diff --git a/.travis.yml b/.travis.yml
index c4b61d6884abc652808b73b510f37c8ea8573aa9..a4a2e7f69791d37ad837641d09c47ad907808b5f 100644
--- a/.travis.yml
+++ b/.travis.yml
@@ -241,6 +241,7 @@ deploy:
 
   # deploy tagged installers to s3 latest/
   - provider: s3
+    edge: true # Use V2 provider to work around V1 bug
     access_key_id: AKIAIVORNALE7NHD3T6Q
     secret_access_key:
       secure: BsLXeXUPsCJdX4tawrDnO8OFK5Hk4kzlDTiyH93En6TbjUargVAWDMcHVj7TUhr7+3Tao1W1zb0G4SJe9kHv+jrky0yE72KvoG3YAON0VXWKizxBAKkgHE2RxSTNAwDeKbi2G6YJfNDescBBfX7zEohShdXglQu7CGaUQKRaiI4=
@@ -283,6 +284,7 @@ deploy:
     on:
       tags: true
       condition: $CONFIG = installer
+      condition: $SPEC != macx-clang # GitHub OSX deploy broken due to travis problem
 
 notifications:
   webhooks:
diff --git a/ChangeLog.md b/ChangeLog.md
index 23e1366fccc0c7c2f28457ccf1a3b422c3cfc3c5..096f20600ac409a7e364dd1b7cda16f3e9d3a8f4 100644
--- a/ChangeLog.md
+++ b/ChangeLog.md
@@ -8,6 +8,14 @@ Note: This file only contains high level features or important fixes.
 
 ## 4.0
 
+### 4.0.3 - Not yet released
+
+
+### 4.0.3 - Not yet released
+
+* Plan: Add setting for takeoff item not required
+* Plan: Takeoff item must be added prior to allowing other item types to enable
+
 ### 4.0.2 - Stable
 
 * Fix Mavlink V2 protocol negotation based on capability bits
@@ -18,6 +26,8 @@ Note: This file only contains high level features or important fixes.
 
 * Fix ArduPilot current mission item tracking in Fly view
 * Fix ADSB vehicle display
+* Fix map positioning bug in Plan view
+* Fix Windows 0xcc000007b startup error causes by incorrect VC runtimes being installed.
 
 ### 4.0.0
 
diff --git a/QGCSetup.pri b/QGCSetup.pri
index e6546f6af289e052acb87135e03e157a30595dac..9ecb1435eeafa118a03a7184e1ef5a33bc0066b5 100644
--- a/QGCSetup.pri
+++ b/QGCSetup.pri
@@ -79,8 +79,6 @@ WindowsBuild {
         # Copy Visual Studio DLLs
         # Note that this is only done for release because the debugging versions of these DLLs cannot be redistributed.
         QMAKE_POST_LINK += $$escape_expand(\\n) $$QMAKE_COPY \"$$BASEDIR\\deploy\\msvcp140.dll\"  \"$$DESTDIR_WIN\"
-        QMAKE_POST_LINK += $$escape_expand(\\n) $$QMAKE_COPY \"$$BASEDIR\\deploy\\msvcp140_1.dll\"  \"$$DESTDIR_WIN\"
-        QMAKE_POST_LINK += $$escape_expand(\\n) $$QMAKE_COPY \"$$BASEDIR\\deploy\\msvcp140_2.dll\"  \"$$DESTDIR_WIN\"
         QMAKE_POST_LINK += $$escape_expand(\\n) $$QMAKE_COPY \"$$BASEDIR\\deploy\\vcruntime140.dll\"  \"$$DESTDIR_WIN\"
     }
 
diff --git a/deploy/msvcp140.dll b/deploy/msvcp140.dll
index 6ca27d5150e0faaf4a32ee3224332cdea5b61829..98313d4c125307dbc5784b5a329c7d113183d3c8 100644
Binary files a/deploy/msvcp140.dll and b/deploy/msvcp140.dll differ
diff --git a/deploy/msvcp140_1.dll b/deploy/msvcp140_1.dll
deleted file mode 100644
index 64f090daf6d5d06dcc2991c6469ffe23964b59c3..0000000000000000000000000000000000000000
Binary files a/deploy/msvcp140_1.dll and /dev/null differ
diff --git a/deploy/msvcp140_2.dll b/deploy/msvcp140_2.dll
deleted file mode 100644
index 682fd794200adce7f9a6184ea4cfaf019702af1f..0000000000000000000000000000000000000000
Binary files a/deploy/msvcp140_2.dll and /dev/null differ
diff --git a/deploy/qgroundcontrol_installer.nsi b/deploy/qgroundcontrol_installer.nsi
index e69741bceefa3da8313b232f0f6721cbf2971fa1..b3a8a3c83e9d92ae96814a74afd27c726379fdfb 100644
--- a/deploy/qgroundcontrol_installer.nsi
+++ b/deploy/qgroundcontrol_installer.nsi
@@ -71,8 +71,7 @@ check64BitUninstall:
   StrCmp $R0 "" doInstall
 
 doUninstall:
-  DetailPrint "Uninstalling previous version..."  
-  ExecWait "$R0 /S -LEAVE_DATA=1"
+  DetailPrint "Uninstalling previous version..."
  ExecWait "$R0 /S -LEAVE_DATA=1 _?=$INSTDIR"
   IntCmp $0 0 doInstall
 
