diff --git a/ArduPlane/ArduPlane.cpp b/ArduPlane/ArduPlane.cpp
index 7d27791de5571..d24de4427f900 100644
--- a/ArduPlane/ArduPlane.cpp
+++ b/ArduPlane/ArduPlane.cpp
@@ -684,11 +684,13 @@ void Plane::update_flight_stage(void)
             }
 #endif
             set_flight_stage(AP_FixedWing::FlightStage::NORMAL);
-        } else if (control_mode != &mode_takeoff) {
+        } else if ((control_mode != &mode_takeoff) && (control_mode != &mode_autoland)) {
             // If not in AUTO then assume normal operation for normal TECS operation.
             // This prevents TECS from being stuck in the wrong stage if you switch from
             // AUTO to, say, FBWB during a landing, an aborted landing or takeoff.
             set_flight_stage(AP_FixedWing::FlightStage::NORMAL);
+        } else  if (control_mode == &mode_autoland) {
+            set_flight_stage(AP_FixedWing::FlightStage::LAND);
         }
         return;
     }
diff --git a/ArduPlane/GCS_Mavlink.cpp b/ArduPlane/GCS_Mavlink.cpp
index 7aaba22f70a3e..db5ba5c397db5 100644
--- a/ArduPlane/GCS_Mavlink.cpp
+++ b/ArduPlane/GCS_Mavlink.cpp
@@ -59,6 +59,7 @@ MAV_MODE GCS_MAVLINK_Plane::base_mode() const
     case Mode::Number::GUIDED:
     case Mode::Number::CIRCLE:
     case Mode::Number::TAKEOFF:
+    case Mode::Number::AUTOLAND:
 #if HAL_QUADPLANE_ENABLED
     case Mode::Number::QRTL:
     case Mode::Number::LOITER_ALT_QLAND:
diff --git a/ArduPlane/GCS_Plane.cpp b/ArduPlane/GCS_Plane.cpp
index a193f44e0858d..19623d898b072 100644
--- a/ArduPlane/GCS_Plane.cpp
+++ b/ArduPlane/GCS_Plane.cpp
@@ -70,6 +70,7 @@ void GCS_Plane::update_vehicle_sensor_status_flags(void)
     case Mode::Number::GUIDED:
     case Mode::Number::CIRCLE:
     case Mode::Number::TAKEOFF:
+    case Mode::Number::AUTOLAND:
 #if HAL_QUADPLANE_ENABLED
     case Mode::Number::QRTL:
     case Mode::Number::LOITER_ALT_QLAND:
diff --git a/ArduPlane/Parameters.cpp b/ArduPlane/Parameters.cpp
index 8dcd235220086..24d8fe8d1f009 100644
--- a/ArduPlane/Parameters.cpp
+++ b/ArduPlane/Parameters.cpp
@@ -1027,6 +1027,10 @@ const AP_Param::Info Plane::var_info[] = {
     // @Group: TKOFF_
     // @Path: mode_takeoff.cpp
     GOBJECT(mode_takeoff, "TKOFF_", ModeTakeoff),
+    
+    // @Group: AUTOLAND_
+    // @Path: mode_autoland.cpp
+    GOBJECT(mode_autoland, "AUTOLAND_", ModeAutoLand),
 
 #if AP_PLANE_GLIDER_PULLUP_ENABLED
     // @Group: PUP_
diff --git a/ArduPlane/Parameters.h b/ArduPlane/Parameters.h
index e7cc5326f4280..9945869250b4b 100644
--- a/ArduPlane/Parameters.h
+++ b/ArduPlane/Parameters.h
@@ -363,6 +363,8 @@ class Parameters {
 
         k_param_pullup = 270,
         k_param_quicktune,
+        k_param_mode_autoland, 
+
     };
 
