diff --git a/ArduCopter/GCS_Copter.cpp b/ArduCopter/GCS_Copter.cpp
index 949ffc8982a..213144b3add 100644
--- a/ArduCopter/GCS_Copter.cpp
+++ b/ArduCopter/GCS_Copter.cpp
@@ -58,6 +58,7 @@ void GCS_Copter::update_vehicle_sensor_status_flags(void)
 
     switch (copter.flightmode->mode_number()) {
     case Mode::Number::AUTO:
+    case Mode::Number::AUTO_RTL:
     case Mode::Number::AVOID_ADSB:
     case Mode::Number::GUIDED:
     case Mode::Number::LOITER:
diff --git a/ArduCopter/GCS_Mavlink.cpp b/ArduCopter/GCS_Mavlink.cpp
index 3b66ce3dc27..e5edb5b66bf 100644
--- a/ArduCopter/GCS_Mavlink.cpp
+++ b/ArduCopter/GCS_Mavlink.cpp
@@ -23,6 +23,7 @@ MAV_MODE GCS_MAVLINK_Copter::base_mode() const
     // ArduPlane documentation
     switch (copter.flightmode->mode_number()) {
     case Mode::Number::AUTO:
+    case Mode::Number::AUTO_RTL:
     case Mode::Number::RTL:
     case Mode::Number::LOITER:
     case Mode::Number::AVOID_ADSB:
diff --git a/ArduCopter/RC_Channel.cpp b/ArduCopter/RC_Channel.cpp
index 066653ca6c6..09c03e04fe4 100644
--- a/ArduCopter/RC_Channel.cpp
+++ b/ArduCopter/RC_Channel.cpp
@@ -212,7 +212,7 @@ bool RC_Channel_Copter::do_aux_function(const aux_func_t ch_option, const AuxSwi
             if (ch_flag == RC_Channel::AuxSwitchPos::HIGH) {
 
                 // do not allow saving new waypoints while we're in auto or disarmed
-                if (copter.flightmode->mode_number() == Mode::Number::AUTO || !copter.motors->armed()) {
+                if (copter.flightmode->mode_number() == Mode::Number::AUTO || copter.flightmode->mode_number() == Mode::Number::AUTO_RTL || !copter.motors->armed()) {
                     break;
                 }
 
diff --git a/ArduCopter/afs_copter.cpp b/ArduCopter/afs_copter.cpp
index e7f26e40a4f..efe6a84a3b7 100644
--- a/ArduCopter/afs_copter.cpp
+++ b/ArduCopter/afs_copter.cpp
@@ -63,6 +63,7 @@ AP_AdvancedFailsafe::control_mode AP_AdvancedFailsafe_Copter::afs_mode(void)
 {
     switch (copter.flightmode->mode_number()) {
     case Mode::Number::AUTO:
+    case Mode::Number::AUTO_RTL:
     case Mode::Number::GUIDED:
     case Mode::Number::RTL:
     case Mode::Number::LAND:
diff --git a/ArduCopter/events.cpp b/ArduCopter/events.cpp
index e04f9d0807c..16b04c08207 100644
--- a/ArduCopter/events.cpp
+++ b/ArduCopter/events.cpp
@@ -365,6 +365,7 @@ bool Copter::should_disarm_on_failsafe() {
             // if throttle is zero OR vehicle is landed disarm motors
             return ap.throttle_zero || ap.land_complete;
         case Mode::Number::AUTO:
+        case Mode::Number::AUTO_RTL:
             // if mission has not started AND vehicle is landed, disarm motors
             return !ap.auto_armed && ap.land_complete;
         default: