diff --git a/Rover/Parameters.cpp b/Rover/Parameters.cpp
index a7501a028b..dec648fdef 100644
--- a/Rover/Parameters.cpp
+++ b/Rover/Parameters.cpp
@@ -91,7 +91,7 @@ const AP_Param::Info Rover::var_info[] = {
     // @Param: FS_ACTION
     // @DisplayName: Failsafe Action
     // @Description: What to do on a failsafe event
-    // @Values: 0:Nothing,1:RTL,2:Hold,3:SmartRTL or RTL,4:SmartRTL or Hold,5:Terminate
+    // @Values: 0:Nothing,1:RTL,2:Hold,3:SmartRTL or RTL,4:SmartRTL or Hold,5:Terminate,6:Loiter or Hold
     // @User: Standard
     GSCALAR(fs_action,    "FS_ACTION",     (int8_t)FailsafeAction::Hold),
 
diff --git a/Rover/Rover.h b/Rover/Rover.h
index 33c8765067..b18b84a1cc 100644
--- a/Rover/Rover.h
+++ b/Rover/Rover.h
@@ -416,7 +416,8 @@ private:
         Hold          = 2,
         SmartRTL      = 3,
         SmartRTL_Hold = 4,
-        Terminate     = 5
+        Terminate     = 5,
+        Loiter_Hold   = 6,
     };
 
     enum class Failsafe_Options : uint32_t {
diff --git a/Rover/failsafe.cpp b/Rover/failsafe.cpp
index 3aabdfbacf..72f09f3f6e 100644
--- a/Rover/failsafe.cpp
+++ b/Rover/failsafe.cpp
@@ -101,6 +101,11 @@ void Rover::failsafe_trigger(uint8_t failsafe_type, const char* type_str, bool o
                     set_mode(mode_hold, ModeReason::FAILSAFE);
                 }
                 break;
+            case FailsafeAction::Loiter_Hold:
+                if (!set_mode(mode_loiter, ModeReason::FAILSAFE)) {
+                    set_mode(mode_hold, ModeReason::FAILSAFE);
+                }
+                break;
             case FailsafeAction::Terminate:
                 arming.disarm(AP_Arming::Method::FAILSAFE_ACTION_TERMINATE);
                 break;
@@ -127,6 +132,11 @@ void Rover::handle_battery_failsafe(const char* type_str, const int8_t action)
             case FailsafeAction::Hold:
                 set_mode(mode_hold, ModeReason::BATTERY_FAILSAFE);
                 break;
+            case FailsafeAction::Loiter_Hold:
+                if (!set_mode(mode_loiter, ModeReason::BATTERY_FAILSAFE)) {
+                    set_mode(mode_hold, ModeReason::BATTERY_FAILSAFE);
+                }
+                break;
             case FailsafeAction::SmartRTL_Hold:
                 if (!set_mode(mode_smartrtl, ModeReason::BATTERY_FAILSAFE)) {
                     set_mode(mode_hold, ModeReason::BATTERY_FAILSAFE);
diff --git a/Rover/fence.cpp b/Rover/fence.cpp
index fb54195c3e..0c3e225719 100644
--- a/Rover/fence.cpp
+++ b/Rover/fence.cpp
@@ -67,6 +67,11 @@ void Rover::fence_check()
                         set_mode(mode_hold, ModeReason::FENCE_BREACHED);
                     }
                     break;
+                case FailsafeAction::Loiter_Hold:
+                    if (!set_mode(mode_loiter, ModeReason::FENCE_BREACHED)) {
+                        set_mode(mode_hold, ModeReason::FENCE_BREACHED);
+                    }
+                    break;
                 case FailsafeAction::Terminate:
                     arming.disarm(AP_Arming::Method::FENCEBREACH);
                     break;