diff --git a/libraries/AP_ICEngine/AP_ICEngine.cpp b/libraries/AP_ICEngine/AP_ICEngine.cpp
index 67051949ab051..12ec2b02dd113 100644
--- a/libraries/AP_ICEngine/AP_ICEngine.cpp
+++ b/libraries/AP_ICEngine/AP_ICEngine.cpp
@@ -145,7 +145,7 @@ const AP_Param::GroupInfo AP_ICEngine::var_info[] = {
     // @Param: OPTIONS
     // @DisplayName: ICE options
     // @Description: Options for ICE control. The Disable ignition in RC failsafe option will cause the ignition to be set off on any R/C failsafe. If Throttle while disarmed is set then throttle control will be allowed while disarmed for planes when in MANUAL mode. If disable while disarmed is set the engine will not start while the vehicle is disarmed unless overriden by the MAVLink DO_ENGINE_CONTROL command.
-    // @Bitmask: 0:Disable ignition in RC failsafe,1:Disable redline governor,2:Throttle while disarmed,3:Disable while disarmed
+    // @Bitmask: 0:Disable ignition in RC failsafe,1:Disable redline governor,2:Throttle while disarmed,3:Disable while disarmed,4:Crank direction Reverse
     AP_GROUPINFO("OPTIONS", 15, AP_ICEngine, options, 0),
 
     // @Param: STARTCHN_MIN
@@ -627,7 +627,7 @@ void AP_ICEngine::set_starter(bool on)
     SRV_Channels::set_output_pwm(SRV_Channel::k_starter, on? pwm_starter_on : pwm_starter_off);
 
 #if AP_ICENGINE_TCA9554_STARTER_ENABLED
-    tca9554_starter.set_starter(on);
+    tca9554_starter.set_starter(on, option_set(Options::CRANK_DIR_REVERSE));
 #endif
 
 #if AP_RELAY_ENABLED
diff --git a/libraries/AP_ICEngine/AP_ICEngine.h b/libraries/AP_ICEngine/AP_ICEngine.h
index 351302e7638f0..36a9c78ffbddb 100644
--- a/libraries/AP_ICEngine/AP_ICEngine.h
+++ b/libraries/AP_ICEngine/AP_ICEngine.h
@@ -160,6 +160,7 @@ class AP_ICEngine {
         DISABLE_REDLINE_GOVERNOR     = (1U << 1),
         THROTTLE_WHILE_DISARMED      = (1U << 2),
         NO_RUNNING_WHILE_DISARMED    = (1U << 3),
+        CRANK_DIR_REVERSE            = (1U << 4),
     };
     AP_Int16 options;
 
diff --git a/libraries/AP_ICEngine/AP_ICEngine_TCA9554.cpp b/libraries/AP_ICEngine/AP_ICEngine_TCA9554.cpp
index fddfa3363fc11..802e1e4cb34d8 100644
--- a/libraries/AP_ICEngine/AP_ICEngine_TCA9554.cpp
+++ b/libraries/AP_ICEngine/AP_ICEngine_TCA9554.cpp
@@ -82,7 +82,7 @@ void AP_ICEngine_TCA9554::TCA9554_set(TCA9554_state_t value)
     }
 }
 
-void AP_ICEngine_TCA9554::set_starter(bool on)
+void AP_ICEngine_TCA9554::set_starter(bool on, bool crank_dir_reverse)
 {
     if (!initialised) {
         initialised = TCA9554_init();
@@ -91,7 +91,11 @@ void AP_ICEngine_TCA9554::set_starter(bool on)
             return;
         }
     }
-    TCA9554_set(on? STARTER_ON : STARTER_OFF);
+    if (!crank_dir_reverse) {
+        TCA9554_set(on? STARTER_FORWARD : STARTER_OFF);
+    } else {
+        TCA9554_set(on? STARTER_REVERSE : STARTER_OFF);
+    }
 }
 
 #endif // AP_ICENGINE_TCA9554_STARTER_ENABLED
diff --git a/libraries/AP_ICEngine/AP_ICEngine_TCA9554.h b/libraries/AP_ICEngine/AP_ICEngine_TCA9554.h
index 005a5ece6cfdf..25185ec3d6861 100644
--- a/libraries/AP_ICEngine/AP_ICEngine_TCA9554.h
+++ b/libraries/AP_ICEngine/AP_ICEngine_TCA9554.h
@@ -9,14 +9,15 @@
 
 class AP_ICEngine_TCA9554 {
 public:
-    void set_starter(bool on);
+    void set_starter(bool on, bool crank_dir_reverse);
 
 private:
     AP_HAL::OwnPtr<AP_HAL::I2CDevice> dev_TCA9554;
 
     enum TCA9554_state_t {
-        STARTER_OFF = 0x30,	// output register - 0011 0000
-        STARTER_ON  = 0x11, // output register - 0001 0001 - Forward direction
+        STARTER_OFF = 0x30, // output register - 0011 0000
+        STARTER_FORWARD = 0x11, // output register - 0001 0001 - Forward direction
+        STARTER_REVERSE = 0x01, // output register - 0000 0001 - Reverse direction
     };
     TCA9554_state_t last_state;