     AP_Int16 format_version;
diff --git a/ArduPlane/Plane.h b/ArduPlane/Plane.h
index df180b6f745a0..21db33698d80e 100644
--- a/ArduPlane/Plane.h
+++ b/ArduPlane/Plane.h
@@ -172,6 +172,7 @@ class Plane : public AP_Vehicle {
     friend class ModeTakeoff;
     friend class ModeThermal;
     friend class ModeLoiterAltQLand;
+    friend class ModeAutoLand;
 
 #if AP_EXTERNAL_CONTROL_ENABLED
     friend class AP_ExternalControl_Plane;
@@ -326,6 +327,7 @@ class Plane : public AP_Vehicle {
 #endif  // QAUTOTUNE_ENABLED
 #endif  // HAL_QUADPLANE_ENABLED
     ModeTakeoff mode_takeoff;
+    ModeAutoLand mode_autoland;
 #if HAL_SOARING_ENABLED
     ModeThermal mode_thermal;
 #endif
@@ -454,6 +456,9 @@ class Plane : public AP_Vehicle {
         float throttle_lim_min;
         uint32_t throttle_max_timer_ms;
         uint32_t level_off_start_time_ms;
+        // Good candidate for keeping the initial time for TKOFF_THR_MAX_T.
+        int32_t takeoff_initial_direction; //deg
+        bool takeoff_direction_initialized;
     } takeoff_state;
 
     // ground steering controller state
diff --git a/ArduPlane/commands_logic.cpp b/ArduPlane/commands_logic.cpp
index 624dc2749c597..7ed81c1800b3c 100644
--- a/ArduPlane/commands_logic.cpp
+++ b/ArduPlane/commands_logic.cpp
@@ -382,6 +382,7 @@ void Plane::do_takeoff(const AP_Mission::Mission_Command& cmd)
     // zero locked course
     steer_state.locked_course_err = 0;
     steer_state.hold_course_cd = -1;
+    takeoff_state.takeoff_direction_initialized = false;
     auto_state.baro_takeoff_alt = barometer.get_altitude();
 }
 
@@ -550,12 +551,15 @@ bool Plane::verify_takeoff()
     trust_ahrs_yaw |= ahrs.dcm_yaw_initialised();
 #endif
     if (trust_ahrs_yaw && steer_state.hold_course_cd == -1) {
-        const float min_gps_speed = 5;
+        const float min_gps_speed = GPS_GND_CRS_MIN_SPD;
         if (auto_state.takeoff_speed_time_ms == 0 && 
             gps.status() >= AP_GPS::GPS_OK_FIX_3D && 
             gps.ground_speed() > min_gps_speed &&
             hal.util->safety_switch_state() != AP_HAL::Util::SAFETY_DISARMED) {
             auto_state.takeoff_speed_time_ms = millis();
+            takeoff_state.takeoff_initial_direction = gps.ground_course();
+            takeoff_state.takeoff_direction_initialized = true;
+            gcs().send_text(MAV_SEVERITY_INFO, "Takeoff initial direction= %u",int(takeoff_state.takeoff_initial_direction));
         }
         if (auto_state.takeoff_speed_time_ms != 0 &&
             millis() - auto_state.takeoff_speed_time_ms >= 2000) {
diff --git a/ArduPlane/control_modes.cpp b/ArduPlane/control_modes.cpp
index 7f15e0e2663f9..64e8a87047cda 100644
--- a/ArduPlane/control_modes.cpp
+++ b/ArduPlane/control_modes.cpp
@@ -83,6 +83,9 @@ Mode *Plane::mode_from_mode_num(const enum Mode::Number num)
     case Mode::Number::TAKEOFF:
         ret = &mode_takeoff;
         break;
+    case Mode::Number::AUTOLAND:
+        ret = &mode_autoland;
+        break;
     case Mode::Number::THERMAL:
 #if HAL_SOARING_ENABLED
         ret = &mode_thermal;
diff --git a/ArduPlane/defines.h b/ArduPlane/defines.h
index 561e1deb39285..11245cc7aff91 100644
--- a/ArduPlane/defines.h
+++ b/ArduPlane/defines.h
@@ -10,6 +10,8 @@
 
 #define TAKEOFF_RUDDER_WARNING_TIMEOUT 3000 //ms that GCS warning about not returning arming rudder to neutral repeats
 
+#define GPS_GND_CRS_MIN_SPD 5 // m/s, used to set when takeoff_initial_direction is captured in NAV_TAKEOFF and Mode TAKEOFF
+
 // failsafe
 // ----------------------
 enum failsafe_state {
@@ -45,6 +47,7 @@ enum failsafe_action_long {
     FS_ACTION_LONG_GLIDE = 2,
     FS_ACTION_LONG_PARACHUTE = 3,
     FS_ACTION_LONG_AUTO = 4,
+    FS_ACTION_LONG_AUTOLAND = 5,
 };
 
 // type of stick mixing enabled
diff --git a/ArduPlane/events.cpp b/ArduPlane/events.cpp
index 64127c633c181..c4ab3211edcf0 100644
--- a/ArduPlane/events.cpp
+++ b/ArduPlane/events.cpp
@@ -65,7 +65,8 @@ void Plane::failsafe_short_on_event(enum failsafe_state fstype, ModeReason reaso
         break;
 #endif // HAL_QUADPLANE_ENABLED
 
-    case Mode::Number::AUTO: {
+    case Mode::Number::AUTO:
+    case Mode::Number::AUTOLAND: {
         if (failsafe_in_landing_sequence()) {
             // don't failsafe in a landing sequence
             break;
@@ -145,6 +146,10 @@ void Plane::failsafe_long_on_event(enum failsafe_state fstype, ModeReason reason
             set_mode(mode_fbwa, reason);
         } else if (g.fs_action_long == FS_ACTION_LONG_AUTO) {
             set_mode(mode_auto, reason);
+        } else if (g.fs_action_long == FS_ACTION_LONG_AUTOLAND) {
+            if(!set_mode(mode_autoland, reason)) {
+               set_mode(mode_rtl, reason);
+            }
         } else {
             set_mode(mode_rtl, reason);
         }
@@ -194,6 +199,10 @@ void Plane::failsafe_long_on_event(enum failsafe_state fstype, ModeReason reason
             set_mode(mode_fbwa, reason);
         } else if (g.fs_action_long == FS_ACTION_LONG_AUTO) {
             set_mode(mode_auto, reason);
+        } else if (g.fs_action_long == FS_ACTION_LONG_AUTOLAND) {
+            if(!set_mode(mode_autoland, reason)) {
+               set_mode(mode_rtl, reason);
+            }            
         } else if (g.fs_action_long == FS_ACTION_LONG_RTL) {
             set_mode(mode_rtl, reason);
         }
@@ -202,6 +211,8 @@ void Plane::failsafe_long_on_event(enum failsafe_state fstype, ModeReason reason
     case Mode::Number::RTL:
         if (g.fs_action_long == FS_ACTION_LONG_AUTO) {
             set_mode(mode_auto, reason);
+        } else if (g.fs_action_long == FS_ACTION_LONG_AUTOLAND) {
+            set_mode(mode_autoland, reason);
         }
         break;
 #if HAL_QUADPLANE_ENABLED
@@ -210,6 +221,7 @@ void Plane::failsafe_long_on_event(enum failsafe_state fstype, ModeReason reason
     case Mode::Number::LOITER_ALT_QLAND:
 #endif
     case Mode::Number::INITIALISING:
+    case Mode::Number::AUTOLAND:
         break;
     }
     gcs().send_text(MAV_SEVERITY_WARNING, "%s Failsafe On: %s", (reason == ModeReason:: GCS_FAILSAFE) ? "GCS" : "RC Long", control_mode->name());
diff --git a/ArduPlane/mode.cpp b/ArduPlane/mode.cpp
index 8bece6d4187c3..7be469079d7cc 100644
--- a/ArduPlane/mode.cpp
+++ b/ArduPlane/mode.cpp
@@ -141,6 +141,10 @@ bool Mode::enter()
 
