diff --git a/src/modules/commander/commander.cpp b/src/modules/commander/commander.cpp
index 5954dcbb1e..b957ad9b5f 100644
--- a/src/modules/commander/commander.cpp
+++ b/src/modules/commander/commander.cpp
@@ -649,8 +649,7 @@ int commander_thread_main(int argc, char *argv[])
 	nav_states_str[NAVIGATION_STATE_AUTO_MISSION]		= "AUTO_MISSION";
 	nav_states_str[NAVIGATION_STATE_AUTO_LOITER]		= "AUTO_LOITER";
 	nav_states_str[NAVIGATION_STATE_AUTO_RTL]		= "AUTO_RTL";
-	nav_states_str[NAVIGATION_STATE_AUTO_FS_RC_LOSS]	= "AUTO_FS_RC_LOSS";
-	nav_states_str[NAVIGATION_STATE_AUTO_FS_DL_LOSS]	= "AUTO_FS_DL_LOSS";
+	nav_states_str[NAVIGATION_STATE_AUTO_RTGS]		= "AUTO_RTGS";
 	nav_states_str[NAVIGATION_STATE_ACRO]			= "ACRO";
 	nav_states_str[NAVIGATION_STATE_LAND]			= "LAND";
 	nav_states_str[NAVIGATION_STATE_DESCEND]		= "DESCEND";
@@ -1734,8 +1733,7 @@ set_control_mode()
 	case NAVIGATION_STATE_AUTO_MISSION:
 	case NAVIGATION_STATE_AUTO_LOITER:
 	case NAVIGATION_STATE_AUTO_RTL:
-	case NAVIGATION_STATE_AUTO_FS_RC_LOSS:
-	case NAVIGATION_STATE_AUTO_FS_DL_LOSS:
+	case NAVIGATION_STATE_AUTO_RTGS:
 		control_mode.flag_control_manual_enabled = false;
 		control_mode.flag_control_auto_enabled = true;
 		control_mode.flag_control_rates_enabled = true;
diff --git a/src/modules/commander/px4_custom_mode.h b/src/modules/commander/px4_custom_mode.h
index e0f8dc95dc..7f5f93801f 100644
--- a/src/modules/commander/px4_custom_mode.h
+++ b/src/modules/commander/px4_custom_mode.h
@@ -25,6 +25,7 @@ enum PX4_CUSTOM_SUB_MODE_AUTO {
 	PX4_CUSTOM_SUB_MODE_AUTO_MISSION,
 	PX4_CUSTOM_SUB_MODE_AUTO_RTL,
 	PX4_CUSTOM_SUB_MODE_AUTO_LAND,
+	PX4_CUSTOM_SUB_MODE_AUTO_RTGS
 };
 
 union px4_custom_mode {
diff --git a/src/modules/commander/state_machine_helper.cpp b/src/modules/commander/state_machine_helper.cpp
index f0fe13921e..74885abf6a 100644
--- a/src/modules/commander/state_machine_helper.cpp
+++ b/src/modules/commander/state_machine_helper.cpp
@@ -384,7 +384,7 @@ bool set_nav_state(struct vehicle_status_s *status, const bool data_link_loss_en
 			status->failsafe = true;
 
 			if (status->condition_global_position_valid && status->condition_home_position_valid) {
-				status->nav_state = NAVIGATION_STATE_AUTO_FS_RC_LOSS;
+				status->nav_state = NAVIGATION_STATE_AUTO_RTL;
 			} else if (status->condition_local_position_valid) {
 				status->nav_state = NAVIGATION_STATE_LAND;
 			} else if (status->condition_local_altitude_valid) {
@@ -427,7 +427,7 @@ bool set_nav_state(struct vehicle_status_s *status, const bool data_link_loss_en
 			status->failsafe = true;
 
 			if (status->condition_global_position_valid && status->condition_home_position_valid) {
-				status->nav_state = NAVIGATION_STATE_AUTO_FS_RC_LOSS;
+				status->nav_state = NAVIGATION_STATE_AUTO_RTL;
 			} else if (status->condition_local_position_valid) {
 				status->nav_state = NAVIGATION_STATE_LAND;
 			} else if (status->condition_local_altitude_valid) {
@@ -441,7 +441,7 @@ bool set_nav_state(struct vehicle_status_s *status, const bool data_link_loss_en
 			status->failsafe = true;
 
 			if (status->condition_global_position_valid && status->condition_home_position_valid) {
-				status->nav_state = NAVIGATION_STATE_AUTO_FS_DL_LOSS;
+				status->nav_state = NAVIGATION_STATE_AUTO_RTGS;
 			} else if (status->condition_local_position_valid) {
 				status->nav_state = NAVIGATION_STATE_LAND;
 			} else if (status->condition_local_altitude_valid) {
@@ -467,7 +467,7 @@ bool set_nav_state(struct vehicle_status_s *status, const bool data_link_loss_en
 			status->failsafe = true;
 
