diff --git a/make/source.mk b/make/source.mk
index 9e1452511..bf7047667 100644
--- a/make/source.mk
+++ b/make/source.mk
@@ -121,6 +121,7 @@ COMMON_SRC = \
             cms/cms.c \
             cms/cms_menu_blackbox.c \
             cms/cms_menu_builtin.c \
+            cms/cms_menu_failsafe.c \
             cms/cms_menu_imu.c \
             cms/cms_menu_ledstrip.c \
             cms/cms_menu_misc.c \
@@ -297,6 +298,7 @@ SIZE_OPTIMISED_SRC := $(SIZE_OPTIMISED_SRC) \
             cms/cms.c \
             cms/cms_menu_blackbox.c \
             cms/cms_menu_builtin.c \
+            cms/cms_menu_failsafe.c \
             cms/cms_menu_imu.c \
             cms/cms_menu_ledstrip.c \
             cms/cms_menu_misc.c \
diff --git a/src/main/cms/cms_menu_builtin.c b/src/main/cms/cms_menu_builtin.c
index 9ed0b4990..37332103f 100644
--- a/src/main/cms/cms_menu_builtin.c
+++ b/src/main/cms/cms_menu_builtin.c
@@ -47,6 +47,7 @@
 #include "cms/cms_menu_ledstrip.h"
 #include "cms/cms_menu_misc.h"
 #include "cms/cms_menu_power.h"
+#include "cms/cms_menu_failsafe.h"
 
 // VTX supplied menus
 
@@ -120,6 +121,9 @@ static OSD_Entry menuFeaturesEntries[] =
     {"LED STRIP", OME_Submenu, cmsMenuChange, &cmsx_menuLedstrip, 0},
 #endif // LED_STRIP
     {"POWER", OME_Submenu, cmsMenuChange, &cmsx_menuPower, 0},
+#ifdef USE_CMS_FAILSAFE_MENU
+    {"FAILSAFE", OME_Submenu, cmsMenuChange, &cmsx_menuFailsafe, 0},
+#endif
     {"BACK", OME_Back, NULL, NULL, 0},
     {NULL, OME_END, NULL, NULL, 0}
 };
diff --git a/src/main/cms/cms_menu_failsafe.c b/src/main/cms/cms_menu_failsafe.c
new file mode 100644
index 000000000..aa8bf364d
--- /dev/null
+++ b/src/main/cms/cms_menu_failsafe.c
@@ -0,0 +1,90 @@
+/*
+ * This file is part of Cleanflight and Betaflight.
+ *
+ * Cleanflight and Betaflight are free software. You can redistribute
+ * this software and/or modify this software under the terms of the
+ * GNU General Public License as published by the Free Software
+ * Foundation, either version 3 of the License, or (at your option)
+ * any later version.
+ *
+ * Cleanflight and Betaflight are distributed in the hope that they
+ * will be useful, but WITHOUT ANY WARRANTY; without even the implied
+ * warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
+ * See the GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this software.
+ *
+ * If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#include <stdbool.h>
+#include <stdint.h>
+#include <string.h>
+#include <ctype.h>
+
+#include "platform.h"
+
+#ifdef USE_CMS_FAILSAFE_MENU
+
+#include "cms/cms.h"
+#include "cms/cms_types.h"
+#include "cms/cms_menu_failsafe.h"
+
+#include "config/feature.h"
+
+#include "fc/config.h"
+
+#include "flight/failsafe.h"
+
+#include "rx/rx.h"
+
+uint8_t failsafeConfig_failsafe_procedure;
+uint8_t failsafeConfig_failsafe_delay;
+uint8_t failsafeConfig_failsafe_off_delay;
+uint16_t failsafeConfig_failsafe_throttle;
+
+static long cmsx_Failsafe_onEnter(void)
+{
+    failsafeConfig_failsafe_procedure = failsafeConfig()->failsafe_procedure;
+    failsafeConfig_failsafe_delay = failsafeConfig()->failsafe_delay;
+    failsafeConfig_failsafe_off_delay = failsafeConfig()->failsafe_off_delay;
+    failsafeConfig_failsafe_throttle = failsafeConfig()->failsafe_throttle;
+    return 0;
+}
+
+static long cmsx_Failsafe_onExit(const OSD_Entry *self)
+{
+    UNUSED(self);
+
+    failsafeConfigMutable()->failsafe_procedure = failsafeConfig_failsafe_procedure;
+    failsafeConfigMutable()->failsafe_delay = failsafeConfig_failsafe_delay;
+    failsafeConfigMutable()->failsafe_off_delay = failsafeConfig_failsafe_off_delay;
+    failsafeConfigMutable()->failsafe_throttle = failsafeConfig_failsafe_throttle;
+
+    return 0;
+}
+
+static OSD_Entry cmsx_menuFailsafeEntries[] =
+{
+    { "-- FAILSAFE --", OME_Label, NULL, NULL, 0},
+
+    { "PROCEDURE",        OME_TAB,    NULL, &(OSD_TAB_t)    { &failsafeConfig_failsafe_procedure, FAILSAFE_PROCEDURE_COUNT - 1, failsafeProcedureNames }, 0 },
+    { "GUARD TIME",       OME_FLOAT,  NULL, &(OSD_FLOAT_t)  { &failsafeConfig_failsafe_delay, 0, 200, 1, 100 }, 0 },
+    { "STAGE 2 DELAY",    OME_FLOAT,  NULL, &(OSD_FLOAT_t)  { &failsafeConfig_failsafe_off_delay, 0, 200, 1, 100 }, 0 },
+    { "STAGE 2 THROTTLE", OME_UINT16, NULL, &(OSD_UINT16_t) { &failsafeConfig_failsafe_throttle, PWM_PULSE_MIN, PWM_PULSE_MAX, 1 }, 0 },
+    { "BACK", OME_Back, NULL, NULL, 0 },
+    { NULL, OME_END, NULL, NULL, 0 }
+};
+
+CMS_Menu cmsx_menuFailsafe = {
+#ifdef CMS_MENU_DEBUG
+    .GUARD_text = "MENUFS",
+    .GUARD_type = OME_MENU,
+#endif
+    .onEnter = cmsx_Failsafe_onEnter,
+    .onExit = cmsx_Failsafe_onExit,
+    .entries = cmsx_menuFailsafeEntries
+};
+
+#endif
diff --git a/src/main/cms/cms_menu_failsafe.h b/src/main/cms/cms_menu_failsafe.h
new file mode 100644
index 000000000..4ba6e8513
--- /dev/null
+++ b/src/main/cms/cms_menu_failsafe.h
@@ -0,0 +1,23 @@
+/*
+ * This file is part of Cleanflight and Betaflight.
+ *
+ * Cleanflight and Betaflight are free software. You can redistribute
+ * this software and/or modify this software under the terms of the
+ * GNU General Public License as published by the Free Software
+ * Foundation, either version 3 of the License, or (at your option)
+ * any later version.
+ *
+ * Cleanflight and Betaflight are distributed in the hope that they
+ * will be useful, but WITHOUT ANY WARRANTY; without even the implied
+ * warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
+ * See the GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this software.
+ *
+ * If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#pragma once
+
+extern CMS_Menu cmsx_menuFailsafe;
diff --git a/src/main/flight/failsafe.c b/src/main/flight/failsafe.c
index c59a64f30..d1a8556a3 100644
--- a/src/main/flight/failsafe.c
+++ b/src/main/flight/failsafe.c
@@ -72,6 +72,12 @@ PG_RESET_TEMPLATE(failsafeConfig_t, failsafeConfig,
     .failsafe_procedure = FAILSAFE_PROCEDURE_DROP_IT // default full failsafe procedure is 0: auto-landing
 );
 