   MessageBox MB_OK|MB_ICONEXCLAMATION \
diff --git a/deploy/vcruntime140.dll b/deploy/vcruntime140.dll
index 3e49417f82c57023b2fd59defeb87e8b2ffea620..34a0e72504776f90526966db1e3e9d382674d613 100644
Binary files a/deploy/vcruntime140.dll and b/deploy/vcruntime140.dll differ
diff --git a/src/FirmwarePlugin/PX4/PX4FirmwarePlugin.cc b/src/FirmwarePlugin/PX4/PX4FirmwarePlugin.cc
index 419561db40dcc03399b1f72854777a5d0f5cf027..0d967c4cc6398b609b327e02e1e3fb62866cb2f8 100644
--- a/src/FirmwarePlugin/PX4/PX4FirmwarePlugin.cc
+++ b/src/FirmwarePlugin/PX4/PX4FirmwarePlugin.cc
@@ -482,14 +482,13 @@ void PX4FirmwarePlugin::guidedModeChangeAltitude(Vehicle* vehicle, double altitu
 
 void PX4FirmwarePlugin::startMission(Vehicle* vehicle)
 {
-
     if (_setFlightModeAndValidate(vehicle, missionFlightMode())) {
         if (!_armVehicleAndValidate(vehicle)) {
             qgcApp()->showMessage(tr("Unable to start mission: Vehicle rejected arming."));
             return;
         }
     } else {
-        qgcApp()->showMessage(tr("Unable to start mission: Vehicle not ready."));
+        qgcApp()->showMessage(tr("Unable to start mission: Vehicle not changing to %1 flight mode.").arg(missionFlightMode()));
     }
 }
 
diff --git a/src/FlightDisplay/PreFlightSensorsHealthCheck.qml b/src/FlightDisplay/PreFlightSensorsHealthCheck.qml
index 1d04ad1bce0522a66b8ee70ea1808a5280c53a35..e5e4a2a37886890c4ed13b8b0cd9b32226b88533 100644
--- a/src/FlightDisplay/PreFlightSensorsHealthCheck.qml
+++ b/src/FlightDisplay/PreFlightSensorsHealthCheck.qml
@@ -17,7 +17,7 @@ PreFlightCheckButton {
     name:               qsTr("Sensors")
     telemetryFailure:   _unhealthySensors & _allCheckedSensors
 
-    property int    _unhealthySensors:  activeVehicle ? activeVehicle.sensorsUnhealthyBits : 0
+    property int    _unhealthySensors:  activeVehicle ? activeVehicle.sensorsUnhealthyBits : 1
     property int    _allCheckedSensors: Vehicle.SysStatusSensor3dMag |
                                         Vehicle.SysStatusSensor3dAccel |
                                         Vehicle.SysStatusSensor3dGyro |
diff --git a/src/FlightMap/Widgets/MapFitFunctions.qml b/src/FlightMap/Widgets/MapFitFunctions.qml
index b8197994f988a8b5afd1be00bff0c015b17059b5..ac8bfa8cf88227304e3b294cbe60a4f154b80670 100644
--- a/src/FlightMap/Widgets/MapFitFunctions.qml
+++ b/src/FlightMap/Widgets/MapFitFunctions.qml
@@ -41,7 +41,7 @@ Item {
 
     /// Normalize longitude to range: 0 to 360, W to E
     function normalizeLon(lon) {
-        return lon  + 180.0
+        return lon + 180.0
     }
 
     /// Fits the visible region of the map to inclues all of the specified coordinates. If no coordinates
@@ -64,12 +64,12 @@ Item {
         for (var i = 1; i < coordList.length; i++) {
             var lat = coordList[i].latitude
             var lon = coordList[i].longitude
-            if (isNaN(lat) || lat == 0 || isNan(lon) || lon == 0) {
+            if (isNaN(lat) || lat == 0 || isNaN(lon) || lon == 0) {
                 // Be careful of invalid coords which can happen when items are not yet complete
                 continue
             }
             lat = normalizeLat(lat)
-            lon = normalizeLon(lat)
+            lon = normalizeLon(lon)
             north = Math.max(north, lat)
             south = Math.min(south, lat)
             east  = Math.max(east,  lon)
@@ -77,8 +77,8 @@ Item {
         }
 
         // Expand the coordinate bounding rect to make room for the tools around the edge of the map
-        var latDegreesPerPixel = (north - south) / mapFitViewport.width
-        var lonDegreesPerPixel = (east  - west)  / mapFitViewport.height
+        var latDegreesPerPixel = (north - south) / mapFitViewport.height
+        var lonDegreesPerPixel = (east  - west)  / mapFitViewport.width
         north = Math.min(north + (mapFitViewport.y * latDegreesPerPixel), 180)
         south = Math.max(south - ((map.height - mapFitViewport.bottom) * latDegreesPerPixel), 0)
         west  = Math.max(west  - (mapFitViewport.x * lonDegreesPerPixel), 0)
@@ -94,7 +94,6 @@ Item {
         var topLeftCoord      = QtPositioning.coordinate(north - 90.0, west - 180.0)
         var bottomRightCoord  = QtPositioning.coordinate(south - 90.0, east - 180.0)
         map.setVisibleRegion(QtPositioning.rectangle(topLeftCoord, bottomRightCoord))
-
     }
 
     function addMissionItemCoordsForFit(coordList) {
diff --git a/src/MissionManager/CameraSectionTest.cc b/src/MissionManager/CameraSectionTest.cc
index 6f9497a902b2f52b86e235766a21dfced1166394..f6dfb63493f978686f152b99dc00c2d5c380c490 100644
--- a/src/MissionManager/CameraSectionTest.cc
+++ b/src/MissionManager/CameraSectionTest.cc
@@ -592,7 +592,7 @@ void CameraSectionTest::_testScanForGimbalSection(void)
 
     // Check for a scan success
 
-    SimpleMissionItem* newValidGimbalItem = new SimpleMissionItem(_masterController, false /* flyView */, this);
+    SimpleMissionItem* newValidGimbalItem = new SimpleMissionItem(_masterController, false /* flyView */, false /* forLoad */, this);
     newValidGimbalItem->missionItem() = _validGimbalItem->missionItem();
     visualItems.append(newValidGimbalItem);
     scanIndex = 0;
@@ -676,7 +676,7 @@ void CameraSectionTest::_testScanForCameraModeSection(void)
 
