diff --git a/ArduCopter/Parameters.cpp b/ArduCopter/Parameters.cpp
index f62b953106..a5ac9705ed 100644
--- a/ArduCopter/Parameters.cpp
+++ b/ArduCopter/Parameters.cpp
@@ -976,6 +976,15 @@ const AP_Param::GroupInfo ParametersG2::var_info[] = {
     AP_GROUPINFO("ACRO_OPTIONS", 39, ParametersG2, acro_options, 0),
 #endif
 
+#if MODE_AUTO_ENABLED == ENABLED
+    // @Param: AUTO_OPTIONS
+    // @DisplayName: Auto mode options
+    // @Description: A range of options that can be applied to change auto mode behaviour. Allow arming allows the copter to be armed while in auto. Allow taking off without throttle to takeoff allows the copter to takeoff without having to raise the throttle.
+    // @Bitmask: 0:Allow arming,1:Allow taking off without throttle
+    // @User: Advanced
+    AP_GROUPINFO("AUTO_OPTIONS", 40, ParametersG2, auto_options, 0),
+#endif
+
     AP_GROUPEND
 };
 
diff --git a/ArduCopter/Parameters.h b/ArduCopter/Parameters.h
index b8f54a4fea..0f584e5a69 100644
--- a/ArduCopter/Parameters.h
+++ b/ArduCopter/Parameters.h
@@ -619,6 +619,10 @@ public:
     AP_Int8 acro_options;
 #endif
 
+#if MODE_AUTO_ENABLED == ENABLED
+    AP_Int32 auto_options;
+#endif
+
 };
 
 extern const AP_Param::Info        var_info[];
diff --git a/ArduCopter/mode.h b/ArduCopter/mode.h
index aa906edefb..4f24b4e691 100644
--- a/ArduCopter/mode.h
+++ b/ArduCopter/mode.h
@@ -353,7 +353,7 @@ public:
 
     bool requires_GPS() const override { return true; }
     bool has_manual_throttle() const override { return false; }
-    bool allows_arming(bool from_gcs) const override { return false; };
+    bool allows_arming(bool from_gcs) const override;
     bool is_autopilot() const override { return true; }
     bool in_guided_mode() const override { return mode() == Auto_NavGuided; }
 
@@ -405,6 +405,11 @@ protected:
 
 private:
 
+    enum class Options : int32_t {
+        AllowArming    = (1 << 0U),
+        BypassThrottle = (1 << 1U),
+    };
+
     bool start_command(const AP_Mission::Mission_Command& cmd);
     bool verify_command(const AP_Mission::Mission_Command& cmd);
     void exit_mission();
@@ -515,6 +520,8 @@ private:
         float descend_start_altitude;
         float descend_max; // centimetres
     } nav_payload_place;
+
+    bool waiting_for_origin;
 };
 
 #if AUTOTUNE_ENABLED == ENABLED
diff --git a/ArduCopter/mode_auto.cpp b/ArduCopter/mode_auto.cpp
index f53927a699..e4c68dd225 100644
--- a/ArduCopter/mode_auto.cpp
+++ b/ArduCopter/mode_auto.cpp
@@ -43,14 +43,31 @@ bool ModeAuto::init(bool ignore_checks)
         // clear guided limits
         copter.mode_guided.limit_clear();
 
-        // start/resume the mission (based on MIS_RESTART parameter)
-        mission.start_or_resume();
+        // don't start the mission until we have an origin
+        Location loc;
+        if (copter.ahrs.get_origin(loc)) {
+            // start/resume the mission (based on MIS_RESTART parameter)
+            mission.start_or_resume();
+            waiting_for_origin = false;
+        } else {
+            waiting_for_origin = true;
+        }
+
+        // if the user doesn't want to raise the throttle we can set it automatically
+        if ((copter.g2.auto_options & (int32_t)Options::BypassThrottle) != 0) {
+            copter.set_auto_armed(true);
+        }
         return true;
     } else {
         return false;
     }
 }
 
+bool ModeAuto::allows_arming(bool from_gcs) const
+{
+    return (copter.g2.auto_options & (int32_t)Options::AllowArming) != 0;
+};
+
 // auto_run - runs the auto controller
 //      should be called at 100hz or more
 //      relies on run_autopilot being called at 10hz which handles decision making and non-navigation related commands
@@ -592,7 +609,16 @@ bool ModeAuto::get_wp(Location& destination)
 // update mission
 void ModeAuto::run_autopilot()
 {
-    mission.update();
+    Location loc;
+    if (waiting_for_origin) {
+        if (copter.ahrs.get_origin(loc)) {
+            // start/resume the mission (based on MIS_RESTART parameter)
+            mission.start_or_resume();
+            waiting_for_origin = false;
+        }
+    } else {
+        mission.update();
+    }
 }
 
 /*******************************************************************************
@@ -714,6 +740,11 @@ bool ModeAuto::verify_command(const AP_Mission::Mission_Command& cmd)
 //      called by auto_run at 100hz or more
 void ModeAuto::takeoff_run()
 {
+    // if the user doesn't want to raise the throttle we can set it automatically
+    // note that this can defeat the disarm check on takeoff
+    if ((copter.g2.auto_options & (int32_t)Options::BypassThrottle) != 0) {
+        copter.set_auto_armed(true);
+    }
     auto_takeoff_run();
 }