         // Make sure the flight stage is correct for the new mode
         plane.update_flight_stage();
+        
+        // reset landing state
+        plane.landing.reset();
+
 
 #if HAL_QUADPLANE_ENABLED
         if (quadplane.enabled()) {
diff --git a/ArduPlane/mode.h b/ArduPlane/mode.h
index 213e547c6a668..10727fc0a71f4 100644
--- a/ArduPlane/mode.h
+++ b/ArduPlane/mode.h
@@ -61,6 +61,7 @@ class Mode
 #if HAL_QUADPLANE_ENABLED
         LOITER_ALT_QLAND = 25,
 #endif
+        AUTOLAND      = 26,
     };
 
     // Constructor
@@ -858,6 +859,39 @@ class ModeTakeoff: public Mode
 
 };
 
+class ModeAutoLand: public Mode
+{
+public:
+    ModeAutoLand();
+
+    Number mode_number() const override { return Number::AUTOLAND; }
+    const char *name() const override { return "AUTOLAND"; }
+    const char *name4() const override { return "ALND"; }
+
+    // methods that affect movement of the vehicle in this mode
+    void update() override;
+
+    void navigate() override;
+
+    bool allows_throttle_nudging() const override { return true; }
+
+    bool does_auto_navigation() const override { return true; }
+
+    bool does_auto_throttle() const override { return true; }
+    
+
+    // var_info for holding parameter information
+    static const struct AP_Param::GroupInfo var_info[];
+
+    AP_Int16 final_wp_alt;
+    AP_Int16 final_wp_dist;
+
+protected:
+    bool _enter() override;
+    AP_Mission::Mission_Command cmd;
+    bool land_started;
+};
+
 #if HAL_SOARING_ENABLED
 