     // Check for a scan success
 
-    SimpleMissionItem* newValidCameraModeItem = new SimpleMissionItem(_masterController, false /* flyView */, this);
+    SimpleMissionItem* newValidCameraModeItem = new SimpleMissionItem(_masterController, false /* flyView */, false /* forLoad */, this);
     newValidCameraModeItem->missionItem() = _validCameraPhotoModeItem->missionItem();
     visualItems.append(newValidCameraModeItem);
     scanIndex = 0;
@@ -735,7 +735,7 @@ void CameraSectionTest::_testScanForPhotoIntervalTimeSection(void)
     Mission Param #3	Number of images to capture total - 0 for unlimited capture
 */
 
-    SimpleMissionItem* newValidTimeItem = new SimpleMissionItem(_masterController, false /* flyView */, this);
+    SimpleMissionItem* newValidTimeItem = new SimpleMissionItem(_masterController, false /* flyView */, false /* forLoad */, this);
     newValidTimeItem->missionItem() = _validTimeItem->missionItem();
     visualItems.append(newValidTimeItem);
     QCOMPARE(_cameraSection->scanForSection(&visualItems, scanIndex), true);
@@ -776,7 +776,7 @@ void CameraSectionTest::_testScanForPhotoIntervalDistanceSection(void)
     Mission Param #7	Empty
     */
 
-    SimpleMissionItem* newValidDistanceItem = new SimpleMissionItem(_masterController, false /* flyView */, this);
+    SimpleMissionItem* newValidDistanceItem = new SimpleMissionItem(_masterController, false /* flyView */, false /* forLoad */, this);
     newValidDistanceItem->missionItem() = _validDistanceItem->missionItem();
     visualItems.append(newValidDistanceItem);
     QCOMPARE(_cameraSection->scanForSection(&visualItems, scanIndex), true);
@@ -862,7 +862,7 @@ void CameraSectionTest::_testScanForStartVideoSection(void)
     Mission Param #3	Reserved
     */
 
-    SimpleMissionItem* newValidStartVideoItem = new SimpleMissionItem(_masterController, false /* flyView */, this);
+    SimpleMissionItem* newValidStartVideoItem = new SimpleMissionItem(_masterController, false /* flyView */, false /* forLoad */, this);
     newValidStartVideoItem->missionItem() = _validStartVideoItem->missionItem();
     visualItems.append(newValidStartVideoItem);
     QCOMPARE(_cameraSection->scanForSection(&visualItems, scanIndex), true);
@@ -898,7 +898,7 @@ void CameraSectionTest::_testScanForStopVideoSection(void)
     Mission Param #1 Reserved (Set to 0)
     */
 
-    SimpleMissionItem* newValidStopVideoItem = new SimpleMissionItem(_masterController, false /* flyView */, this);
+    SimpleMissionItem* newValidStopVideoItem = new SimpleMissionItem(_masterController, false /* flyView */, false /* forLoad */, this);
     newValidStopVideoItem->missionItem() = _validStopVideoItem->missionItem();
     visualItems.append(newValidStopVideoItem);
     QCOMPARE(_cameraSection->scanForSection(&visualItems, scanIndex), true);
@@ -936,8 +936,8 @@ void CameraSectionTest::_testScanForStopPhotoSection(void)
 
     _commonScanTest(_cameraSection);
 
-    SimpleMissionItem* newValidStopDistanceItem = new SimpleMissionItem(_masterController, false /* flyView */, this);
-    SimpleMissionItem* newValidStopTimeItem = new SimpleMissionItem(_masterController, false /* flyView */, this);
+    SimpleMissionItem* newValidStopDistanceItem = new SimpleMissionItem(_masterController, false /* flyView */, false /* forLoad */, this);
+    SimpleMissionItem* newValidStopTimeItem = new SimpleMissionItem(_masterController, false /* flyView */, false /* forLoad */, this);
     newValidStopDistanceItem->missionItem() = _validStopDistanceItem->missionItem();
     newValidStopTimeItem->missionItem() = _validStopTimeItem->missionItem();
     visualItems.append(newValidStopDistanceItem);
@@ -950,8 +950,8 @@ void CameraSectionTest::_testScanForStopPhotoSection(void)
 
     // Out of order commands
 
-    SimpleMissionItem validStopDistanceItem(_masterController, false /* flyView */, nullptr);
-    SimpleMissionItem validStopTimeItem(_masterController, false /* flyView */, nullptr);
+    SimpleMissionItem validStopDistanceItem(_masterController, false /* flyView */, false /* forLoad */, nullptr);
+    SimpleMissionItem validStopTimeItem(_masterController, false /* flyView */, false /* forLoad */, nullptr);
     validStopDistanceItem.missionItem() = _validStopDistanceItem->missionItem();
     validStopTimeItem.missionItem() = _validStopTimeItem->missionItem();
     visualItems.append(&validStopTimeItem);
@@ -979,7 +979,7 @@ void CameraSectionTest::_testScanForTakePhotoSection(void)
     Mission Param #4	0 Unused sequence id
     */
 
