diff --git a/MAVProxy/mavproxy.py b/MAVProxy/mavproxy.py
index 641e9a9eae..546905b7ea 100644
--- a/MAVProxy/mavproxy.py
+++ b/MAVProxy/mavproxy.py
@@ -267,6 +267,7 @@ def __init__(self):
               MPSetting('rallyalt', int, 90, 'Default Rally Altitude', range=(0,10000), increment=1),
               MPSetting('terrainalt', str, 'Auto', 'Use terrain altitudes', choice=['Auto','True','False']),
               MPSetting('guidedalt', int, 100, 'Default "Fly To" Altitude', range=(0,10000), increment=1),
+              MPSetting('guided_use_reposition', bool, True, 'Use MAV_CMD_DO_REPOSITION for guided fly-to'),
               MPSetting('rally_breakalt', int, 40, 'Default Rally Break Altitude', range=(0,10000), increment=1),
               MPSetting('rally_flags', int, 0, 'Default Rally Flags', range=(0,10000), increment=1),
 
diff --git a/MAVProxy/modules/mavproxy_mode.py b/MAVProxy/modules/mavproxy_mode.py
index 4ec12cca09..8b715ae938 100644
--- a/MAVProxy/modules/mavproxy_mode.py
+++ b/MAVProxy/modules/mavproxy_mode.py
@@ -84,6 +84,25 @@ def cmd_guided(self, args):
             altitude = float(args[0])
 
         print("Guided %s %s" % (str(latlon), str(altitude)))
+
+        if self.settings.guided_use_reposition:
+            self.master.mav.command_int_send(
+                self.settings.target_system,
+                self.settings.target_component,
+                self.module('wp').get_default_frame(),
+                mavutil.mavlink.MAV_CMD_DO_REPOSITION,
+                0,  # current
+                0,  # autocontinue
+                -1,   # p1 - ground speed, -1 is use-default
+                mavutil.mavlink.MAV_DO_REPOSITION_FLAGS_CHANGE_MODE,   # p2 - flags
+                0,   # p3 - loiter radius for Planes, 0 is ignored
+                0,   # p4 - yaw - 0 is loiter clockwise
+                int(latlon[0]*1.0e7),
+                int(latlon[1]*1.0e7),
+                altitude
+            )
+            return
+
         self.master.mav.mission_item_int_send(
             self.settings.target_system,
             self.settings.target_component,