diff --git a/ArduCopter/Copter.h b/ArduCopter/Copter.h
index 6f1dae8e83..e01769d4c6 100644
--- a/ArduCopter/Copter.h
+++ b/ArduCopter/Copter.h
@@ -885,6 +885,8 @@ private:
     void loiter_run();
     bool do_precision_loiter() const;
     void precision_loiter_xy();
+    void set_precision_loiter_enabled(bool value) { _precision_loiter_enabled = value; }
+    bool _precision_loiter_enabled;
     bool poshold_init(bool ignore_checks);
     void poshold_run();
     void poshold_update_pilot_lean_angle(float &lean_angle_filtered, float &lean_angle_raw);
diff --git a/ArduCopter/Parameters.cpp b/ArduCopter/Parameters.cpp
index f92eb112ca..07dba300d6 100644
--- a/ArduCopter/Parameters.cpp
+++ b/ArduCopter/Parameters.cpp
@@ -395,42 +395,42 @@ const AP_Param::Info Copter::var_info[] = {
     // @Param: CH7_OPT
     // @DisplayName: Channel 7 option
     // @Description: Select which function is performed when CH7 is above 1800 pwm
-    // @Values: 0:Do Nothing, 2:Flip, 3:Simple Mode, 4:RTL, 5:Save Trim, 7:Save WP, 9:Camera Trigger, 10:RangeFinder, 11:Fence, 13:Super Simple Mode, 14:Acro Trainer, 15:Sprayer, 16:Auto, 17:AutoTune, 18:Land, 19:Gripper, 21:Parachute Enable, 22:Parachute Release, 23:Parachute 3pos, 24:Auto Mission Reset, 25:AttCon Feed Forward, 26:AttCon Accel Limits, 27:Retract Mount, 28:Relay On/Off, 34:Relay2 On/Off, 35:Relay3 On/Off, 36:Relay4 On/Off, 29:Landing Gear, 30:Lost Copter Sound, 31:Motor Emergency Stop, 32:Motor Interlock, 33:Brake, 37:Throw, 38:Avoidance
+    // @Values: 0:Do Nothing, 2:Flip, 3:Simple Mode, 4:RTL, 5:Save Trim, 7:Save WP, 9:Camera Trigger, 10:RangeFinder, 11:Fence, 13:Super Simple Mode, 14:Acro Trainer, 15:Sprayer, 16:Auto, 17:AutoTune, 18:Land, 19:Gripper, 21:Parachute Enable, 22:Parachute Release, 23:Parachute 3pos, 24:Auto Mission Reset, 25:AttCon Feed Forward, 26:AttCon Accel Limits, 27:Retract Mount, 28:Relay On/Off, 34:Relay2 On/Off, 35:Relay3 On/Off, 36:Relay4 On/Off, 29:Landing Gear, 30:Lost Copter Sound, 31:Motor Emergency Stop, 32:Motor Interlock, 33:Brake, 37:Throw, 38:Avoidance, 39:PrecLoiter
     // @User: Standard
     GSCALAR(ch7_option, "CH7_OPT",                  AUXSW_DO_NOTHING),
 