-    SimpleMissionItem* newValidTakePhotoItem = new SimpleMissionItem(_masterController, false /* flyView */, this);
+    SimpleMissionItem* newValidTakePhotoItem = new SimpleMissionItem(_masterController, false /* flyView */, false /* forLoad */, this);
     newValidTakePhotoItem->missionItem() = _validTakePhotoItem->missionItem();
     visualItems.append(newValidTakePhotoItem);
     QCOMPARE(_cameraSection->scanForSection(&visualItems, scanIndex), true);
@@ -1051,9 +1051,9 @@ void CameraSectionTest::_testScanForMultipleItems(void)
     // Camera action followed by gimbal/mode
     for (SimpleMissionItem* actionItem: rgActionItems) {
         for (SimpleMissionItem* cameraItem: rgCameraItems) {
-            SimpleMissionItem* item1 = new SimpleMissionItem(_masterController, false /* flyView */, this);
+            SimpleMissionItem* item1 = new SimpleMissionItem(_masterController, false /* flyView */, false /* forLoad */, this);
             item1->missionItem() = actionItem->missionItem();
-            SimpleMissionItem* item2 = new SimpleMissionItem(_masterController, false /* flyView */, this);
+            SimpleMissionItem* item2 = new SimpleMissionItem(_masterController, false /* flyView */, false /* forLoad */, this);
             item2->missionItem() = cameraItem->missionItem();
             visualItems.append(item1);
             visualItems.append(item2);
@@ -1072,9 +1072,9 @@ void CameraSectionTest::_testScanForMultipleItems(void)
     // Gimbal/Mode followed by camera action
     for (SimpleMissionItem* actionItem: rgCameraItems) {
         for (SimpleMissionItem* cameraItem: rgActionItems) {
-            SimpleMissionItem* item1 = new SimpleMissionItem(_masterController, false /* flyView */, this);
+            SimpleMissionItem* item1 = new SimpleMissionItem(_masterController, false /* flyView */, false /* forLoad */, this);
             item1->missionItem() = actionItem->missionItem();
-            SimpleMissionItem* item2 = new SimpleMissionItem(_masterController, false /* flyView */, this);
+            SimpleMissionItem* item2 = new SimpleMissionItem(_masterController, false /* flyView */, false /* forLoad */, this);
             item2->missionItem() = cameraItem->missionItem();
             visualItems.append(item1);
             visualItems.append(item2);
diff --git a/src/MissionManager/FWLandingPatternTest.cc b/src/MissionManager/FWLandingPatternTest.cc
index 4ff6f3aa66b2dc82a7a704a7410802df2bee8cbd..ee969f0ffa203b7ae78642cec4d57316932c56ca 100644
--- a/src/MissionManager/FWLandingPatternTest.cc
+++ b/src/MissionManager/FWLandingPatternTest.cc
@@ -89,7 +89,7 @@ void FWLandingPatternTest::_testAppendSectionItems(void)
     QmlObjectListModel* simpleItems = new QmlObjectListModel(this);
 
     for (MissionItem* item: rgMissionItems) {
-        SimpleMissionItem* simpleItem = new SimpleMissionItem(_masterController, false /* flyView */, simpleItems);
+        SimpleMissionItem* simpleItem = new SimpleMissionItem(_masterController, false /* flyView */, false /* forLoad */, simpleItems);
         simpleItem->missionItem() = *item;
         simpleItems->append(simpleItem);
     }
@@ -110,7 +110,7 @@ void FWLandingPatternTest::_testAppendSectionItems(void)
     _fwItem->appendMissionItems(rgMissionItems, this);
     simpleItems = new QmlObjectListModel(this);
     for (MissionItem* item: rgMissionItems) {
-        SimpleMissionItem* simpleItem = new SimpleMissionItem(_masterController, false /* flyView */, simpleItems);
+        SimpleMissionItem* simpleItem = new SimpleMissionItem(_masterController, false /* flyView */, false /* forLoad */, simpleItems);
         simpleItem->missionItem() = *item;
         simpleItems->append(simpleItem);
     }
diff --git a/src/MissionManager/MissionController.cc b/src/MissionManager/MissionController.cc
index 5ab4302f09c4c80a74505c3426f24b92a0243626..5809910349cc7e15f499b1ef17e2bb6e675d1190 100644
--- a/src/MissionManager/MissionController.cc
+++ b/src/MissionManager/MissionController.cc
@@ -31,6 +31,7 @@
 #include "KML.h"
 #include "QGCCorePlugin.h"
 #include "TakeoffMissionItem.h"
+#include "PlanViewSettings.h"
 
 #define UPDATE_TIMEOUT 5000 ///< How often we check for bounding box changes
 
@@ -62,12 +63,15 @@ MissionController::MissionController(PlanMasterController* masterController, QOb
     , _controllerVehicle        (masterController->controllerVehicle())
     , _managerVehicle           (masterController->managerVehicle())
     , _missionManager           (masterController->managerVehicle()->missionManager())
+    , _planViewSettings         (qgcApp()->toolbox()->settingsManager()->planViewSettings())
     , _appSettings              (qgcApp()->toolbox()->settingsManager()->appSettings())
 {
     _resetMissionFlightStatus();
 
     _updateTimer.setSingleShot(true);
     connect(&_updateTimer, &QTimer::timeout, this, &MissionController::_updateTimeout);
+
+    connect(_planViewSettings->takeoffItemNotRequired(), &Fact::rawValueChanged, this, &MissionController::_takeoffItemNotRequiredChanged);
 }
 
 MissionController::~MissionController()
@@ -337,7 +341,7 @@ int MissionController::_nextSequenceNumber(void)
 VisualMissionItem* MissionController::_insertSimpleMissionItemWorker(QGeoCoordinate coordinate, MAV_CMD command, int visualItemIndex, bool makeCurrentItem)
 {
     int sequenceNumber = _nextSequenceNumber();
-    SimpleMissionItem * newItem = new SimpleMissionItem(_masterController, _flyView, this);
+    SimpleMissionItem * newItem = new SimpleMissionItem(_masterController, _flyView, false /* forLoad */, this);
     newItem->setSequenceNumber(sequenceNumber);
     newItem->setCoordinate(coordinate);
     newItem->setCommand(command);
@@ -651,7 +655,7 @@ bool MissionController::_loadJsonMissionFileV1(const QJsonObject& json, QmlObjec
 
