diff --git a/ArduCopter/Copter.h b/ArduCopter/Copter.h
index 38dfe29b50..6c25a32898 100644
--- a/ArduCopter/Copter.h
+++ b/ArduCopter/Copter.h
@@ -857,6 +857,9 @@ private:
     void update_flight_mode();
     void notify_flight_mode();
 
+    // Check if this mode can be entered from the GCS
+    bool gcs_mode_enabled(const Mode::Number mode_num);
+
     // mode_land.cpp
     void set_mode_land_with_pause(ModeReason reason);
     bool landing_with_GPS();
diff --git a/ArduCopter/mode.cpp b/ArduCopter/mode.cpp
index 516de29c84..d1e0822b20 100644
--- a/ArduCopter/mode.cpp
+++ b/ArduCopter/mode.cpp
@@ -194,6 +194,52 @@ void Copter::mode_change_failed(const Mode *mode, const char *reason)
     }
 }
 
+// Check if this mode can be entered from the GCS
+bool Copter::gcs_mode_enabled(const Mode::Number mode_num)
+{
+    // List of modes that can be blocked, index is bit number in parameter bitmask
+    static const uint8_t mode_list [] {
+        (uint8_t)Mode::Number::STABILIZE,
+        (uint8_t)Mode::Number::ACRO,
+        (uint8_t)Mode::Number::ALT_HOLD,
+        (uint8_t)Mode::Number::AUTO,
+        (uint8_t)Mode::Number::GUIDED,
+        (uint8_t)Mode::Number::LOITER,
+        (uint8_t)Mode::Number::CIRCLE,
+        (uint8_t)Mode::Number::DRIFT,
+        (uint8_t)Mode::Number::SPORT,
+        (uint8_t)Mode::Number::FLIP,
+        (uint8_t)Mode::Number::AUTOTUNE,
+        (uint8_t)Mode::Number::POSHOLD,
+        (uint8_t)Mode::Number::BRAKE,
+        (uint8_t)Mode::Number::THROW,
+        (uint8_t)Mode::Number::AVOID_ADSB,
+        (uint8_t)Mode::Number::GUIDED_NOGPS,
+        (uint8_t)Mode::Number::SMART_RTL,
+        (uint8_t)Mode::Number::FLOWHOLD,
+        (uint8_t)Mode::Number::FOLLOW,
+        (uint8_t)Mode::Number::ZIGZAG,
+        (uint8_t)Mode::Number::SYSTEMID,
+        (uint8_t)Mode::Number::AUTOROTATE,
+        (uint8_t)Mode::Number::AUTO_RTL,
+        (uint8_t)Mode::Number::TURTLE
+    };
+
+    if (!block_GCS_mode_change((uint8_t)mode_num, mode_list, ARRAY_SIZE(mode_list))) {
+        return true;
+    }
+
+    // Mode disabled, try and grab a mode name to give a better warning.
+    Mode *new_flightmode = mode_from_mode_num(mode_num);
+    if (new_flightmode != nullptr) {
+        mode_change_failed(new_flightmode, "GCS entry disabled (FLTMODE_GCSBLOCK)");
+    } else {
+        notify_no_such_mode((uint8_t)mode_num);
+    }
+
+    return false;
+}
+
 // set_mode - change flight mode and perform any necessary initialisation
 // optional force parameter used to force the flight mode change (used only first time mode is set)
 // returns true if mode was successfully set
@@ -218,6 +264,11 @@ bool Copter::set_mode(Mode::Number mode, ModeReason reason)
         return true;
     }
 
+    // Check if GCS mode change is disabled via parameter
+    if ((reason == ModeReason::GCS_COMMAND) && !gcs_mode_enabled(mode)) {
+        return false;
+    }
+
 #if MODE_AUTO_ENABLED == ENABLED
     if (mode == Mode::Number::AUTO_RTL) {
         // Special case for AUTO RTL, not a true mode, just AUTO in disguise