diff --git a/ArduPlane/Parameters.cpp b/ArduPlane/Parameters.cpp
index ada4a28ed1..918c7925df 100644
--- a/ArduPlane/Parameters.cpp
+++ b/ArduPlane/Parameters.cpp
@@ -424,8 +424,8 @@ const AP_Param::Info Plane::var_info[] = {
 
     // @Param: FS_LONG_ACTN
     // @DisplayName: Long failsafe action
-    // @Description: The action to take on a long (FS_LONG_TIMEOUT seconds) failsafe event. If the aircraft was in a stabilization or manual mode when failsafe started and a long failsafe occurs then it will change to RTL mode if FS_LONG_ACTN is 0 or 1, and will change to FBWA if FS_LONG_ACTN is set to 2. If the aircraft was in an auto mode (such as AUTO or GUIDED) when the failsafe started then it will continue in the auto mode if FS_LONG_ACTN is set to 0, will change to RTL mode if FS_LONG_ACTN is set to 1 and will change to FBWA mode if FS_LONG_ACTN is set to 2. If FS_LONG_ACTION is set to 3, the parachute will be deployed (make sure the chute is configured and enabled). 
-    // @Values: 0:Continue,1:ReturnToLaunch,2:Glide,3:Deploy Parachute
+    // @Description: The action to take on a long (FS_LONG_TIMEOUT seconds) failsafe event. If the aircraft was in a stabilization or manual mode when failsafe started and a long failsafe occurs then it will change to RTL mode if FS_LONG_ACTN is 0 or 1, and will change to FBWA if FS_LONG_ACTN is set to 2. If the aircraft was in an auto mode (such as AUTO or GUIDED) when the failsafe started then it will continue in the auto mode if FS_LONG_ACTN is set to 0, will change to RTL mode if FS_LONG_ACTN is set to 1 and will change to FBWA mode if FS_LONG_ACTN is set to 2. If FS_LONG_ACTN is set to 3, the parachute will be deployed (make sure the chute is configured and enabled). If FS_LONG_ACTN is set to 4 the aircraft will switch to mode AUTO with the current waypoint if it is not already in mode AUTO, unless it is in the middle of a landing sequence.
+    // @Values: 0:Continue,1:ReturnToLaunch,2:Glide,3:Deploy Parachute,4:Auto
     // @User: Standard
     GSCALAR(fs_action_long,         "FS_LONG_ACTN",   FS_ACTION_LONG_CONTINUE),
 
@@ -1544,4 +1544,4 @@ void Plane::load_parameters(void)
 #endif
 
     hal.console->printf("load_all took %uus\n", (unsigned)(micros() - before));
-}
+}
\ No newline at end of file
diff --git a/ArduPlane/defines.h b/ArduPlane/defines.h
index c0bfb174a7..6a73f35d25 100644
--- a/ArduPlane/defines.h
+++ b/ArduPlane/defines.h
@@ -44,6 +44,7 @@ enum failsafe_action_long {
     FS_ACTION_LONG_RTL = 1,
     FS_ACTION_LONG_GLIDE = 2,
     FS_ACTION_LONG_PARACHUTE = 3,
+    FS_ACTION_LONG_AUTO = 4,
 };
 
 // type of stick mixing enabled
diff --git a/ArduPlane/events.cpp b/ArduPlane/events.cpp
index 9c2a215608..21aef78f40 100644
--- a/ArduPlane/events.cpp
+++ b/ArduPlane/events.cpp
@@ -134,6 +134,8 @@ void Plane::failsafe_long_on_event(enum failsafe_state fstype, ModeReason reason
 #endif
         } else if (g.fs_action_long == FS_ACTION_LONG_GLIDE) {
             set_mode(mode_fbwa, reason);
+        } else if (g.fs_action_long == FS_ACTION_LONG_AUTO) {
+            set_mode(mode_auto, reason);
         } else {
             set_mode(mode_rtl, reason);
         }
@@ -172,12 +174,18 @@ void Plane::failsafe_long_on_event(enum failsafe_state fstype, ModeReason reason
 #endif
         } else if (g.fs_action_long == FS_ACTION_LONG_GLIDE) {
             set_mode(mode_fbwa, reason);
+        } else if (g.fs_action_long == FS_ACTION_LONG_AUTO) {
+            set_mode(mode_auto, reason);
         } else if (g.fs_action_long == FS_ACTION_LONG_RTL) {
             set_mode(mode_rtl, reason);
         }
         break;
 
     case Mode::Number::RTL:
+        if (g.fs_action_long == FS_ACTION_LONG_AUTO) {
+            set_mode(mode_auto, reason);
+        }
+        break;
 #if HAL_QUADPLANE_ENABLED
     case Mode::Number::QLAND:
     case Mode::Number::QRTL: