diff --git a/ArduPlane/AP_Arming.cpp b/ArduPlane/AP_Arming.cpp
index fca35f8d088fe..25a43be25cab3 100644
--- a/ArduPlane/AP_Arming.cpp
+++ b/ArduPlane/AP_Arming.cpp
@@ -378,8 +378,11 @@ bool AP_Arming_Plane::disarm(const AP_Arming::Method method, bool do_disarm_chec
     // DO_CHANGE_SPEED commands
     plane.new_airspeed_cm = -1;
 
+#if MODE_AUTOLAND_ENABLED
+    // takeoff direction always cleared on disarm
+    plane.takeoff_state.initial_direction.initialized = false;
+#endif
     send_arm_disarm_statustext("Throttle disarmed");
-
     return true;
 }
 
diff --git a/ArduPlane/GCS_MAVLink_Plane.cpp b/ArduPlane/GCS_MAVLink_Plane.cpp
index 17b723fdc511b..3ae02911466d5 100644
--- a/ArduPlane/GCS_MAVLink_Plane.cpp
+++ b/ArduPlane/GCS_MAVLink_Plane.cpp
@@ -59,6 +59,9 @@ MAV_MODE GCS_MAVLINK_Plane::base_mode() const
     case Mode::Number::GUIDED:
     case Mode::Number::CIRCLE:
     case Mode::Number::TAKEOFF:
+#if MODE_AUTOLAND_ENABLED
+    case Mode::Number::AUTOLAND:
+#endif
 #if HAL_QUADPLANE_ENABLED
     case Mode::Number::QRTL:
     case Mode::Number::LOITER_ALT_QLAND:
@@ -1588,6 +1591,9 @@ uint8_t GCS_MAVLINK_Plane::send_available_mode(uint8_t index) const
         &plane.mode_takeoff,
 #if HAL_SOARING_ENABLED
         &plane.mode_thermal,
+#endif
+#if MODE_AUTOLAND_ENABLED
+        &plane.mode_autoland,
 #endif
     };
 
diff --git a/ArduPlane/GCS_Plane.cpp b/ArduPlane/GCS_Plane.cpp
index a193f44e0858d..6b76d734cb3d7 100644
--- a/ArduPlane/GCS_Plane.cpp
+++ b/ArduPlane/GCS_Plane.cpp
@@ -70,6 +70,9 @@ void GCS_Plane::update_vehicle_sensor_status_flags(void)
     case Mode::Number::GUIDED:
     case Mode::Number::CIRCLE:
     case Mode::Number::TAKEOFF:
+#if MODE_AUTOLAND_ENABLED
+    case Mode::Number::AUTOLAND:
+#endif
 #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 df62bcd653714..6e6991fd54b01 100644
--- a/ArduPlane/Parameters.cpp
+++ b/ArduPlane/Parameters.cpp
@@ -1028,6 +1028,12 @@ const AP_Param::Info Plane::var_info[] = {
     // @Path: mode_takeoff.cpp
     GOBJECT(mode_takeoff, "TKOFF_", ModeTakeoff),
 