     MissionSettingsItem* settingsItem = _addMissionSettings(visualItems);
     if (json.contains(_jsonPlannedHomePositionKey)) {
-        SimpleMissionItem* item = new SimpleMissionItem(_masterController, _flyView, visualItems);
+        SimpleMissionItem* item = new SimpleMissionItem(_masterController, _flyView, true /* forLoad */, visualItems);
         if (item->load(json[_jsonPlannedHomePositionKey].toObject(), 0, errorString)) {
             settingsItem->setInitialHomePositionFromUser(item->coordinate());
             item->deleteLater();
@@ -687,11 +691,11 @@ bool MissionController::_loadJsonMissionFileV1(const QJsonObject& json, QmlObjec
             }
 
             const QJsonObject itemObject = itemValue.toObject();
-            SimpleMissionItem* item = new SimpleMissionItem(_masterController, _flyView, visualItems);
+            SimpleMissionItem* item = new SimpleMissionItem(_masterController, _flyView, true /* forLoad */, visualItems);
             if (item->load(itemObject, itemObject["id"].toInt(), errorString)) {
                 if (TakeoffMissionItem::isTakeoffCommand(item->mavCommand())) {
                     // This needs to be a TakeoffMissionItem
-                    TakeoffMissionItem* takeoffItem = new TakeoffMissionItem(_masterController, _flyView, settingsItem, visualItems);
+                    TakeoffMissionItem* takeoffItem = new TakeoffMissionItem(_masterController, _flyView, settingsItem, true /* forLoad */, visualItems);
                     takeoffItem->load(itemObject, itemObject["id"].toInt(), errorString);
                     item->deleteLater();
                     item = takeoffItem;
@@ -775,11 +779,11 @@ bool MissionController::_loadJsonMissionFileV2(const QJsonObject& json, QmlObjec
         QString itemType = itemObject[VisualMissionItem::jsonTypeKey].toString();
 
         if (itemType == VisualMissionItem::jsonTypeSimpleItemValue) {
-            SimpleMissionItem* simpleItem = new SimpleMissionItem(_masterController, _flyView, visualItems);
+            SimpleMissionItem* simpleItem = new SimpleMissionItem(_masterController, _flyView, true /* forLoad */, visualItems);
             if (simpleItem->load(itemObject, nextSequenceNumber, errorString)) {
                 if (TakeoffMissionItem::isTakeoffCommand(static_cast<MAV_CMD>(simpleItem->command()))) {
                     // This needs to be a TakeoffMissionItem
-                    TakeoffMissionItem* takeoffItem = new TakeoffMissionItem(_masterController, _flyView, settingsItem, this);
+                    TakeoffMissionItem* takeoffItem = new TakeoffMissionItem(_masterController, _flyView, settingsItem, true /* forLoad */, this);
                     takeoffItem->load(itemObject, nextSequenceNumber, errorString);
                     simpleItem->deleteLater();
                     simpleItem = takeoffItem;
@@ -919,14 +923,14 @@ bool MissionController::_loadTextMissionFile(QTextStream& stream, QmlObjectListM
         MissionSettingsItem* settingsItem = _addMissionSettings(visualItems);
 
         while (!stream.atEnd()) {
-            SimpleMissionItem* item = new SimpleMissionItem(_masterController, _flyView, visualItems);
+            SimpleMissionItem* item = new SimpleMissionItem(_masterController, _flyView, true /* forLoad */, visualItems);
             if (item->load(stream)) {
                 if (firstItem && plannedHomePositionInFile) {
                     settingsItem->setInitialHomePositionFromUser(item->coordinate());
                 } else {
                     if (TakeoffMissionItem::isTakeoffCommand(static_cast<MAV_CMD>(item->command()))) {
                         // This needs to be a TakeoffMissionItem
-                        TakeoffMissionItem* takeoffItem = new TakeoffMissionItem(_masterController, _flyView, settingsItem, visualItems);
+                        TakeoffMissionItem* takeoffItem = new TakeoffMissionItem(_masterController, _flyView, settingsItem, true /* forLoad */, visualItems);
                         takeoffItem->load(stream);
                         item->deleteLater();
                         item = takeoffItem;
@@ -2283,6 +2287,7 @@ void MissionController::setCurrentPlanViewSeqNum(int sequenceNumber, bool force)
         _currentPlanViewItem  =         nullptr;
         _currentPlanViewSeqNum =        -1;
         _currentPlanViewVIIndex =       -1;
+        _onlyInsertTakeoffValid =       !_planViewSettings->takeoffItemNotRequired()->rawValue().toBool() && _visualItems->count() == 1; // First item must be takeoff
         _isInsertTakeoffValid =         true;
         _isInsertLandValid =            true;
         _isROIActive =                  false;
@@ -2412,10 +2417,15 @@ void MissionController::setCurrentPlanViewSeqNum(int sequenceNumber, bool force)
             }
         }
 
+        // These are not valid when only takeoff is allowed
+        _isInsertLandValid =            _isInsertLandValid && !_onlyInsertTakeoffValid;
+        _flyThroughCommandsAllowed =    _flyThroughCommandsAllowed && !_onlyInsertTakeoffValid;
+
         emit currentPlanViewSeqNumChanged();
         emit currentPlanViewVIIndexChanged();
         emit currentPlanViewItemChanged();
         emit splitSegmentChanged();
+        emit onlyInsertTakeoffValidChanged();
         emit isInsertTakeoffValidChanged();
         emit isInsertLandValidChanged();
         emit isROIActiveChanged();
@@ -2513,3 +2523,9 @@ bool MissionController::isEmpty(void) const
 {
     return _visualItems->count() <= 1;
 }
+
+void MissionController::_takeoffItemNotRequiredChanged(void)
+{
+    // Force a recalc of allowed bits
+    setCurrentPlanViewSeqNum(_currentPlanViewSeqNum, true /* force */);
+}
diff --git a/src/MissionManager/MissionController.h b/src/MissionManager/MissionController.h
index dc128f188a6fdad8a5a4dcf0df09da21be2e3231..2274408d6f3c9f86e38e9a09acc1a7625f5bd0c2 100644
--- a/src/MissionManager/MissionController.h
+++ b/src/MissionManager/MissionController.h
@@ -28,6 +28,7 @@ class SimpleMissionItem;
 class ComplexMissionItem;
 class MissionSettingsItem;
 class QDomDocument;
+class PlanViewSettings;
 