     // @Param: CH8_OPT
     // @DisplayName: Channel 8 option
     // @Description: Select which function is performed when CH8 is above 1800 pwm
-    // @Values: 0:Do Nothing, 2:Flip, 3:Simple Mode, 4:RTL, 5:Save Trim, 7:Save WP, 9:Camera Trigger, 10:RangeFinder, 11:Fence, 13:Super Simple Mode, 14:Acro Trainer, 15:Sprayer, 16:Auto, 17:AutoTune, 18:Land, 19:Gripper, 21:Parachute Enable, 22:Parachute Release, 23:Parachute 3pos, 24:Auto Mission Reset, 25:AttCon Feed Forward, 26:AttCon Accel Limits, 27:Retract Mount, 28:Relay On/Off, 34:Relay2 On/Off, 35:Relay3 On/Off, 36:Relay4 On/Off, 29:Landing Gear, 30:Lost Copter Sound, 31:Motor Emergency Stop, 32:Motor Interlock, 33:Brake, 37:Throw, 38:Avoidance
+    // @Values: 0:Do Nothing, 2:Flip, 3:Simple Mode, 4:RTL, 5:Save Trim, 7:Save WP, 9:Camera Trigger, 10:RangeFinder, 11:Fence, 13:Super Simple Mode, 14:Acro Trainer, 15:Sprayer, 16:Auto, 17:AutoTune, 18:Land, 19:Gripper, 21:Parachute Enable, 22:Parachute Release, 23:Parachute 3pos, 24:Auto Mission Reset, 25:AttCon Feed Forward, 26:AttCon Accel Limits, 27:Retract Mount, 28:Relay On/Off, 34:Relay2 On/Off, 35:Relay3 On/Off, 36:Relay4 On/Off, 29:Landing Gear, 30:Lost Copter Sound, 31:Motor Emergency Stop, 32:Motor Interlock, 33:Brake, 37:Throw, 38:Avoidance, 39:PrecLoiter
     // @User: Standard
     GSCALAR(ch8_option, "CH8_OPT",                  AUXSW_DO_NOTHING),
 
     // @Param: CH9_OPT
     // @DisplayName: Channel 9 option
     // @Description: Select which function is performed when CH9 is above 1800 pwm
-    // @Values: 0:Do Nothing, 2:Flip, 3:Simple Mode, 4:RTL, 5:Save Trim, 7:Save WP, 9:Camera Trigger, 10:RangeFinder, 11:Fence, 13:Super Simple Mode, 14:Acro Trainer, 15:Sprayer, 16:Auto, 17:AutoTune, 18:Land, 19:Gripper, 21:Parachute Enable, 22:Parachute Release, 23:Parachute 3pos, 24:Auto Mission Reset, 25:AttCon Feed Forward, 26:AttCon Accel Limits, 27:Retract Mount, 28:Relay On/Off, 34:Relay2 On/Off, 35:Relay3 On/Off, 36:Relay4 On/Off, 29:Landing Gear, 30:Lost Copter Sound, 31:Motor Emergency Stop, 32:Motor Interlock, 33:Brake, 37:Throw, 38:Avoidance
+    // @Values: 0:Do Nothing, 2:Flip, 3:Simple Mode, 4:RTL, 5:Save Trim, 7:Save WP, 9:Camera Trigger, 10:RangeFinder, 11:Fence, 13:Super Simple Mode, 14:Acro Trainer, 15:Sprayer, 16:Auto, 17:AutoTune, 18:Land, 19:Gripper, 21:Parachute Enable, 22:Parachute Release, 23:Parachute 3pos, 24:Auto Mission Reset, 25:AttCon Feed Forward, 26:AttCon Accel Limits, 27:Retract Mount, 28:Relay On/Off, 34:Relay2 On/Off, 35:Relay3 On/Off, 36:Relay4 On/Off, 29:Landing Gear, 30:Lost Copter Sound, 31:Motor Emergency Stop, 32:Motor Interlock, 33:Brake, 37:Throw, 38:Avoidance, 39:PrecLoiter
     // @User: Standard
     GSCALAR(ch9_option, "CH9_OPT",                  AUXSW_DO_NOTHING),
 