+#if MODE_AUTOLAND_ENABLED
+    // @Group: AUTOLAND_
+    // @Path: mode_autoland.cpp
+    GOBJECT(mode_autoland, "AUTOLAND_", ModeAutoLand),
+#endif
+
 #if AP_PLANE_GLIDER_PULLUP_ENABLED
     // @Group: PUP_
     // @Path: pullup.cpp
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.cpp b/ArduPlane/Plane.cpp
index 1990ca0ed2e78..2fb6cb1eebdc5 100644
--- a/ArduPlane/Plane.cpp
+++ b/ArduPlane/Plane.cpp
@@ -690,7 +690,11 @@ 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)
+#if MODE_AUTOLAND_ENABLED
+             && (control_mode != &mode_autoland)
+#endif
+             ) {
             // 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.
diff --git a/ArduPlane/Plane.h b/ArduPlane/Plane.h
index 88ade0d53465f..b272a13b11ff1 100644
--- a/ArduPlane/Plane.h
+++ b/ArduPlane/Plane.h
@@ -172,7 +172,9 @@ class Plane : public AP_Vehicle {
     friend class ModeTakeoff;
     friend class ModeThermal;
     friend class ModeLoiterAltQLand;
-
+#if MODE_AUTOLAND_ENABLED
+    friend class ModeAutoLand;
+#endif
 #if AP_EXTERNAL_CONTROL_ENABLED
     friend class AP_ExternalControl_Plane;
 #endif
@@ -326,6 +328,9 @@ class Plane : public AP_Vehicle {
 #endif  // QAUTOTUNE_ENABLED
 #endif  // HAL_QUADPLANE_ENABLED
     ModeTakeoff mode_takeoff;
+#if MODE_AUTOLAND_ENABLED
+    ModeAutoLand mode_autoland;
+#endif
 #if HAL_SOARING_ENABLED
     ModeThermal mode_thermal;
 #endif
@@ -454,6 +459,13 @@ 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.
+#if MODE_AUTOLAND_ENABLED
+       struct {
+            float heading; // deg
+            bool initialized;
+        } initial_direction;
+#endif
     } takeoff_state;
 
     // ground steering controller state
diff --git a/ArduPlane/commands_logic.cpp b/ArduPlane/commands_logic.cpp
index 624dc2749c597..af99693635b98 100644
--- a/ArduPlane/commands_logic.cpp
+++ b/ArduPlane/commands_logic.cpp
@@ -382,6 +382,9 @@ 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;
+#if MODE_AUTOLAND_ENABLED
+    takeoff_state.initial_direction.initialized = false;
+#endif
     auto_state.baro_takeoff_alt = barometer.get_altitude();
 }
 
@@ -550,12 +553,17 @@ 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();
+#if MODE_AUTOLAND_ENABLED
+            plane.takeoff_state.initial_direction.heading = wrap_360(plane.gps.ground_course() + plane.mode_autoland.landing_dir_off);
+            takeoff_state.initial_direction.initialized = true;
+            gcs().send_text(MAV_SEVERITY_INFO, "Autoland direction= %u",int(takeoff_state.initial_direction.heading));
+#endif
         }
         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..5d07b45534e2b 100644
--- a/ArduPlane/control_modes.cpp
+++ b/ArduPlane/control_modes.cpp
@@ -83,6 +83,11 @@ Mode *Plane::mode_from_mode_num(const enum Mode::Number num)
     case Mode::Number::TAKEOFF:
         ret = &mode_takeoff;
         break;
+#if MODE_AUTOLAND_ENABLED
+    case Mode::Number::AUTOLAND:
+        ret = &mode_autoland;
+        break;
+#endif //MODE_AUTOLAND_ENABLED
     case Mode::Number::THERMAL:
 #if HAL_SOARING_ENABLED
         ret = &mode_thermal;
diff --git a/ArduPlane/defines.h b/ArduPlane/defines.h
index 561e1deb39285..b0941e85badc5 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 intial_direction.heading 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..d5ab51c603f5b 100644
--- a/ArduPlane/events.cpp
+++ b/ArduPlane/events.cpp
@@ -65,7 +65,11 @@ 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:
+#if MODE_AUTOLAND_ENABLED
+    case Mode::Number::AUTOLAND:
+#endif
+        {
         if (failsafe_in_landing_sequence()) {
             // don't failsafe in a landing sequence
             break;
@@ -145,6 +149,12 @@ 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);
+#if MODE_AUTOLAND_ENABLED
+        } else if (g.fs_action_long == FS_ACTION_LONG_AUTOLAND) {
+            if (!set_mode(mode_autoland, reason)) {
+               set_mode(mode_rtl, reason);
+            }
+#endif
         } else {
             set_mode(mode_rtl, reason);
         }
@@ -194,14 +204,23 @@ 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);
+#if MODE_AUTOLAND_ENABLED
+        } else if (g.fs_action_long == FS_ACTION_LONG_AUTOLAND) {
+            if (!set_mode(mode_autoland, reason)) {
+               set_mode(mode_rtl, reason);
+            } 
+#endif           
         } else if (g.fs_action_long == FS_ACTION_LONG_RTL) {
             set_mode(mode_rtl, reason);
         }
         break;
-
     case Mode::Number::RTL:
         if (g.fs_action_long == FS_ACTION_LONG_AUTO) {
             set_mode(mode_auto, reason);
+#if MODE_AUTOLAND_ENABLED
+        } else if (g.fs_action_long == FS_ACTION_LONG_AUTOLAND) {
+            set_mode(mode_autoland, reason);
+#endif
         }
         break;
 #if HAL_QUADPLANE_ENABLED
@@ -210,6 +229,9 @@ void Plane::failsafe_long_on_event(enum failsafe_state fstype, ModeReason reason
     case Mode::Number::LOITER_ALT_QLAND:
 #endif
     case Mode::Number::INITIALISING:
+#if MODE_AUTOLAND_ENABLED
+    case Mode::Number::AUTOLAND:
+#endif
         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 1b22fd1531ede..6e5d0b56327f0 100644
--- a/ArduPlane/mode.h
+++ b/ArduPlane/mode.h
@@ -15,6 +15,10 @@
 #define AP_QUICKTUNE_ENABLED HAL_QUADPLANE_ENABLED
 #endif
 
+#ifndef MODE_AUTOLAND_ENABLED
+#define MODE_AUTOLAND_ENABLED 1
+#endif
+
 #include <AP_Quicktune/AP_Quicktune.h>
 
 class AC_PosControl;
@@ -61,6 +65,9 @@ class Mode
 #if HAL_QUADPLANE_ENABLED
         LOITER_ALT_QLAND = 25,
 #endif
+#if MODE_AUTOLAND_ENABLED
+        AUTOLAND      = 26,
+#endif
 
     // Mode number 30 reserved for "offboard" for external/lua control.
     };
@@ -859,7 +866,41 @@ class ModeTakeoff: public Mode
     bool have_autoenabled_fences;
 
 };
+#if MODE_AUTOLAND_ENABLED
+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;
+    AP_Int16 landing_dir_off;
+
+protected:
+    bool _enter() override;
+    AP_Mission::Mission_Command cmd[3];
+    uint8_t stage;
+};
+#endif
 #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..e9ec9e8e96442
--- /dev/null
+++ b/ArduPlane/mode_autoland.cpp
@@ -0,0 +1,158 @@
+#include "mode.h"
+#include "Plane.h"
+#include <GCS_MAVLink/GCS.h>
+
+#if MODE_AUTOLAND_ENABLED
+
+/*
+  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),
+
+    // @Param: DIR_OFF
+    // @DisplayName: Landing direction offset from takeoff
+    // @Description: The captured takeoff direction (at arming,if TKOFF_OPTION bit1 is set, or after ground course is established in autotakeoffs)is offset by this amount to create a different landing direction and approach.
+    // @Range: -360 360
+    // @Increment: 1
+    // @Units: deg
+    // @User: Standard
+    AP_GROUPINFO("DIR_OFF", 3, ModeAutoLand, landing_dir_off, 0),
+
+    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() && !quadplane.option_is_set(QuadPlane::OPTION::ALLOW_FW_LAND)) {
+        gcs().send_text(MAV_SEVERITY_WARNING, "Option not set to allow fixed wing autoland"); 
+        return false; 
+    }
+#endif
+    if (!plane.takeoff_state.initial_direction.initialized) {
+        gcs().send_text(MAV_SEVERITY_WARNING, "Takeoff initial direction not set,must use autotakeoff");
+        return false;
+    }
+
+    plane.prev_WP_loc = plane.current_loc;
+    plane.set_target_altitude_current();
+
+    /*
+      landing is in 3 steps:
+        1) a base leg waypoint
+        2) a land start WP, with crosstrack
+        3) the landing WP, with crosstrack
+
+      the base leg point is 90 degrees off from the landing leg
+     */
+    const Location &home = ahrs.get_home();
+
+    /*
+      first calculate the starting waypoint we will use when doing the
+      NAV_LAND. This is offset by final_wp_dist from home, in a
+      direction 180 degrees from takeoff direction
+     */
+    Location land_start_WP = home;
+    land_start_WP.offset_bearing(wrap_360(plane.takeoff_state.initial_direction.heading + 180), final_wp_dist);
+    land_start_WP.set_alt_m(final_wp_alt, Location::AltFrame::ABOVE_HOME);
+    land_start_WP.change_alt_frame(Location::AltFrame::ABSOLUTE);
+
+    /*
+      now create the initial target waypoint for the base leg. We
+      choose if we will do a right or left turn onto the landing based
+      on where we are when we enter the landing mode
+     */
+    const float bearing_to_current_deg = wrap_180(degrees(land_start_WP.get_bearing(plane.current_loc)));
+    const float bearing_err_deg = wrap_180(wrap_180(plane.takeoff_state.initial_direction.heading) - bearing_to_current_deg);
