpp
@@ -1,4 +1,5 @@
 #include "Copter.h"
+#include <AP_Mount/AP_Mount.h>
 
 #if MODE_CIRCLE_ENABLED == ENABLED
 
@@ -20,6 +21,18 @@ bool ModeCircle::init(bool ignore_checks)
     // initialise circle controller including setting the circle center based on vehicle speed
     copter.circle_nav->init();
 
+#if HAL_MOUNT_ENABLED
+    AP_Mount *s = AP_Mount::get_singleton();
+
+    // Check if the CIRCLE_OPTIONS parameter have roi_at_center
+    if (copter.circle_nav->roi_at_center()) {
+        Vector3p loc = copter.circle_nav->get_center();
+        loc.z = 0;
+        Location circle_center(loc, Location::AltFrame::ABOVE_TERRAIN);
+        s->set_roi_target(circle_center);
+    }
+#endif
+
     // set auto yaw circle mode
     auto_yaw.set_mode(AutoYaw::Mode::CIRCLE);
 
diff --git a/libraries/AC_WPNav/AC_Circle.h b/libraries/AC_WPNav/AC_Circle.h
index 88dd03c02c..498241e025 100644
--- a/libraries/AC_WPNav/AC_Circle.h
+++ b/libraries/AC_WPNav/AC_Circle.h
@@ -89,6 +89,9 @@ public:
     /// true if pilot control of radius and turn rate is enabled
     bool pilot_control_enabled() const { return (_options.get() & CircleOptions::MANUAL_CONTROL) != 0; }
 
+    /// true if mount roi is at circle center
+    bool roi_at_center() const { return (_options.get() & CircleOptions::ROI_AT_CENTER) != 0; }
+
     /// provide rangefinder based terrain offset
     /// terrain offset is the terrain's height above the EKF origin
     void set_rangefinder_terrain_offset(bool use, bool healthy, float terrain_offset_cm) { _rangefinder_available = use; _rangefinder_healthy = healthy; _rangefinder_terrain_offset_cm = terrain_offset_cm;}
@@ -136,6 +139,7 @@ private:
         MANUAL_CONTROL           = 1U << 0,
         FACE_DIRECTION_OF_TRAVEL = 1U << 1,
         INIT_AT_CENTER           = 1U << 2, // true then the circle center will be the current location, false and the center will be 1 radius ahead
+        ROI_AT_CENTER            = 1U << 3, // true when the mount roi is at circle center
     };
 
     // parameters