diff --git a/libraries/AC_PrecLand/AC_PrecLand.cpp b/libraries/AC_PrecLand/AC_PrecLand.cpp
index 657e62f734..8dcb7ba836 100644
--- a/libraries/AC_PrecLand/AC_PrecLand.cpp
+++ b/libraries/AC_PrecLand/AC_PrecLand.cpp
@@ -172,7 +172,7 @@ const AP_Param::GroupInfo AC_PrecLand::var_info[] = {
     // @Param: OPTIONS
     // @DisplayName: Precision Landing Extra Options
     // @Description: Precision Landing Extra Options
-    // @Bitmask: 0: Moving Landing Target
+    // @Bitmask: 0: Moving Landing Target, 1: Allow Precision Landing after manual reposition 
     // @User: Advanced
     AP_GROUPINFO("OPTIONS", 17, AC_PrecLand, _options, 0),
 
diff --git a/libraries/AC_PrecLand/AC_PrecLand.h b/libraries/AC_PrecLand/AC_PrecLand.h
index c3b1b0db63..b91105f9d0 100644
--- a/libraries/AC_PrecLand/AC_PrecLand.h
+++ b/libraries/AC_PrecLand/AC_PrecLand.h
@@ -110,6 +110,8 @@ public:
     float get_min_retry_time_sec() const { return _retry_timeout_sec; }
     AC_PrecLand_StateMachine::RetryAction get_retry_behaviour() const { return static_cast<AC_PrecLand_StateMachine::RetryAction>(_retry_behave.get()); }
 
+    bool allow_precland_after_reposition() const { return _options & PLND_OPTION_PRECLAND_AFTER_REPOSITION; }
+
     // parameter var table
     static const struct AP_Param::GroupInfo var_info[];
 
@@ -131,6 +133,7 @@ private:
     enum PLndOptions {
         PLND_OPTION_DISABLED = 0,
         PLND_OPTION_MOVING_TARGET = (1 << 0),
+        PLND_OPTION_PRECLAND_AFTER_REPOSITION = (1 << 1),
     };
 
     // check the status of the target