diff --git a/Rover/RC_Channel.cpp b/Rover/RC_Channel.cpp
index e799f38a70..9a89b66d61 100644
--- a/Rover/RC_Channel.cpp
+++ b/Rover/RC_Channel.cpp
@@ -33,6 +33,7 @@ void RC_Channel_Rover::init_aux_function(const aux_func_t ch_option, const AuxSw
     // the following functions do not need initialising:
     case AUX_FUNC::ACRO:
     case AUX_FUNC::AUTO:
+    case AUX_FUNC::CIRCLE:
     case AUX_FUNC::FOLLOW:
     case AUX_FUNC::GUIDED:
     case AUX_FUNC::HOLD:
@@ -226,6 +227,10 @@ bool RC_Channel_Rover::do_aux_function(const aux_func_t ch_option, const AuxSwit
         do_aux_function_change_mode(rover.mode_simple, ch_flag);
         break;
 
+    case AUX_FUNC::CIRCLE:
+        do_aux_function_change_mode(rover.g2.mode_circle, ch_flag);
+        break;
+
     // trigger sailboat tack
     case AUX_FUNC::SAILBOAT_TACK:
         // any switch movement interpreted as request to tack