diff --git a/src/FirmwarePlugin/PX4/PX4FirmwarePlugin.cc b/src/FirmwarePlugin/PX4/PX4FirmwarePlugin.cc
index c85bb70db9289980e4e28409cda380907bc1128d..7b19ebf5c07fef25514a649149032b44b34cbbc8 100644
--- a/src/FirmwarePlugin/PX4/PX4FirmwarePlugin.cc
+++ b/src/FirmwarePlugin/PX4/PX4FirmwarePlugin.cc
@@ -36,23 +36,24 @@ PX4FirmwarePluginInstanceData::PX4FirmwarePluginInstanceData(QObject* parent)
 }
 
 PX4FirmwarePlugin::PX4FirmwarePlugin(void)
-    : _manualFlightMode(tr("Manual"))
-    , _acroFlightMode(tr("Acro"))
-    , _stabilizedFlightMode(tr("Stabilized"))
-    , _rattitudeFlightMode(tr("Rattitude"))
-    , _altCtlFlightMode(tr("Altitude"))
-    , _posCtlFlightMode(tr("Position"))
-    , _offboardFlightMode(tr("Offboard"))
-    , _readyFlightMode(tr("Ready"))
-    , _takeoffFlightMode(tr("Takeoff"))
-    , _holdFlightMode(tr("Hold"))
-    , _missionFlightMode(tr("Mission"))
-    , _rtlFlightMode(tr("Return"))
-    , _landingFlightMode(tr("Land"))
-    , _preclandFlightMode(tr("Precision Land"))
-    , _rtgsFlightMode(tr("Return to Groundstation"))
-    , _followMeFlightMode(tr("Follow Me"))
-    , _simpleFlightMode(tr("Simple"))
+    : _manualFlightMode     (tr("Manual"))
+    , _acroFlightMode       (tr("Acro"))
+    , _stabilizedFlightMode (tr("Stabilized"))
+    , _rattitudeFlightMode  (tr("Rattitude"))
+    , _altCtlFlightMode     (tr("Altitude"))
+    , _posCtlFlightMode     (tr("Position"))
+    , _offboardFlightMode   (tr("Offboard"))
+    , _readyFlightMode      (tr("Ready"))
+    , _takeoffFlightMode    (tr("Takeoff"))
+    , _holdFlightMode       (tr("Hold"))
+    , _missionFlightMode    (tr("Mission"))
+    , _rtlFlightMode        (tr("Return"))
+    , _landingFlightMode    (tr("Land"))
+    , _preclandFlightMode   (tr("Precision Land"))
+    , _rtgsFlightMode       (tr("Return to Groundstation"))
+    , _followMeFlightMode   (tr("Follow Me"))
+    , _simpleFlightMode     (tr("Simple"))
+    , _orbitFlightMode      (tr("Orbit"))
 {
     qmlRegisterType<PX4AdvancedFlightModesController>   ("QGroundControl.Controllers", 1, 0, "PX4AdvancedFlightModesController");
     qmlRegisterType<PX4SimpleFlightModesController>     ("QGroundControl.Controllers", 1, 0, "PX4SimpleFlightModesController");
@@ -76,15 +77,14 @@ PX4FirmwarePlugin::PX4FirmwarePlugin(void)
         { PX4_CUSTOM_MAIN_MODE_ACRO,        0,                                      true,   true,   true },
         { PX4_CUSTOM_MAIN_MODE_RATTITUDE,   0,                                      true,   true,   true },
         { PX4_CUSTOM_MAIN_MODE_ALTCTL,      0,                                      true,   true,   true },
-        { PX4_CUSTOM_MAIN_MODE_POSCTL,      0,                                      true,   true,   true },
-        // simple can't be set by the user right now
-        { PX4_CUSTOM_MAIN_MODE_SIMPLE,      0,                                      false,   false,  true },
+        { PX4_CUSTOM_MAIN_MODE_OFFBOARD,    0,                                      true,   false,  true },
+        { PX4_CUSTOM_MAIN_MODE_SIMPLE,      0,                                      false,  false,  true },
+        { PX4_CUSTOM_MAIN_MODE_POSCTL,      PX4_CUSTOM_SUB_MODE_POSCTL_POSCTL,      true,   true,   true },
+        { PX4_CUSTOM_MAIN_MODE_POSCTL,      PX4_CUSTOM_SUB_MODE_POSCTL_ORBIT,       false,  false,   false },
         { PX4_CUSTOM_MAIN_MODE_AUTO,        PX4_CUSTOM_SUB_MODE_AUTO_LOITER,        true,   true,   true },
         { PX4_CUSTOM_MAIN_MODE_AUTO,        PX4_CUSTOM_SUB_MODE_AUTO_MISSION,       true,   true,   true },
         { PX4_CUSTOM_MAIN_MODE_AUTO,        PX4_CUSTOM_SUB_MODE_AUTO_RTL,           true,   true,   true },
         { PX4_CUSTOM_MAIN_MODE_AUTO,        PX4_CUSTOM_SUB_MODE_AUTO_FOLLOW_TARGET, true,   false,  true },
-        { PX4_CUSTOM_MAIN_MODE_OFFBOARD,    0,                                      true,   false,  true },
-        // modes that can't be directly set by the user
         { PX4_CUSTOM_MAIN_MODE_AUTO,        PX4_CUSTOM_SUB_MODE_AUTO_LAND,          false,  true,   true },
         { PX4_CUSTOM_MAIN_MODE_AUTO,        PX4_CUSTOM_SUB_MODE_AUTO_PRECLAND,      false,  false,  true },
         { PX4_CUSTOM_MAIN_MODE_AUTO,        PX4_CUSTOM_SUB_MODE_AUTO_READY,         false,  true,   true },
@@ -99,13 +99,14 @@ PX4FirmwarePlugin::PX4FirmwarePlugin(void)
         &_acroFlightMode,
         &_rattitudeFlightMode,
         &_altCtlFlightMode,
-        &_posCtlFlightMode,
+        &_offboardFlightMode,
         &_simpleFlightMode,
+        &_posCtlFlightMode,
+        &_orbitFlightMode,
         &_holdFlightMode,
         &_missionFlightMode,
         &_rtlFlightMode,
         &_followMeFlightMode,
-        &_offboardFlightMode,
         &_landingFlightMode,
         &_preclandFlightMode,
         &_readyFlightMode,
diff --git a/src/FirmwarePlugin/PX4/PX4FirmwarePlugin.h b/src/FirmwarePlugin/PX4/PX4FirmwarePlugin.h
index 24628433a00a866efe72e822aee44ecfd6f0556b..fa2a4e8796a7fb35687396ec533aa2e75bbe2e2a 100644
--- a/src/FirmwarePlugin/PX4/PX4FirmwarePlugin.h
+++ b/src/FirmwarePlugin/PX4/PX4FirmwarePlugin.h
@@ -105,6 +105,7 @@ protected:
     QString _rtgsFlightMode;
     QString _followMeFlightMode;
     QString _simpleFlightMode;
+    QString _orbitFlightMode;
 