 class ModeThermal: public Mode
diff --git a/ArduPlane/mode_autoland.cpp b/ArduPlane/mode_autoland.cpp
new file mode 100644
index 0000000000000..e9d13858035a2
--- /dev/null
+++ b/ArduPlane/mode_autoland.cpp
@@ -0,0 +1,105 @@
+#include "mode.h"
+#include "Plane.h"
+#include <GCS_MAVLink/GCS.h>
+
+/*
+  mode AutoLand parameters
+ */
+const AP_Param::GroupInfo ModeAutoLand::var_info[] = {
+    // @Param: WP_ALT
+    // @DisplayName: Final approach WP altitude
+    // @Description: This is the target altitude above HOME for final approach waypoint
+    // @Range: 0 200
+    // @Increment: 1
+    // @Units: m
+    // @User: Standard
+    AP_GROUPINFO("WP_ALT", 1, ModeAutoLand, final_wp_alt, 55),
+
+    // @Param: WP_DIST
+    // @DisplayName: Final approach WP distance
+    // @Description: This is the distance from Home that the final approach waypoint is set. The waypoint point will be in the opposite direction of takeoff (the direction the plane is facing when the plane sets its takeoff heading)
+    // @Range: 0 700
+    // @Increment: 1
+    // @Units: m
+    // @User: Standard
+    AP_GROUPINFO("WP_DIST", 2, ModeAutoLand, final_wp_dist, 400),
+
+    AP_GROUPEND
+};
+
+ModeAutoLand::ModeAutoLand() :
+    Mode()
+{
+    AP_Param::setup_object_defaults(this, var_info);
+}
+
+bool ModeAutoLand::_enter()
+{             
+    //must be flying to enter
+    if (!plane.is_flying()) { 
+        gcs().send_text(MAV_SEVERITY_WARNING, "Must already be flying!"); 
+        return false;
+    }
+    
+    //takeoff direction must be set and must not be a quadplane, otherwise since flying switch to RTL so this can be used as FS action
+#if HAL_QUADPLANE_ENABLED
+    if (quadplane.available()) {
+        gcs().send_text(MAV_SEVERITY_WARNING, "AutoLand is fixed wing only mode"); 
+        return false; 
+    }
+#endif
+    if (!plane.takeoff_state.takeoff_direction_initialized) {
+        gcs().send_text(MAV_SEVERITY_WARNING, "Takeoff initial direction not set,must use autotakeoff");
+        return false;
+    }
+
+
+    //setup final approach waypoint
+    plane.prev_WP_loc = plane.current_loc;
+    const Location &home = ahrs.get_home();
+    plane.set_target_altitude_current();
+    plane.next_WP_loc = home;
+    uint16_t bearing_cd = wrap_360_cd((plane.takeoff_state.takeoff_initial_direction + 180)*100);
+    plane.next_WP_loc.offset_bearing(bearing_cd * 0.01f, final_wp_dist);
+    plane.next_WP_loc.set_alt_m(final_wp_alt, Location::AltFrame::ABOVE_HOME);
+    
+    // create a command to fly to final approach waypoint and start it
+    cmd.id = MAV_CMD_NAV_WAYPOINT;
+    cmd.content.location = plane.next_WP_loc;
+    plane.start_command(cmd);
+    land_started = false;
+    return true;
+}
+
+void ModeAutoLand::update()
+{
+    plane.calc_nav_roll();
+    plane.calc_nav_pitch();
+    plane.set_offset_altitude_location(plane.prev_WP_loc, plane.next_WP_loc);
+    if (plane.landing.is_throttle_suppressed()) {
+       // if landing is considered complete throttle is never allowed, regardless of landing type
+       SRV_Channels::set_output_scaled(SRV_Channel::k_throttle, 0.0);
+    } else {
+       plane.calc_throttle();
+    }
+}
+
+void ModeAutoLand::navigate()
+{    
+    // check to see if if we have reached final approach waypoint, switch to NAV_LAND command and start it once if so
+    if (!land_started){
+        if (plane.verify_nav_wp(cmd)){
+            const Location &home_loc = ahrs.get_home();
+            cmd.id = MAV_CMD_NAV_LAND;
+            cmd.content.location = home_loc;
+            land_started = true;
+            plane.prev_WP_loc = plane.current_loc;
+            plane.next_WP_loc = home_loc;
+            plane.start_command(cmd);
+        }
+        return;
+    //otherwise keep flying the current command   
+    } else {
+       plane.verify_command(cmd);
+    }
+}
diff --git a/ArduPlane/mode_takeoff.cpp b/ArduPlane/mode_takeoff.cpp
index 42cdcb3d45673..54b09a80fc0aa 100644
--- a/ArduPlane/mode_takeoff.cpp
+++ b/ArduPlane/mode_takeoff.cpp
@@ -134,6 +134,7 @@ void ModeTakeoff::update()
                 plane.takeoff_state.throttle_max_timer_ms = millis();
                 takeoff_mode_setup = true;
                 plane.steer_state.hold_course_cd = wrap_360_cd(direction*100); // Necessary to allow Plane::takeoff_calc_roll() to function.
+                plane.takeoff_state.takeoff_direction_initialized = false;
             }
         }
     }
@@ -142,6 +143,15 @@ void ModeTakeoff::update()
         plane.set_flight_stage(AP_FixedWing::FlightStage::NORMAL);
         takeoff_mode_setup = false;
     }
+    
+    // set takeoff_initial_direction
+    const float min_gps_speed = GPS_GND_CRS_MIN_SPD;
+    if (!(plane.takeoff_state.takeoff_direction_initialized) && (plane.gps.ground_speed() > min_gps_speed)
+       && (plane.flight_stage == AP_FixedWing::FlightStage::TAKEOFF)) {
+       plane.takeoff_state.takeoff_initial_direction = plane.gps.ground_course();
+       plane.takeoff_state.takeoff_direction_initialized = true;
+       gcs().send_text(MAV_SEVERITY_INFO, "Takeoff initial direction= %u",int(plane.takeoff_state.takeoff_initial_direction));
+    }
 
