diff --git a/Rover/Rover.h b/Rover/Rover.h
index d40012c013..d3ad64aad7 100644
--- a/Rover/Rover.h
+++ b/Rover/Rover.h
@@ -360,6 +360,7 @@ private:
     void init_ardupilot() override;
     void startup_ground(void);
     void update_ahrs_flyforward();
+    bool gcs_mode_enabled(const Mode::Number mode_num) const;
     bool set_mode(Mode &new_mode, ModeReason reason);
     bool set_mode(const uint8_t new_mode, ModeReason reason) override;
     uint8_t get_mode() const override { return (uint8_t)control_mode->mode_number(); }
diff --git a/Rover/system.cpp b/Rover/system.cpp
index 0f425c1606..a419dfca8a 100644
--- a/Rover/system.cpp
+++ b/Rover/system.cpp
@@ -223,6 +223,30 @@ void Rover::update_ahrs_flyforward()
     ahrs.set_fly_forward(flyforward);
 }
 
+// Check if this mode can be entered from the GCS
+bool Rover::gcs_mode_enabled(const Mode::Number mode_num) const
+{
+    // List of modes that can be blocked, index is bit number in parameter bitmask
+    static const uint8_t mode_list [] {
+        (uint8_t)Mode::Number::MANUAL,
+        (uint8_t)Mode::Number::ACRO,
+        (uint8_t)Mode::Number::STEERING,
+        (uint8_t)Mode::Number::LOITER,
+        (uint8_t)Mode::Number::FOLLOW,
+        (uint8_t)Mode::Number::SIMPLE,
+        (uint8_t)Mode::Number::CIRCLE,
+        (uint8_t)Mode::Number::AUTO,
+        (uint8_t)Mode::Number::RTL,
+        (uint8_t)Mode::Number::SMART_RTL,
+        (uint8_t)Mode::Number::GUIDED,
+#if MODE_DOCK_ENABLED == ENABLED
+        (uint8_t)Mode::Number::DOCK
+#endif
+    };
+
+    return !block_GCS_mode_change((uint8_t)mode_num, mode_list, ARRAY_SIZE(mode_list));
+}
+
 bool Rover::set_mode(Mode &new_mode, ModeReason reason)
 {
     if (control_mode == &new_mode) {
@@ -230,6 +254,12 @@ bool Rover::set_mode(Mode &new_mode, ModeReason reason)
         return true;
     }
 
+    // Check if GCS mode change is disabled via parameter
+    if ((reason == ModeReason::GCS_COMMAND) && !gcs_mode_enabled((Mode::Number)new_mode.mode_number())) {
+        gcs().send_text(MAV_SEVERITY_NOTICE,"Mode change to %s denied, GCS entry disabled (FLTMODE_GCSBLOCK)", new_mode.name4());
+        return false;
+    }
+
     Mode &old_mode = *control_mode;
     if (!new_mode.enter()) {
         // Log error that we failed to enter desired flight mode