diff --git a/Firmware/MotorControl/axis.cpp b/Firmware/MotorControl/axis.cpp
index 6358137c..2275aa97 100644
--- a/Firmware/MotorControl/axis.cpp
+++ b/Firmware/MotorControl/axis.cpp
@@ -332,8 +332,11 @@ void Axis::run_state_machine_loop() {
                     task_chain_[pos++] = AXIS_STATE_ENCODER_INDEX_SEARCH;
                 if (config_.startup_encoder_offset_calibration)
                     task_chain_[pos++] = AXIS_STATE_ENCODER_OFFSET_CALIBRATION;
-                if (config_.startup_closed_loop_control)
+                if (config_.startup_closed_loop_control){
                     task_chain_[pos++] = AXIS_STATE_CLOSED_LOOP_CONTROL;
+                    if(config_.startup_homing)
+                        task_chain_[pos++] = AXIS_STATE_HOMING;
+                }
                 else if (config_.startup_sensorless_control)
                     task_chain_[pos++] = AXIS_STATE_SENSORLESS_CONTROL;
                 task_chain_[pos++] = AXIS_STATE_IDLE;
diff --git a/Firmware/MotorControl/axis.hpp b/Firmware/MotorControl/axis.hpp
index 0f4fd53f..21c8ff16 100644
--- a/Firmware/MotorControl/axis.hpp
+++ b/Firmware/MotorControl/axis.hpp
@@ -34,6 +34,7 @@ struct AxisConfig_t {
     bool startup_encoder_offset_calibration = false; //<! run encoder offset calibration after startup, skip otherwise
     bool startup_closed_loop_control = false; //<! enable closed loop control after calibration/startup
     bool startup_sensorless_control = false; //<! enable sensorless control after calibration/startup
+    bool startup_homing = false; //<! enable homing after calibration/startup
     bool enable_step_dir = false; //<! enable step/dir input after calibration
                                  //   For M0 this has no effect if enable_uart is true
 
@@ -196,6 +197,7 @@ public:
                 make_protocol_property("startup_encoder_offset_calibration", &config_.startup_encoder_offset_calibration),
                 make_protocol_property("startup_closed_loop_control", &config_.startup_closed_loop_control),
                 make_protocol_property("startup_sensorless_control", &config_.startup_sensorless_control),
+                make_protocol_property("startup_homing", &config_.startup_homing),
                 make_protocol_property("enable_step_dir", &config_.enable_step_dir),
                 make_protocol_property("counts_per_step", &config_.counts_per_step),
                 make_protocol_property("ramp_up_time", &config_.ramp_up_time),