     // We update the waypoint to follow once we're past TKOFF_LVL_ALT or we
     // pass the target location. The check for target location prevents us
diff --git a/Tools/autotest/arduplane.py b/Tools/autotest/arduplane.py
index 8e49b0f2038cc..539841109442d 100644
--- a/Tools/autotest/arduplane.py
+++ b/Tools/autotest/arduplane.py
@@ -4201,6 +4201,20 @@ def FlyEachFrame(self):
             self.fly_mission(mission_file, strict=False, quadplane=quadplane, mission_timeout=400.0)
             self.wait_disarmed()
 
+    def AutoLandMode(self):
+        '''Test AUTOLAND mode'''
+        self.customise_SITL_commandline(["--home", "-35.362938,149.165085,585,173"])
+        self.context_collect('STATUSTEXT')
+        self.takeoff(alt=80, mode='TAKEOFF')
+        self.wait_text("Takeoff initial direction", check_context=True)
+        self.change_mode(26)
+        self.wait_disarmed(120)
+        self.progress("Check the landed heading matches takeoff")
+        self.wait_heading(173, accuracy=5, timeout=1)
+        loc = mavutil.location(-35.362938, 149.165085, 585, 173)
+        if self.get_distance(loc, self.mav.location()) > 35:
+            raise NotAchievedException("Did not land close to home")
+
     def RCDisableAirspeedUse(self):
         '''Test RC DisableAirspeedUse option'''
         self.set_parameter("RC9_OPTION", 106)
@@ -6548,6 +6562,7 @@ def tests1b(self):
             self.MAV_CMD_DO_AUX_FUNCTION,
             self.SmartBattery,
             self.FlyEachFrame,
+            self.AutoLandMode,
             self.RCDisableAirspeedUse,
             self.AHRS_ORIENTATION,
             self.AHRSTrim,
diff --git a/libraries/AP_Landing/AP_Landing.cpp b/libraries/AP_Landing/AP_Landing.cpp
index 16cb32630e30b..ac080c52dbdfd 100644
--- a/libraries/AP_Landing/AP_Landing.cpp
+++ b/libraries/AP_Landing/AP_Landing.cpp
@@ -463,6 +463,18 @@ void AP_Landing::setup_landing_glide_slope(const Location &prev_WP_loc, const Lo
     }
 }
 
+/*
+  reset landing state
+ */
+void AP_Landing::reset(void)
+{
+    initial_slope = 0;
+    slope = 0;
+    type_slope_flags.post_stats = false;
+    type_slope_flags.has_aborted_due_to_slope_recalc = false;
+    type_slope_stage = SlopeStage::NORMAL;
+}
+
 /*
      Restart a landing by first checking for a DO_LAND_START and
      jump there. Otherwise decrement waypoint so we would re-start
diff --git a/libraries/AP_Landing/AP_Landing.h b/libraries/AP_Landing/AP_Landing.h
index 80349010bc9da..bd85696c961fc 100644
--- a/libraries/AP_Landing/AP_Landing.h
+++ b/libraries/AP_Landing/AP_Landing.h
@@ -66,6 +66,8 @@ class AP_Landing {
 
     void convert_parameters(void);
 
+    void reset(void);
+
     void do_land(const AP_Mission::Mission_Command& cmd, const float relative_altitude);
     bool verify_abort_landing(const Location &prev_WP_loc, Location &next_WP_loc, const Location &current_loc,
             const int32_t auto_state_takeoff_altitude_rel_cm, bool &throttle_suppressed);
diff --git a/libraries/AP_Vehicle/ModeReason.h b/libraries/AP_Vehicle/ModeReason.h
index a1936d8e455bf..0c31652780dc5 100644
--- a/libraries/AP_Vehicle/ModeReason.h
+++ b/libraries/AP_Vehicle/ModeReason.h
@@ -71,4 +71,5 @@ enum class ModeReason : uint8_t {
   MODE_TAKEOFF_FAILSAFE = 51,
   DDS_COMMAND = 52,
   AUX_FUNCTION = 53,
+  FIXED_WING_AUTOLAND = 54,
 };