+    const float bearing_offset_deg = bearing_err_deg > 0? -90 : 90;
+    const float base_leg_length = final_wp_dist * 0.333;
+    cmd[0].id = MAV_CMD_NAV_WAYPOINT;
+    cmd[0].content.location = land_start_WP;
+    cmd[0].content.location.offset_bearing(plane.takeoff_state.initial_direction.heading + bearing_offset_deg, base_leg_length);
+    // set a 1m acceptance radius, we want to fly all the way to this waypoint
+    cmd[0].p1 = 1;
+
+    /*
+      create the WP for the start of the landing
+     */
+    cmd[1].content.location = land_start_WP;
+    cmd[1].id = MAV_CMD_NAV_WAYPOINT;
+
+    // and the land WP
+    cmd[2].id = MAV_CMD_NAV_LAND;
+    cmd[2].content.location = home;
+
+    // start first leg
+    stage = 0;
+    plane.start_command(cmd[0]);
+
+    // don't crosstrack initially
+    plane.auto_state.crosstrack = false;
+    plane.auto_state.next_wp_crosstrack = true;
+
+    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()
+{
+    if (stage == 2) {
+        // we are on final landing leg
+        plane.set_flight_stage(AP_FixedWing::FlightStage::LAND);
+        plane.verify_command(cmd[stage]);
+        return;
+    }
+
+    // see if we have completed the leg
+    if (plane.verify_nav_wp(cmd[stage])) {
+        stage++;
+        plane.prev_WP_loc = plane.next_WP_loc;
+        plane.auto_state.next_turn_angle = 90;
+        plane.start_command(cmd[stage]);
+        plane.auto_state.crosstrack = true;
+        plane.auto_state.next_wp_crosstrack = true;
+    }
+}
+#endif
diff --git a/ArduPlane/mode_takeoff.cpp b/ArduPlane/mode_takeoff.cpp
index 42cdcb3d45673..8f18f6d1b2eeb 100644
--- a/ArduPlane/mode_takeoff.cpp
+++ b/ArduPlane/mode_takeoff.cpp
@@ -134,6 +134,9 @@ 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.
+#if MODE_AUTOLAND_ENABLED
+                plane.takeoff_state.initial_direction.initialized = false;
+#endif
             }
         }
     }
@@ -142,7 +145,16 @@ void ModeTakeoff::update()
         plane.set_flight_stage(AP_FixedWing::FlightStage::NORMAL);
         takeoff_mode_setup = false;
     }
-
+#if MODE_AUTOLAND_ENABLED
+    // set initial_direction.heading
+    const float min_gps_speed = GPS_GND_CRS_MIN_SPD;
+    if (!(plane.takeoff_state.initial_direction.initialized) && (plane.gps.ground_speed() > min_gps_speed)
+       && (plane.flight_stage == AP_FixedWing::FlightStage::TAKEOFF)) {
+       plane.takeoff_state.initial_direction.heading = wrap_360(plane.gps.ground_course() + plane.mode_autoland.landing_dir_off);
+       plane.takeoff_state.initial_direction.initialized = true;
+       gcs().send_text(MAV_SEVERITY_INFO, "Autoland direction= %u",int(plane.takeoff_state.initial_direction.heading));
+    }
+#endif
     // 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
     // flying towards a wrong location if we can't climb.
diff --git a/ArduPlane/quadplane.h b/ArduPlane/quadplane.h
index e4489fd0d17c1..47d9154f938e0 100644
--- a/ArduPlane/quadplane.h
+++ b/ArduPlane/quadplane.h
@@ -62,7 +62,8 @@ class QuadPlane
     friend class ModeQAutotune;
     friend class ModeQAcro;
     friend class ModeLoiterAltQLand;
-    
+    friend class ModeAutoLand;
+
     QuadPlane(AP_AHRS &_ahrs);
 
