diff --git a/src/FirmwarePlugin/APM/ArduCopterFirmwarePlugin.cc b/src/FirmwarePlugin/APM/ArduCopterFirmwarePlugin.cc
index 21cb154468a816d5a252a9db3636bf6a62ec0209..3af285e00b90a4e924184072459b985780fee982 100644
--- a/src/FirmwarePlugin/APM/ArduCopterFirmwarePlugin.cc
+++ b/src/FirmwarePlugin/APM/ArduCopterFirmwarePlugin.cc
@@ -43,7 +43,10 @@ APMCopterMode::APMCopterMode(uint32_t mode, bool settable) :
         { GUIDED_NOGPS, "Guided No GPS"},
         { SMART_RTL,    "Smart RTL"},
         { FLOWHOLD,     "Flow Hold" },
+#if 0
+    // Follow me not ready for Stable
         { FOLLOW,       "Follow" },
+#endif
         { ZIGZAG,       "ZigZag" },
     });
 }
@@ -71,7 +74,10 @@ ArduCopterFirmwarePlugin::ArduCopterFirmwarePlugin(void)
         APMCopterMode(APMCopterMode::GUIDED_NOGPS,  true),
         APMCopterMode(APMCopterMode::SMART_RTL,     true),
         APMCopterMode(APMCopterMode::FLOWHOLD,      true),
+#if 0
+    // Follow me not ready for Stable
         APMCopterMode(APMCopterMode::FOLLOW,        true),
+#endif
         APMCopterMode(APMCopterMode::ZIGZAG,        true),
     });
 
diff --git a/src/FirmwarePlugin/APM/ArduCopterFirmwarePlugin.h b/src/FirmwarePlugin/APM/ArduCopterFirmwarePlugin.h
index bd87214a9a33f01cebe5758b8454d4b9bce8a74b..05c596994f8964498e2efd3c2f051cd7b679817e 100644
--- a/src/FirmwarePlugin/APM/ArduCopterFirmwarePlugin.h
+++ b/src/FirmwarePlugin/APM/ArduCopterFirmwarePlugin.h
@@ -43,7 +43,10 @@ public:
         GUIDED_NOGPS= 20,
         SMART_RTL   = 21,  // SMART_RTL returns to home by retracing its steps
         FLOWHOLD    = 22,  // FLOWHOLD holds position with optical flow without rangefinder
+#if 0
+    // Follow me not ready for Stable
         FOLLOW      = 23,  // follow attempts to follow another vehicle or ground station
+#endif
         ZIGZAG      = 24,  // ZIGZAG mode is able to fly in a zigzag manner with predefined point A and point B
     };
 
diff --git a/src/FirmwarePlugin/APM/ArduRoverFirmwarePlugin.cc b/src/FirmwarePlugin/APM/ArduRoverFirmwarePlugin.cc
index c5e9376eec8396b3cf62686a4a326a543b915626..0dbef83d0970fff7235478c87968cafb9c85679c 100644
--- a/src/FirmwarePlugin/APM/ArduRoverFirmwarePlugin.cc
+++ b/src/FirmwarePlugin/APM/ArduRoverFirmwarePlugin.cc
@@ -22,7 +22,10 @@ APMRoverMode::APMRoverMode(uint32_t mode, bool settable)
         {STEERING,       "Steering"},
         {HOLD,           "Hold"},
         {LOITER,         "Loiter"},
+#if 0
+    // Follow me not ready for Stable
         {FOLLOW,         "Follow"},
+#endif
         {SIMPLE,         "Simple"},
         {AUTO,           "Auto"},
         {RTL,            "RTL"},
@@ -40,7 +43,10 @@ ArduRoverFirmwarePlugin::ArduRoverFirmwarePlugin(void)
         APMRoverMode(APMRoverMode::STEERING     ,true),
         APMRoverMode(APMRoverMode::HOLD         ,true),
         APMRoverMode(APMRoverMode::LOITER       ,true),
+#if 0
+    // Follow me not ready for Stable
         APMRoverMode(APMRoverMode::FOLLOW       ,true),
+#endif
         APMRoverMode(APMRoverMode::SIMPLE       ,true),
         APMRoverMode(APMRoverMode::AUTO         ,true),
         APMRoverMode(APMRoverMode::RTL          ,true),
diff --git a/src/FirmwarePlugin/APM/ArduRoverFirmwarePlugin.h b/src/FirmwarePlugin/APM/ArduRoverFirmwarePlugin.h
index 01666b6ba7549c54ce258eb4d9809bcaf53efbfb..1338b3f65b8ea82f69f90fe46dfb392b16844745 100644
--- a/src/FirmwarePlugin/APM/ArduRoverFirmwarePlugin.h
+++ b/src/FirmwarePlugin/APM/ArduRoverFirmwarePlugin.h
@@ -25,7 +25,10 @@ public:
         STEERING        = 3,
         HOLD            = 4,
         LOITER          = 5,
+#if 0
+    // Follow me not ready for Stable
         FOLLOW          = 6,
+#endif
         SIMPLE          = 7,
         AUTO            = 10,
         RTL             = 11,