 Q_DECLARE_LOGGING_CATEGORY(MissionControllerLog)
 
@@ -95,6 +96,7 @@ public:
     Q_PROPERTY(QString              surveyComplexItemName           READ surveyComplexItemName          CONSTANT)
     Q_PROPERTY(QString              corridorScanComplexItemName     READ corridorScanComplexItemName    CONSTANT)
     Q_PROPERTY(QString              structureScanComplexItemName    READ structureScanComplexItemName   CONSTANT)
+    Q_PROPERTY(bool                 onlyInsertTakeoffValid          MEMBER _onlyInsertTakeoffValid      NOTIFY onlyInsertTakeoffValidChanged)
     Q_PROPERTY(bool                 isInsertTakeoffValid            MEMBER _isInsertTakeoffValid        NOTIFY isInsertTakeoffValidChanged)
     Q_PROPERTY(bool                 isInsertLandValid               MEMBER _isInsertLandValid           NOTIFY isInsertLandValidChanged)
     Q_PROPERTY(bool                 isROIActive                     MEMBER _isROIActive                 NOTIFY isROIActiveChanged)
@@ -263,6 +265,7 @@ signals:
     void currentPlanViewItemChanged         (void);
     void missionBoundingCubeChanged         (void);
     void missionItemCountChanged            (int missionItemCount);
+    void onlyInsertTakeoffValidChanged      (void);
     void isInsertTakeoffValidChanged        (void);
     void isInsertLandValidChanged           (void);
     void isROIActiveChanged                 (void);
@@ -286,6 +289,7 @@ private slots:
     void _complexBoundingBoxChanged             (void);
     void _recalcAll                             (void);
     void _managerVehicleChanged                 (Vehicle* managerVehicle);
+    void _takeoffItemNotRequiredChanged         (void);
 
 private:
     void _init(void);
@@ -334,6 +338,7 @@ private:
     int                     _missionItemCount =             0;
     QmlObjectListModel*     _visualItems =                  nullptr;
     MissionSettingsItem*    _settingsItem =                 nullptr;
+    PlanViewSettings*       _planViewSettings =             nullptr;
     QmlObjectListModel      _waypointLines;
     QVariantList            _waypointPath;
     QmlObjectListModel      _directionArrows;
@@ -353,10 +358,11 @@ private:
     QGeoCoordinate          _takeoffCoordinate;
     QGeoCoordinate          _previousCoordinate;
     CoordinateVector*       _splitSegment =                 nullptr;
+    bool                    _onlyInsertTakeoffValid =       true;
     bool                    _isInsertTakeoffValid =         true;
-    bool                    _isInsertLandValid =            true;
+    bool                    _isInsertLandValid =            false;
     bool                    _isROIActive =                  false;
-    bool                    _flyThroughCommandsAllowed =    true;
+    bool                    _flyThroughCommandsAllowed =    false;
     bool                    _isROIBeginCurrentItem =        false;
 
     static const char*  _settingsGroup;
diff --git a/src/MissionManager/MissionItemTest.cc b/src/MissionManager/MissionItemTest.cc
index 33946aef87e9dc3bd43a830493a9cb6cee944f4a..e2df716a21666becdf2a51b15481984dd8d41e91 100644
--- a/src/MissionManager/MissionItemTest.cc
+++ b/src/MissionManager/MissionItemTest.cc
@@ -278,7 +278,7 @@ void MissionItemTest::_testSimpleLoadFromStream(void)
 {
     // We specifically test SimpleMissionItem loading as well since it has additional
     // signalling which can affect values.
-    SimpleMissionItem simpleMissionItem(_masterController, false /* flyView */, nullptr);
+    SimpleMissionItem simpleMissionItem(_masterController, false /* flyView */, false /* forLoad */, nullptr);
 
     QString testString("10\t0\t3\t80\t10\t20\t30\t40\t-10\t-20\t-30\t1\r\n");
     QTextStream testStream(&testString, QIODevice::ReadOnly);
@@ -448,7 +448,7 @@ void MissionItemTest::_testSimpleLoadFromJson(void)
     // We specifically test SimpleMissionItem loading as well since it has additional
     // signalling which can affect values.
 
-    SimpleMissionItem simpleMissionItem(_masterController, false /* flyView */, nullptr);
+    SimpleMissionItem simpleMissionItem(_masterController, false /* flyView */, false /* forLoad */, nullptr);
     QString     errorString;
     QJsonArray  coordinateArray;
     QJsonObject jsonObject;
diff --git a/src/MissionManager/SimpleMissionItem.cc b/src/MissionManager/SimpleMissionItem.cc
index 16fd42259eb55eae535e578991a3ed1641d5fc67..b4308bdae2c143d8d1596a1ee905733220b0805b 100644
--- a/src/MissionManager/SimpleMissionItem.cc
+++ b/src/MissionManager/SimpleMissionItem.cc
@@ -52,7 +52,7 @@ static const struct EnumInfo_s _rgMavFrameInfo[] = {
 { "MAV_FRAME_GLOBAL_TERRAIN_ALT_INT",   MAV_FRAME_GLOBAL_TERRAIN_ALT_INT },
 };
 
-SimpleMissionItem::SimpleMissionItem(PlanMasterController* masterController, bool flyView, QObject* parent)
+SimpleMissionItem::SimpleMissionItem(PlanMasterController* masterController, bool flyView, bool forLoad, QObject* parent)
     : VisualMissionItem                 (masterController, flyView, parent)
     , _commandTree                      (qgcApp()->toolbox()->missionCommandTree())
     , _supportedCommandFact             (0, "Command:",             FactMetaData::valueTypeUint32)
@@ -69,13 +69,15 @@ SimpleMissionItem::SimpleMissionItem(PlanMasterController* masterController, boo
     _editorQml = QStringLiteral("qrc:/qml/SimpleItemEditor.qml");
 