     // @Param: CH10_OPT
     // @DisplayName: Channel 10 option
     // @Description: Select which function is performed when CH10 is above 1800 pwm
-    // @Values: 0:Do Nothing, 2:Flip, 3:Simple Mode, 4:RTL, 5:Save Trim, 7:Save WP, 9:Camera Trigger, 10:RangeFinder, 11:Fence, 13:Super Simple Mode, 14:Acro Trainer, 15:Sprayer, 16:Auto, 17:AutoTune, 18:Land, 19:Gripper, 21:Parachute Enable, 22:Parachute Release, 23:Parachute 3pos, 24:Auto Mission Reset, 25:AttCon Feed Forward, 26:AttCon Accel Limits, 27:Retract Mount, 28:Relay On/Off, 34:Relay2 On/Off, 35:Relay3 On/Off, 36:Relay4 On/Off, 29:Landing Gear, 30:Lost Copter Sound, 31:Motor Emergency Stop, 32:Motor Interlock, 33:Brake, 37:Throw, 38:Avoidance
+    // @Values: 0:Do Nothing, 2:Flip, 3:Simple Mode, 4:RTL, 5:Save Trim, 7:Save WP, 9:Camera Trigger, 10:RangeFinder, 11:Fence, 13:Super Simple Mode, 14:Acro Trainer, 15:Sprayer, 16:Auto, 17:AutoTune, 18:Land, 19:Gripper, 21:Parachute Enable, 22:Parachute Release, 23:Parachute 3pos, 24:Auto Mission Reset, 25:AttCon Feed Forward, 26:AttCon Accel Limits, 27:Retract Mount, 28:Relay On/Off, 34:Relay2 On/Off, 35:Relay3 On/Off, 36:Relay4 On/Off, 29:Landing Gear, 30:Lost Copter Sound, 31:Motor Emergency Stop, 32:Motor Interlock, 33:Brake, 37:Throw, 38:Avoidance, 39:PrecLoiter
     // @User: Standard
     GSCALAR(ch10_option, "CH10_OPT",                AUXSW_DO_NOTHING),
 
     // @Param: CH11_OPT
     // @DisplayName: Channel 11 option
     // @Description: Select which function is performed when CH11 is above 1800 pwm
-    // @Values: 0:Do Nothing, 2:Flip, 3:Simple Mode, 4:RTL, 5:Save Trim, 7:Save WP, 9:Camera Trigger, 10:RangeFinder, 11:Fence, 13:Super Simple Mode, 14:Acro Trainer, 15:Sprayer, 16:Auto, 17:AutoTune, 18:Land, 19:Gripper, 21:Parachute Enable, 22:Parachute Release, 23:Parachute 3pos, 24:Auto Mission Reset, 25:AttCon Feed Forward, 26:AttCon Accel Limits, 27:Retract Mount, 28:Relay On/Off, 34:Relay2 On/Off, 35:Relay3 On/Off, 36:Relay4 On/Off, 29:Landing Gear, 30:Lost Copter Sound, 31:Motor Emergency Stop, 32:Motor Interlock, 33:Brake, 37:Throw, 38:Avoidance
+    // @Values: 0:Do Nothing, 2:Flip, 3:Simple Mode, 4:RTL, 5:Save Trim, 7:Save WP, 9:Camera Trigger, 10:RangeFinder, 11:Fence, 13:Super Simple Mode, 14:Acro Trainer, 15:Sprayer, 16:Auto, 17:AutoTune, 18:Land, 19:Gripper, 21:Parachute Enable, 22:Parachute Release, 23:Parachute 3pos, 24:Auto Mission Reset, 25:AttCon Feed Forward, 26:AttCon Accel Limits, 27:Retract Mount, 28:Relay On/Off, 34:Relay2 On/Off, 35:Relay3 On/Off, 36:Relay4 On/Off, 29:Landing Gear, 30:Lost Copter Sound, 31:Motor Emergency Stop, 32:Motor Interlock, 33:Brake, 37:Throw, 38:Avoidance, 39:PrecLoiter
     // @User: Standard
     GSCALAR(ch11_option, "CH11_OPT",                AUXSW_DO_NOTHING),
 
