diff --git a/Rover/mode.cpp b/Rover/mode.cpp
index 866b7a5397ce82..b5800acb340eb1 100644
--- a/Rover/mode.cpp
+++ b/Rover/mode.cpp
@@ -44,7 +44,8 @@ bool Mode::enter()
 
     // initialisation common to all modes
     if (ret) {
-        set_reversed(false);
+        // init reversed flag
+        init_reversed_flag();
 
         // clear sailboat tacking flags
         g2.sailboat.clear_tack();
diff --git a/Rover/mode.h b/Rover/mode.h
index f166843ed0d231..71715d5486c103 100644
--- a/Rover/mode.h
+++ b/Rover/mode.h
@@ -124,6 +124,9 @@ class Mode
     // execute the mission in reverse (i.e. backing up)
     void set_reversed(bool value);
 
+    // init reversed flag for autopilot mode
+    virtual void init_reversed_flag() { if (is_autopilot_mode()) { set_reversed(false); } }
+
     // handle tacking request (from auxiliary switch) in sailboats
     virtual void handle_tack_request();
 
@@ -277,6 +280,13 @@ class ModeAuto : public Mode
     bool nav_script_time(uint16_t &id, uint8_t &cmd, float &arg1, float &arg2, int16_t &arg3, int16_t &arg4);
     void nav_script_time_done(uint16_t id);
 
+    // 
+    void init_reversed_flag() override {
+        if (!mission.is_resume()) {
+            set_reversed(false);
+        }
+    }
+
     AP_Mission mission{
         FUNCTOR_BIND_MEMBER(&ModeAuto::start_command, bool, const AP_Mission::Mission_Command&),
         FUNCTOR_BIND_MEMBER(&ModeAuto::verify_command_callback, bool, const AP_Mission::Mission_Command&),
diff --git a/libraries/AP_Mission/AP_Mission.h b/libraries/AP_Mission/AP_Mission.h
index a06fa0012811fe..e76c3a638f5486 100644
--- a/libraries/AP_Mission/AP_Mission.h
+++ b/libraries/AP_Mission/AP_Mission.h
@@ -709,6 +709,9 @@ class AP_Mission
         _force_resume = force_resume;
     }
 
+    // returns true if configured to resume
+    bool is_resume() const { return _restart == 0 || _force_resume; }
+
     // get a reference to the AP_Mission semaphore, allowing an external caller to lock the
     // storage while working with multiple waypoints
     HAL_Semaphore &get_semaphore(void)