 			if (status->condition_global_position_valid && status->condition_home_position_valid) {
-				status->nav_state = NAVIGATION_STATE_AUTO_FS_RC_LOSS;
+				status->nav_state = NAVIGATION_STATE_AUTO_RTL;
 			} else if (status->condition_local_position_valid) {
 				status->nav_state = NAVIGATION_STATE_LAND;
 			} else if (status->condition_local_altitude_valid) {
@@ -481,7 +481,7 @@ bool set_nav_state(struct vehicle_status_s *status, const bool data_link_loss_en
 			status->failsafe = true;
 
 			if (status->condition_global_position_valid && status->condition_home_position_valid) {
-				status->nav_state = NAVIGATION_STATE_AUTO_FS_DL_LOSS;
+				status->nav_state = NAVIGATION_STATE_AUTO_RTGS;
 			} else if (status->condition_local_position_valid) {
 				status->nav_state = NAVIGATION_STATE_LAND;
 			} else if (status->condition_local_altitude_valid) {
@@ -495,7 +495,7 @@ bool set_nav_state(struct vehicle_status_s *status, const bool data_link_loss_en
 			status->failsafe = true;
 
 			if (status->condition_global_position_valid && status->condition_home_position_valid) {
-				status->nav_state = NAVIGATION_STATE_AUTO_FS_DL_LOSS;
+				status->nav_state = NAVIGATION_STATE_AUTO_RTGS;
 			} else if (status->condition_local_position_valid) {
 				status->nav_state = NAVIGATION_STATE_LAND;
 			} else if (status->condition_local_altitude_valid) {
diff --git a/src/modules/mavlink/mavlink_messages.cpp b/src/modules/mavlink/mavlink_messages.cpp
index d7f56b63d3..1fd8b1a27a 100644
--- a/src/modules/mavlink/mavlink_messages.cpp
+++ b/src/modules/mavlink/mavlink_messages.cpp
@@ -176,6 +176,14 @@ void get_mavlink_mode_state(struct vehicle_status_s *status, struct position_set
 			custom_mode.sub_mode = PX4_CUSTOM_SUB_MODE_AUTO_LAND;
 			break;
 
+		case NAVIGATION_STATE_AUTO_RTGS:
+			*mavlink_base_mode |= MAV_MODE_FLAG_AUTO_ENABLED
+			                      | MAV_MODE_FLAG_STABILIZE_ENABLED
+					      | MAV_MODE_FLAG_GUIDED_ENABLED;
+			custom_mode.main_mode = PX4_CUSTOM_MAIN_MODE_AUTO;
+			custom_mode.sub_mode = PX4_CUSTOM_SUB_MODE_AUTO_RTGS;
+			break;
+
 		case NAVIGATION_STATE_TERMINATION:
 			*mavlink_base_mode |= MAV_MODE_FLAG_MANUAL_INPUT_ENABLED;
 			custom_mode.main_mode = PX4_CUSTOM_MAIN_MODE_MANUAL;
diff --git a/src/modules/navigator/navigator_main.cpp b/src/modules/navigator/navigator_main.cpp
index 50bcfd58db..661d3d744a 100644
--- a/src/modules/navigator/navigator_main.cpp
+++ b/src/modules/navigator/navigator_main.cpp
@@ -351,10 +351,9 @@ Navigator::task_main()
 				_navigation_mode = &_loiter;
 				break;
 			case NAVIGATION_STATE_AUTO_RTL:
-			case NAVIGATION_STATE_AUTO_FS_RC_LOSS:
 				_navigation_mode = &_rtl;
 				break;
-			case NAVIGATION_STATE_AUTO_FS_DL_LOSS:
+			case NAVIGATION_STATE_AUTO_RTGS:
 				_navigation_mode = &_rtl; /* TODO: change this to something else */
 				break;
 			case NAVIGATION_STATE_LAND:
diff --git a/src/modules/uORB/topics/vehicle_status.h b/src/modules/uORB/topics/vehicle_status.h
index 16652fddfe..5dc46dacbb 100644
--- a/src/modules/uORB/topics/vehicle_status.h
+++ b/src/modules/uORB/topics/vehicle_status.h
@@ -100,9 +100,8 @@ typedef enum {
 	NAVIGATION_STATE_POSCTL,		/**< Position control mode */
 	NAVIGATION_STATE_AUTO_MISSION,		/**< Auto mission mode */
 	NAVIGATION_STATE_AUTO_LOITER,		/**< Auto loiter mode */
-	NAVIGATION_STATE_AUTO_RTL,		/**< Auto RTL mode */
-	NAVIGATION_STATE_AUTO_FS_RC_LOSS,	/**< Auto failsafe mode on RC loss */
-	NAVIGATION_STATE_AUTO_FS_DL_LOSS,	/**< Auto failsafe mode on DL loss */
+	NAVIGATION_STATE_AUTO_RTL,		/**< Auto return to launch mode */
+	NAVIGATION_STATE_AUTO_RTGS,		/**< Auto return to groundstation on data link loss */
 	NAVIGATION_STATE_ACRO,			/**< Acro mode */
 	NAVIGATION_STATE_LAND,			/**< Land mode */
 	NAVIGATION_STATE_DESCEND,			/**< Descend mode (no position control) */