     // @Param: CH12_OPT
     // @DisplayName: Channel 12 option
     // @Description: Select which function is performed when CH12 is above 1800 pwm
-    // @Values: 0:Do Nothing, 2:Flip, 3:Simple Mode, 4:RTL, 5:Save Trim, 7:Save WP, 9:Camera Trigger, 10:RangeFinder, 11:Fence, 13:Super Simple Mode, 14:Acro Trainer, 15:Sprayer, 16:Auto, 17:AutoTune, 18:Land, 19:Gripper, 21:Parachute Enable, 22:Parachute Release, 23:Parachute 3pos, 24:Auto Mission Reset, 25:AttCon Feed Forward, 26:AttCon Accel Limits, 27:Retract Mount, 28:Relay On/Off, 34:Relay2 On/Off, 35:Relay3 On/Off, 36:Relay4 On/Off, 29:Landing Gear, 30:Lost Copter Sound, 31:Motor Emergency Stop, 32:Motor Interlock, 33:Brake, 37:Throw, 38:Avoidance
+    // @Values: 0:Do Nothing, 2:Flip, 3:Simple Mode, 4:RTL, 5:Save Trim, 7:Save WP, 9:Camera Trigger, 10:RangeFinder, 11:Fence, 13:Super Simple Mode, 14:Acro Trainer, 15:Sprayer, 16:Auto, 17:AutoTune, 18:Land, 19:Gripper, 21:Parachute Enable, 22:Parachute Release, 23:Parachute 3pos, 24:Auto Mission Reset, 25:AttCon Feed Forward, 26:AttCon Accel Limits, 27:Retract Mount, 28:Relay On/Off, 34:Relay2 On/Off, 35:Relay3 On/Off, 36:Relay4 On/Off, 29:Landing Gear, 30:Lost Copter Sound, 31:Motor Emergency Stop, 32:Motor Interlock, 33:Brake, 37:Throw, 38:Avoidance, 39:PrecLoiter
     // @User: Standard
     GSCALAR(ch12_option, "CH12_OPT",                AUXSW_DO_NOTHING),
 
diff --git a/ArduCopter/control_loiter.cpp b/ArduCopter/control_loiter.cpp
index d1448afd1b..1d34b81702 100644
--- a/ArduCopter/control_loiter.cpp
+++ b/ArduCopter/control_loiter.cpp
@@ -40,6 +40,9 @@ bool Copter::do_precision_loiter() const
 #if PRECISION_LANDING != ENABLED
     return false;
 #else
+    if (!_precision_loiter_enabled) {
+        return false;
+    }
     if (ap.land_complete_maybe) {
         return false;        // don't move on the ground
     }
diff --git a/ArduCopter/defines.h b/ArduCopter/defines.h
index f9c62ffcbd..457ce67177 100644
--- a/ArduCopter/defines.h
+++ b/ArduCopter/defines.h
@@ -68,6 +68,7 @@ enum aux_sw_func {
     AUXSW_RELAY4 =              36, // Relay4 pin on/off (in Mission planner set CH10_OPT = 36)
     AUXSW_THROW =               37,  // change to THROW flight mode
     AUXSW_AVOID_ADSB =          38,  // enable AP_Avoidance library
+    AUXSW_PRECISION_LOITER =    39,  // enable precision loiter
     AUXSW_SWITCH_MAX,
 };
 
diff --git a/ArduCopter/switches.cpp b/ArduCopter/switches.cpp
index a1d2f3dda2..021e41607c 100644
--- a/ArduCopter/switches.cpp
+++ b/ArduCopter/switches.cpp
@@ -548,6 +548,18 @@ void Copter::do_aux_switch_function(int8_t ch_function, uint8_t ch_flag)
                 Log_Write_Event(DATA_AVOIDANCE_ADSB_DISABLE);
             }
             break;
+
+        case AUXSW_PRECISION_LOITER:
+            switch (ch_flag) {
+                case AUX_SWITCH_HIGH:
+                    set_precision_loiter_enabled(true);
+                    break;
+                case AUX_SWITCH_LOW:
+                    set_precision_loiter_enabled(false);
+                    break;
+            }
+            break;
+
     }
 }