diff --git a/libraries/AP_Mount/AP_Mount_Backend.h b/libraries/AP_Mount/AP_Mount_Backend.h
index 16082d58f4..a25bd4870a 100644
--- a/libraries/AP_Mount/AP_Mount_Backend.h
+++ b/libraries/AP_Mount/AP_Mount_Backend.h
@@ -249,6 +249,7 @@ protected:
     // options parameter bitmask handling
     enum class Options : uint8_t {
         RCTARGETING_LOCK_FROM_PREVMODE = (1U << 0), // RC_TARGETING mode's lock/follow state maintained from previous mode
+        NEUTRAL_ON_RC_FS               = (1U << 1), // move mount to netral position on RC failsafe
     };
     bool option_set(Options opt) const { return (_params.options.get() & (uint8_t)opt) != 0; }
 
diff --git a/libraries/AP_Mount/AP_Mount_Params.cpp b/libraries/AP_Mount/AP_Mount_Params.cpp
index e2c727f4b4..d077c603ec 100644
--- a/libraries/AP_Mount/AP_Mount_Params.cpp
+++ b/libraries/AP_Mount/AP_Mount_Params.cpp
@@ -168,7 +168,7 @@ const AP_Param::GroupInfo AP_Mount_Params::var_info[] = {
     // @Param: _OPTIONS
     // @DisplayName: Mount options
     // @Description: Mount options bitmask
-    // @Bitmask: 0:RC lock state from previous mode
+    // @Bitmask: 0:RC lock state from previous mode, 1:Return to neutral angles on RC failsafe
     // @User: Standard
     AP_GROUPINFO("_OPTIONS", 16, AP_Mount_Params, options, 0),
 
diff --git a/libraries/AP_Mount/AP_Mount_Servo.cpp b/libraries/AP_Mount/AP_Mount_Servo.cpp
index 1fba00e92a..7c97656c12 100644
--- a/libraries/AP_Mount/AP_Mount_Servo.cpp
+++ b/libraries/AP_Mount/AP_Mount_Servo.cpp
@@ -56,6 +56,13 @@ void AP_Mount_Servo::update()
 
         // RC radio manual angle control, but with stabilization from the AHRS
         case MAV_MOUNT_MODE_RC_TARGETING: {
+            // update targets using pilot's rc inputs or go to neutral or retracted targets if no rc
+            if (rc().in_rc_failsafe()) {
+                if (option_set(Options::NEUTRAL_ON_RC_FS)) {
+                    mnt_target.angle_rad.set(_angle_bf_output_rad, false);
+                    mnt_target.target_type = MountTargetType::ANGLE;
+                }
+            } else {
             // update targets using pilot's RC inputs
             MountTarget rc_target;
             get_rc_target(mnt_target.target_type, rc_target);
@@ -67,6 +74,7 @@ void AP_Mount_Servo::update()
                 mnt_target.rate_rads = rc_target;
                 break;
             }
+            }
             break;
         }