     _setupMetaData();
-    _connectSignals();
-    _updateOptionalSections();
-
-    _setDefaultsForCommand();
-    _rebuildFacts();
 
-    setDirty(false);
+    if (!forLoad) {
+        // We are are going to load the SimpleItem right after this then don't connnect up signalling until after load is done
+        _connectSignals();
+        _updateOptionalSections();
+        _setDefaultsForCommand();
+        _rebuildFacts();
+        setDirty(false);
+    }
 }
 
 SimpleMissionItem::SimpleMissionItem(PlanMasterController* masterController, bool flyView, const MissionItem& missionItem, QObject* parent)
@@ -280,7 +282,10 @@ bool SimpleMissionItem::load(QTextStream &loadStream)
             _altitudeFact.setRawValue(_missionItem._param7Fact.rawValue());
             _amslAltAboveTerrainFact.setRawValue(qQNaN());
         }
+        _connectSignals();
         _updateOptionalSections();
+        _rebuildFacts();
+        setDirty(false);
     }
 
     return success;
@@ -313,7 +318,10 @@ bool SimpleMissionItem::load(const QJsonObject& json, int sequenceNumber, QStrin
         }
     }
 
+    _connectSignals();
     _updateOptionalSections();
+    _rebuildFacts();
+    setDirty(false);
 
     return true;
 }
diff --git a/src/MissionManager/SimpleMissionItem.h b/src/MissionManager/SimpleMissionItem.h
index 3ca54977d9fe674c71d3466b10c95df76c6ccc7b..491e0d35b832f904872d03a8bda4f2a2f61274be 100644
--- a/src/MissionManager/SimpleMissionItem.h
+++ b/src/MissionManager/SimpleMissionItem.h
@@ -24,9 +24,8 @@ class SimpleMissionItem : public VisualMissionItem
     Q_OBJECT
     
 public:
-    SimpleMissionItem(PlanMasterController* masterController, bool flyView, QObject* parent);
+    SimpleMissionItem(PlanMasterController* masterController, bool flyView, bool forLoad, QObject* parent);
     SimpleMissionItem(PlanMasterController* masterController, bool flyView, const MissionItem& missionItem, QObject* parent);
-    //SimpleMissionItem(const SimpleMissionItem& other, bool flyView, QObject* parent);
 
     ~SimpleMissionItem();
 
diff --git a/src/MissionManager/SimpleMissionItemTest.cc b/src/MissionManager/SimpleMissionItemTest.cc
index caa8c5204ba045c3353e5ded11ba2583c25fd7ac..44aa0b509f9564eeb904598b44f58c9492103779 100644
--- a/src/MissionManager/SimpleMissionItemTest.cc
+++ b/src/MissionManager/SimpleMissionItemTest.cc
@@ -166,7 +166,7 @@ void SimpleMissionItemTest::_testEditorFacts(void)
 
 void SimpleMissionItemTest::_testDefaultValues(void)
 {
-    SimpleMissionItem item(_masterController, false /* flyView */, nullptr);
+    SimpleMissionItem item(_masterController, false /* flyView */, false /* forLoad */, nullptr);
 
     item.missionItem().setCommand(MAV_CMD_NAV_WAYPOINT);
     item.missionItem().setFrame(MAV_FRAME_GLOBAL_RELATIVE_ALT);
diff --git a/src/MissionManager/SurveyComplexItem.cc b/src/MissionManager/SurveyComplexItem.cc
index 79510f5a1fe6d241d4cc1db6e3651c76a4a25d7e..3ee340f136baa4ec2632d2d2ce1481ced72f3946 100644
--- a/src/MissionManager/SurveyComplexItem.cc
+++ b/src/MissionManager/SurveyComplexItem.cc
@@ -79,6 +79,11 @@ SurveyComplexItem::SurveyComplexItem(PlanMasterController* masterController, boo
         _turnAroundDistanceFact.setRawValue(10);
     }
 
+    if (_controllerVehicle && !(_controllerVehicle->fixedWing() || _controllerVehicle->vtol())) {
+        // Only fixed wing flight paths support alternate transects
+        _flyAlternateTransectsFact.setRawValue(false);
+    }
+
     // We override the altitude to the mission default
     if (_cameraCalc.isManualCamera() || !_cameraCalc.valueSetIsDistance()->rawValue().toBool()) {
         _cameraCalc.distanceToSurface()->setRawValue(qgcApp()->toolbox()->settingsManager()->appSettings()->defaultMissionItemAltitude()->rawValue());
diff --git a/src/MissionManager/TakeoffMissionItem.cc b/src/MissionManager/TakeoffMissionItem.cc
index 08400bf9e17852df3289b7d72f4f114fec2bae9a..335f1b3a474c8d9189da668ba1a08dc5cc27a42e 100644
--- a/src/MissionManager/TakeoffMissionItem.cc
+++ b/src/MissionManager/TakeoffMissionItem.cc
@@ -20,26 +20,27 @@
 #include "SettingsManager.h"
 #include "PlanMasterController.h"
 
-TakeoffMissionItem::TakeoffMissionItem(PlanMasterController* masterController, bool flyView, MissionSettingsItem* settingsItem, QObject* parent)
-    : SimpleMissionItem (masterController, flyView, parent)
+TakeoffMissionItem::TakeoffMissionItem(PlanMasterController* masterController, bool flyView, MissionSettingsItem* settingsItem, bool forLoad, QObject* parent)
+    : SimpleMissionItem (masterController, flyView, forLoad, parent)
     , _settingsItem     (settingsItem)
 {
-    _init();
+    _init(forLoad);
 }
 
 TakeoffMissionItem::TakeoffMissionItem(MAV_CMD takeoffCmd, PlanMasterController* masterController, bool flyView, MissionSettingsItem* settingsItem, QObject* parent)
-    : SimpleMissionItem (masterController, flyView, parent)
+    : SimpleMissionItem (masterController, flyView, false /* forLoad */, parent)
     , _settingsItem     (settingsItem)
 {
     setCommand(takeoffCmd);
-    _init();
+    _init(false /* forLoad */);
 }
 