 private slots:
     void _mavCommandResult(int vehicleId, int component, int command, int result, bool noReponseFromVehicle);
diff --git a/src/FirmwarePlugin/PX4/px4_custom_mode.h b/src/FirmwarePlugin/PX4/px4_custom_mode.h
index f6b3c905502748b30e1d73ae4d337981308f1d1f..3e65a862af5da317fd81e5d1676be5fe89f8bc46 100644
--- a/src/FirmwarePlugin/PX4/px4_custom_mode.h
+++ b/src/FirmwarePlugin/PX4/px4_custom_mode.h
@@ -34,7 +34,7 @@
 /**
  * @file px4_custom_mode.h
  * PX4 custom flight modes
- * Copied from PX4 2018-04-07 - https://github.com/PX4/Firmware/blob/master/src/modules/commander/px4_custom_mode.h#L45
+ *
  */
 
 #ifndef PX4_CUSTOM_MODE_H_
@@ -66,18 +66,23 @@ enum PX4_CUSTOM_SUB_MODE_AUTO {
 	PX4_CUSTOM_SUB_MODE_AUTO_PRECLAND
 };
 
+enum PX4_CUSTOM_SUB_MODE_POSCTL {
+    PX4_CUSTOM_SUB_MODE_POSCTL_POSCTL = 0,
+    PX4_CUSTOM_SUB_MODE_POSCTL_ORBIT
+};
+
 union px4_custom_mode {
 	struct {
 		uint16_t reserved;
 		uint8_t main_mode;
 		uint8_t sub_mode;
 	};
-    struct {
-        uint16_t reserved_hl;
-        uint16_t custom_mode_hl;
-    };
-    uint32_t data;
+	uint32_t data;
 	float data_float;
+	struct {
+		uint16_t reserved_hl;
+		uint16_t custom_mode_hl;
+	};
 };
 
 #endif /* PX4_CUSTOM_MODE_H_ */
diff --git a/src/FlightDisplay/FlightDisplayViewMap.qml b/src/FlightDisplay/FlightDisplayViewMap.qml
index bef117d3ac09dd7a74e9d9022c7627e150c4ab9f..788c2f21273ee2e2606d179ebec1434e419fcc8f 100644
--- a/src/FlightDisplay/FlightDisplayViewMap.qml
+++ b/src/FlightDisplay/FlightDisplayViewMap.qml
@@ -318,6 +318,8 @@ FlightMap {
         }
     }
 
+    // Orbit visuals
+
     QGCMapCircleVisuals {
         id:             orbitMapCircle
         mapControl:     parent
@@ -354,13 +356,29 @@ FlightMap {
         }
     }
 
-    // Used to show orbit status telemetry from the vehicle
+    // Orbit telemetry visuals
+
     QGCMapCircleVisuals {
+        id:             orbitTelemetryCircle
         mapControl:     parent
         mapCircle:      _activeVehicle ? _activeVehicle.orbitMapCircle : null
         visible:        _activeVehicle ? _activeVehicle.orbitActive : false
     }
 
+    MapQuickItem {
+        id:             orbitCenterIndicator
+        anchorPoint.x:  sourceItem.anchorPointX
+        anchorPoint.y:  sourceItem.anchorPointY
+        coordinate:     _activeVehicle ? _activeVehicle.orbitMapCircle.center : undefined
+        visible:        orbitTelemetryCircle.visible
+
+        sourceItem: MissionItemIndexLabel {
+            checked:    true
+            index:      -1
+            label:      qsTr("Orbit", "Orbit waypoint")
+        }
+    }
+
     // Handle guided mode clicks
     MouseArea {
         anchors.fill: parent