diff --git a/src/FirmwarePlugin/APM/APMFirmwarePlugin.h b/src/FirmwarePlugin/APM/APMFirmwarePlugin.h
index 69a153ccd244ac33a72e05c37101f24fd40fd9c3..bac34679a75151a1e54e6f5e002e7603784a2a3f 100644
--- a/src/FirmwarePlugin/APM/APMFirmwarePlugin.h
+++ b/src/FirmwarePlugin/APM/APMFirmwarePlugin.h
@@ -84,6 +84,7 @@ public:
     QString             flightMode                      (uint8_t base_mode, uint32_t custom_mode) const override;
     bool                setFlightMode                   (const QString& flightMode, uint8_t* base_mode, uint32_t* custom_mode) override;
     bool                isGuidedMode                    (const Vehicle* vehicle) const override;
+    QString             gotoFlightMode                  (void) const override { return QStringLiteral("Guided"); }
     QString             rtlFlightMode                   (void) const override { return QString("RTL"); }
     QString             missionFlightMode               (void) const override { return QString("Auto"); }
     void                pauseVehicle                    (Vehicle* vehicle) override;
diff --git a/src/FirmwarePlugin/FirmwarePlugin.cc b/src/FirmwarePlugin/FirmwarePlugin.cc
index 057aca88f1604da82e3a5e34daa7bd08a7641b8e..db2a86969394f52d3033e41e4e42a1e4d2c43960 100644
--- a/src/FirmwarePlugin/FirmwarePlugin.cc
+++ b/src/FirmwarePlugin/FirmwarePlugin.cc
@@ -757,3 +757,8 @@ int FirmwarePlugin::versionCompare(Vehicle* vehicle, QString& compare)
     int patch = versionNumbers[2].toInt();
     return versionCompare(vehicle, major, minor, patch);
 }
+
+QString FirmwarePlugin::gotoFlightMode(void) const
+{
+    return QString();
+}
diff --git a/src/FirmwarePlugin/FirmwarePlugin.h b/src/FirmwarePlugin/FirmwarePlugin.h
index d5c442b164a0fa21cafb74fd7c6842a16512c3ca..81d2d2abcd7e0e9a4fc87b1142ae2756b4c70a6b 100644
--- a/src/FirmwarePlugin/FirmwarePlugin.h
+++ b/src/FirmwarePlugin/FirmwarePlugin.h
@@ -114,6 +114,9 @@ public:
     /// Returns whether the vehicle is in guided mode or not.
     virtual bool isGuidedMode(const Vehicle* vehicle) const;
 
+    /// Returns the flight mode which the vehicle will be in if it is performing a goto location
+    virtual QString gotoFlightMode(void) const;
+
     /// Set guided flight mode
     virtual void setGuidedMode(Vehicle* vehicle, bool guidedMode);
 
diff --git a/src/FirmwarePlugin/PX4/PX4FirmwarePlugin.h b/src/FirmwarePlugin/PX4/PX4FirmwarePlugin.h
index fa2a4e8796a7fb35687396ec533aa2e75bbe2e2a..2c8059b61361edacda90a4d1d17947de254c05d3 100644
--- a/src/FirmwarePlugin/PX4/PX4FirmwarePlugin.h
+++ b/src/FirmwarePlugin/PX4/PX4FirmwarePlugin.h
@@ -42,6 +42,7 @@ public:
     QString             rtlFlightMode                   (void) const override { return _rtlFlightMode; }
     QString             landFlightMode                  (void) const override { return _landingFlightMode; }
     QString             takeControlFlightMode           (void) const override { return _manualFlightMode; }
+    QString             gotoFlightMode                  (void) const override { return _holdFlightMode; }
     void                pauseVehicle                    (Vehicle* vehicle) override;
     void                guidedModeRTL                   (Vehicle* vehicle) override;
     void                guidedModeLand                  (Vehicle* vehicle) override;