     static QuadPlane *get_singleton() {
diff --git a/ArduPlane/takeoff.cpp b/ArduPlane/takeoff.cpp
index d7617e2f5696b..740daeaf05758 100644
--- a/ArduPlane/takeoff.cpp
+++ b/ArduPlane/takeoff.cpp
@@ -22,12 +22,19 @@ bool Plane::auto_takeoff_check(void)
         return false;
     }
 
-    // Reset states if process has been interrupted
-    if (takeoff_state.last_check_ms && (now - takeoff_state.last_check_ms) > 200) {
-        memset(&takeoff_state, 0, sizeof(takeoff_state));
-        return false;
-    }
-
+    // Reset states if process has been interrupted, except initial_direction.initialized if set
+#if MODE_AUTOLAND_ENABLED
+    bool takeoff_dir_initialized = takeoff_state.initial_direction.initialized;
+    float takeoff_dir = takeoff_state.initial_direction.heading;
+#endif
+     if (takeoff_state.last_check_ms && (now - takeoff_state.last_check_ms) > 200) {
+         memset(&takeoff_state, 0, sizeof(takeoff_state));
+#if MODE_AUTOLAND_ENABLED
+         takeoff_state.initial_direction.initialized = takeoff_dir_initialized; //restore dir init state
+         takeoff_state.initial_direction.heading = takeoff_dir;
+#endif
+         return false;
+     }
     takeoff_state.last_check_ms = now;
     
     //check if waiting for rudder neutral after rudder arm
diff --git a/Tools/autotest/arduplane.py b/Tools/autotest/arduplane.py
index 2aa1390402db4..cf94ae2c875c0 100644
--- a/Tools/autotest/arduplane.py
+++ b/Tools/autotest/arduplane.py
@@ -4239,6 +4239,20 @@ 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("Autoland 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)
@@ -6607,6 +6621,7 @@ 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/Tools/scripts/build_options.py b/Tools/scripts/build_options.py
index ae83948aef536..20af644858071 100644
--- a/Tools/scripts/build_options.py
+++ b/Tools/scripts/build_options.py
@@ -226,6 +226,7 @@ def config_option(self):
     Feature('Plane', 'PLANE_GUIDED_SLEW', 'AP_PLANE_OFFBOARD_GUIDED_SLEW_ENABLED', 'Enable Offboard-guided slew commands', 0, None),  # noqa:401
     Feature('Plane', 'PLANE_GLIDER_PULLUP', 'AP_PLANE_GLIDER_PULLUP_ENABLED', 'Enable Glider pullup support', 0, None),
     Feature('Plane', 'QUICKTUNE', 'AP_QUICKTUNE_ENABLED', 'Enable VTOL quicktune', 0, None),
+    Feature('Plane', 'AUTOLAND_MODE', 'MODE_AUTOLAND_ENABLED', 'Enable Fixed Wing Autolanding mode', 0, None),
 
     Feature('RC', 'RC_Protocol', 'AP_RCPROTOCOL_ENABLED', "Enable Serial RC Protocols", 0, None),   # NOQA: E501
     Feature('RC', 'RC_CRSF', 'AP_RCPROTOCOL_CRSF_ENABLED', "Enable CRSF", 0, "RC_Protocol"),   # NOQA: E501
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,
 };