diff --git a/APMrover2/mode_auto.cpp b/APMrover2/mode_auto.cpp
index 74bc7c6c30..ba19f8b94c 100644
--- a/APMrover2/mode_auto.cpp
+++ b/APMrover2/mode_auto.cpp
@@ -3,6 +3,12 @@
 
 bool ModeAuto::_enter()
 {
+    // fail to enter auto if no mission commands
+    if (mission.num_commands() == 0) {
+        gcs().send_text(MAV_SEVERITY_NOTICE, "No Mission. Can't set AUTO.");
+        return false;
+    }
+
     auto_triggered = false;
     rover.restart_nav();
     rover.loiter_start_time = 0;