diff --git a/src/lib/events/enums.json b/src/lib/events/enums.json
index 717fd0bf7c..75af36a1d1 100644
--- a/src/lib/events/enums.json
+++ b/src/lib/events/enums.json
@@ -421,18 +421,22 @@
                             "description": "RTL"
                         },
                         "7": {
+                            "name": "dead_reckon_rtl",
+                            "description": "Dead Reckoning RTL"
+                        },
+                        "8": {
                             "name": "land",
                             "description": "Land"
                         },
-                        "8": {
+                        "9": {
                             "name": "descend",
                             "description": "Descend"
                         },
-                        "9": {
+                        "10": {
                             "name": "disarm",
                             "description": "disarm"
                         },
-                        "10": {
+                        "11": {
                             "name": "terminate",
                             "description": "terminate"
                         }
diff --git a/src/modules/commander/failsafe/framework.cpp b/src/modules/commander/failsafe/framework.cpp
index 0632c0681e..8397a8643f 100644
--- a/src/modules/commander/failsafe/framework.cpp
+++ b/src/modules/commander/failsafe/framework.cpp
@@ -571,6 +571,15 @@ void FailsafeBase::getSelectedAction(const State &state, const failsafe_flags_s
 
 		returned_state.cause = Cause::Generic;
 
+	// fallthrough
+	case Action::DeadReckonRTL:
+		if (modeCanRun(status_flags, vehicle_status_s::NAVIGATION_STATE_AUTO_RTL_DR)) {
+			selected_action = Action::DeadReckonRTL;
+			break;
+		}
+
+		returned_state.cause = Cause::Generic;
+
 	// fallthrough
 	case Action::Land:
 		if (modeCanRun(status_flags, vehicle_status_s::NAVIGATION_STATE_AUTO_LAND)) {
@@ -671,6 +680,8 @@ uint8_t FailsafeBase::modeFromAction(const Action &action, uint8_t user_intended
 
 	case Action::RTL: return vehicle_status_s::NAVIGATION_STATE_AUTO_RTL;
 
+	case Action::DeadReckonRTL: return vehicle_status_s::NAVIGATION_STATE_AUTO_RTL_DR;
+
 	case Action::Land: return vehicle_status_s::NAVIGATION_STATE_AUTO_LAND;
 
 	case Action::Descend: return vehicle_status_s::NAVIGATION_STATE_DESCEND;
diff --git a/src/modules/commander/failsafe/framework.h b/src/modules/commander/failsafe/framework.h
index a0ff26601b..6ad1f45b76 100644
--- a/src/modules/commander/failsafe/framework.h
+++ b/src/modules/commander/failsafe/framework.h
@@ -61,6 +61,7 @@ public:
 
 		Hold,
 		RTL,
+		DeadReckonRTL,
 		Land,
 		Descend,
 		Disarm,
@@ -105,6 +106,8 @@ public:
 
 		case Action::RTL: return "RTL";
 
+		case Action::DeadReckonRTL: return "Dead Reckoning RTL";
+
 		case Action::Land: return "Land";
 
 		case Action::Descend: return "Descend";