+const char * const failsafeProcedureNames[FAILSAFE_PROCEDURE_COUNT] = {
+    "AUTO-LAND",
+    "DROP",
+    "GPS-RESCUE"
+};
+
 /*
  * Should called when the failsafe config needs to be changed - e.g. a different profile has been selected.
  */
diff --git a/src/main/flight/failsafe.h b/src/main/flight/failsafe.h
index fa246c7b0..ae6b09c49 100644
--- a/src/main/flight/failsafe.h
+++ b/src/main/flight/failsafe.h
@@ -61,9 +61,12 @@ typedef enum {
 typedef enum {
     FAILSAFE_PROCEDURE_AUTO_LANDING = 0,
     FAILSAFE_PROCEDURE_DROP_IT,
-    FAILSAFE_PROCEDURE_GPS_RESCUE
+    FAILSAFE_PROCEDURE_GPS_RESCUE,
+    FAILSAFE_PROCEDURE_COUNT   // must be last
 } failsafeProcedure_e;
 
+extern const char * const failsafeProcedureNames[FAILSAFE_PROCEDURE_COUNT];
+
 typedef enum {
     FAILSAFE_SWITCH_MODE_STAGE1 = 0,
     FAILSAFE_SWITCH_MODE_KILL,
diff --git a/src/main/target/common_post.h b/src/main/target/common_post.h
index cfd404f43..2447cba40 100644
--- a/src/main/target/common_post.h
+++ b/src/main/target/common_post.h
@@ -243,3 +243,7 @@
 #undef USE_DSHOT_TELEMETRY
 #undef USE_RPM_FILTER
 #endif
+
+#ifndef USE_CMS
+#undef USE_CMS_FAILSAFE_MENU
+#endif
diff --git a/src/main/target/common_pre.h b/src/main/target/common_pre.h
index 5af3a3b09..01005dc3a 100644
--- a/src/main/target/common_pre.h
+++ b/src/main/target/common_pre.h
@@ -245,5 +245,6 @@
 #define USE_OSD_STICK_OVERLAY
 #define USE_ESCSERIAL_SIMONK
 #define USE_SERIAL_4WAY_SK_BOOTLOADER
+#define USE_CMS_FAILSAFE_MENU
 #endif