diff --git a/libraries/AP_Arming/AP_Arming.cpp b/libraries/AP_Arming/AP_Arming.cpp
index 8ff983a692..3277ef750d 100644
--- a/libraries/AP_Arming/AP_Arming.cpp
+++ b/libraries/AP_Arming/AP_Arming.cpp
@@ -85,6 +85,26 @@
   #define ARMING_RUDDER_DEFAULT         (uint8_t)RudderArming::ARMDISARM
 #endif
 
+// find a default value for ARMING_NEED_POS parameter, and determine
+// whether the parameter should be shown:
+#ifndef AP_ARMING_NEED_LOC_PARAMETER_ENABLED
+// determine whether ARMING_NEED_POS is shown:
+#if APM_BUILD_COPTER_OR_HELI
+#define AP_ARMING_NEED_LOC_PARAMETER_ENABLED 1
+#else
+#define AP_ARMING_NEED_LOC_PARAMETER_ENABLED 0
+#endif  // build types
+#endif  // AP_ARMING_NEED_LOC_PARAMETER_ENABLED
+
+// if ARMING_NEED_POS is shown, determine what its default should be:
+#if AP_ARMING_NEED_LOC_PARAMETER_ENABLED
+#if APM_BUILD_COPTER_OR_HELI
+#define AP_ARMING_NEED_LOC_DEFAULT 0
+#else
+#error "Unable to find value for AP_ARMING_NEED_LOC_DEFAULT"
+#endif  // APM_BUILD_TYPE
+#endif  // AP_ARMING_NEED_LOC_PARAMETER_ENABLED
+
 #ifndef PREARM_DISPLAY_PERIOD
 # define PREARM_DISPLAY_PERIOD 30
 #endif
@@ -166,6 +186,15 @@ const AP_Param::GroupInfo AP_Arming::var_info[] = {
     AP_GROUPINFO("CRSDP_IGN", 11, AP_Arming, crashdump_ack.acked, 0),
 #endif  // AP_ARMING_CRASHDUMP_ACK_ENABLED
 
+#if AP_ARMING_NEED_LOC_PARAMETER_ENABLED
+    // @Param: NEED_LOC
+    // @DisplayName: Require vehicle location
+    // @Description: Require that the vehicle have an absolute position before it arms.  This can help ensure that the vehicle can Return To Launch.
+    // @User: Advanced
+    // @Values{Copter}: 0:Do not require location,1:Require Location
+    AP_GROUPINFO("NEED_LOC", 12, AP_Arming, require_location, float(AP_ARMING_NEED_LOC_DEFAULT)),
+#endif  // AP_ARMING_NEED_LOC_PARAMETER_ENABLED
+
     AP_GROUPEND
 };
 
diff --git a/libraries/AP_Arming/AP_Arming.h b/libraries/AP_Arming/AP_Arming.h
index 69e693835b..1ee68e9349 100644
--- a/libraries/AP_Arming/AP_Arming.h
+++ b/libraries/AP_Arming/AP_Arming.h
@@ -155,6 +155,12 @@ public:
     static bool method_is_GCS(Method method) {
         return (method == Method::MAVLINK || method == Method::DDS);
     }
+
+    enum class RequireLocation : uint8_t {
+        NO = 0,
+        YES = 1,
+    };
+
 protected:
 
     // Parameters
@@ -165,6 +171,7 @@ protected:
     AP_Int32                _required_mission_items;
     AP_Int32                _arming_options;
     AP_Int16                magfield_error_threshold;
+    AP_Enum<RequireLocation> require_location;
 
     // internal members
     bool                    armed;