diff --git a/libraries/RC_Channel/RC_Channel.cpp b/libraries/RC_Channel/RC_Channel.cpp
index be3480ed157..359f5d3c147 100644
--- a/libraries/RC_Channel/RC_Channel.cpp
+++ b/libraries/RC_Channel/RC_Channel.cpp
@@ -250,8 +250,9 @@ const AP_Param::GroupInfo RC_Channel::var_info[] = {
     // @Values{Copter}: 182: AHRS AutoTrim
     // @Values{Plane}: 183: AUTOLAND mode
     // @Values{Plane}: 184: System ID Chirp
-    // @Values{Copter, Rover, Plane, Blimp, Sub}:  185:Mount Roll/Pitch Lock
-    // @Values{Copter, Rover, Plane, Blimp, Sub}:  186:Mount POI Lock
+    // @Values{Copter, Rover, Plane, Blimp, Sub}: 185:Mount Roll/Pitch Lock
+    // @Values{Copter, Rover, Plane, Blimp, Sub}: 186:Mount POI Lock
+    // @Values{Copter, Rover, Plane, Blimp, Sub}: 187:EKF Reset
     // @Values{Rover}: 201:Roll
     // @Values{Rover}: 202:Pitch
     // @Values{Rover}: 207:MainSail
@@ -697,6 +698,9 @@ void RC_Channel::init_aux_function(const AUX_FUNC ch_option, const AuxSwitchPos
     case AUX_FUNC::EKF_LANE_SWITCH:
     case AUX_FUNC::EKF_YAW_RESET:
 #endif
+#if AP_AHRS_EKF_RESET_ENABLED
+    case AUX_FUNC::EKF_RESET:
+#endif
 #if HAL_GENERATOR_ENABLED
     case AUX_FUNC::GENERATOR: // don't turn generator on or off initially
 #endif
@@ -1926,6 +1930,18 @@ bool RC_Channel::do_aux_function(const AuxFuncTrigger &trigger)
         AP::ahrs().request_yaw_reset();
         break;
 
+#if AP_AHRS_EKF_RESET_ENABLED
+    case AUX_FUNC::EKF_RESET:
+        if (ch_flag == AuxSwitchPos::HIGH) {
+            if (AP::ahrs().reset_configured_backend() && hal.util->get_soft_armed()) {
+                GCS_SEND_TEXT(MAV_SEVERITY_WARNING, "EKF bootstrap reset performed");
+            } else {
+                GCS_SEND_TEXT(MAV_SEVERITY_WARNING, "EKF bootstrap reset failed");
+            }
+        }
+        break;
+#endif  // AP_AHRS_EKF_RESET_ENABLED
+
     case AUX_FUNC::AHRS_TYPE: {
 #if HAL_NAVEKF3_AVAILABLE && AP_EXTERNAL_AHRS_ENABLED
         AP::ahrs().set_ekf_type(ch_flag==AuxSwitchPos::HIGH? AP_AHRS::EKFType::EXTERNAL : AP_AHRS::EKFType::THREE);
diff --git a/libraries/RC_Channel/RC_Channel.h b/libraries/RC_Channel/RC_Channel.h
index e4809436abf..74ea99052b3 100644
--- a/libraries/RC_Channel/RC_Channel.h
+++ b/libraries/RC_Channel/RC_Channel.h
@@ -372,6 +372,9 @@ public:
 #if AP_MOUNT_POI_LOCK_ENABLED
         MOUNT_POI_LOCK =     186,  // Lock mount target to current ROI seen and switch mount to GPS Targeting mode
 #endif  // AP_MOUNT_POI_LOCK_ENABLED
+#if AP_AHRS_EKF_RESET_ENABLED
+        EKF_RESET =          187, // trigger full EKF bootstrap reset
+#endif  // AP_AHRS_EKF_RESET_ENABLED
         // inputs from 200 will eventually used to replace RCMAP
         ROLL =               201, // roll input
         PITCH =              202, // pitch input