 TakeoffMissionItem::TakeoffMissionItem(const MissionItem& missionItem, PlanMasterController* masterController, bool flyView, MissionSettingsItem* settingsItem, QObject* parent)
     : SimpleMissionItem (masterController, flyView, missionItem, parent)
     , _settingsItem     (settingsItem)
 {
-    _init();
+    _init(false /* forLoad */);
+    _wizardMode = false;
 }
 
 TakeoffMissionItem::~TakeoffMissionItem()
@@ -47,7 +48,7 @@ TakeoffMissionItem::~TakeoffMissionItem()
 
 }
 
-void TakeoffMissionItem::_init(void)
+void TakeoffMissionItem::_init(bool forLoad)
 {
     _editorQml = QStringLiteral("qrc:/qml/SimpleItemEditor.qml");
 
@@ -69,10 +70,15 @@ void TakeoffMissionItem::_init(void)
         }
     }
 
+    if (forLoad) {
+        // Load routines will set the rest up after load
+        return;
+    }
+
     _initLaunchTakeoffAtSameLocation();
 
     if (homePosition.isValid() && coordinate().isValid()) {
-        // Item already full specified, most likely from mission load from storage
+        // Item already fully specified, most likely from mission load from storage
         _wizardMode = false;
     } else {
         if (_launchTakeoffAtSameLocation && homePosition.isValid()) {
@@ -140,6 +146,7 @@ bool TakeoffMissionItem::load(QTextStream &loadStream)
     if (success) {
         _initLaunchTakeoffAtSameLocation();
     }
+    _wizardMode = false; // Always be off for loaded items
     return success;
 }
 
@@ -149,6 +156,7 @@ bool TakeoffMissionItem::load(const QJsonObject& json, int sequenceNumber, QStri
     if (success) {
         _initLaunchTakeoffAtSameLocation();
     }
+    _wizardMode = false; // Always be off for loaded items
     return success;
 }
 
diff --git a/src/MissionManager/TakeoffMissionItem.h b/src/MissionManager/TakeoffMissionItem.h
index 13a1cb65440c13f55a7fc397b9c033567393c69d..6a1114fcd66d9a3002d521b7e30fb8d66422e1fd 100644
--- a/src/MissionManager/TakeoffMissionItem.h
+++ b/src/MissionManager/TakeoffMissionItem.h
@@ -21,7 +21,7 @@ class TakeoffMissionItem : public SimpleMissionItem
     Q_OBJECT
     
 public:
-    TakeoffMissionItem(PlanMasterController* masterController, bool flyView, MissionSettingsItem* settingsItem, QObject* parent);
+    TakeoffMissionItem(PlanMasterController* masterController, bool flyView, MissionSettingsItem* settingsItem, bool forLoad, QObject* parent);
     TakeoffMissionItem(MAV_CMD takeoffCmd, PlanMasterController* masterController, bool flyView, MissionSettingsItem* settingsItem, QObject* parent);
     TakeoffMissionItem(const MissionItem& missionItem,  PlanMasterController* masterController, bool flyView, MissionSettingsItem* settingsItem, QObject* parent);
 
@@ -57,7 +57,7 @@ signals:
     void launchTakeoffAtSameLocationChanged (bool launchTakeoffAtSameLocation);
 
 private:
-    void _init(void);
+    void _init(bool forLoad);
     void _initLaunchTakeoffAtSameLocation(void);
 
     MissionSettingsItem*    _settingsItem;
diff --git a/src/MissionManager/TransectStyleComplexItem.cc b/src/MissionManager/TransectStyleComplexItem.cc
index 4fbe9a3dd16df76255a9ae476ad2997f291847d6..89c0a768e5bb3eb8df76334936f79ed231a9cb4a 100644
--- a/src/MissionManager/TransectStyleComplexItem.cc
+++ b/src/MissionManager/TransectStyleComplexItem.cc
@@ -498,7 +498,19 @@ void TransectStyleComplexItem::_polyPathTerrainData(bool success, const QList<Te
 
 TransectStyleComplexItem::ReadyForSaveState TransectStyleComplexItem::readyForSaveState(void) const
 {
-    bool terrainReady = _followTerrain ? _transectsPathHeightInfo.count() : true;
+    bool terrainReady = false;
+    if (_followTerrain) {
+        if (_loadedMissionItems.count()) {
+            // We have loaded mission items. Everything is ready to go.
+            terrainReady = true;
+        } else {
+            // Survey is currently being designed. We aren't ready if we don't have terrain heights yet.
+            terrainReady = _transectsPathHeightInfo.count();
+        }
+    } else {
+        // Now following terrain so always ready on terrain
+        terrainReady = true;
+    }
     bool polygonNotReady = !_surveyAreaPolygon.isValid();
     return (polygonNotReady || _wizardMode) ?
                 NotReadyForSaveData :
diff --git a/src/MissionManager/UnitTest/MP 19.prj b/src/MissionManager/UnitTest/MP 19.prj
new file mode 100644
index 0000000000000000000000000000000000000000..a30c00a55de19be195abf9e942f6cff93bf0a825
--- /dev/null
+++ b/src/MissionManager/UnitTest/MP 19.prj	
@@ -0,0 +1 @@
+GEOGCS["GCS_WGS_1984",DATUM["D_WGS_1984",SPHEROID["WGS_1984",6378137,298.257223563]],PRIMEM["Greenwich",0],UNIT["Degree",0.017453292519943295]]
\ No newline at end of file
diff --git a/src/MissionManager/UnitTest/MP 19.shp b/src/MissionManager/UnitTest/MP 19.shp
new file mode 100644
index 0000000000000000000000000000000000000000..fdb99b041675a81a45765dfe1ba438d93eb3c9a0
Binary files /dev/null and b/src/MissionManager/UnitTest/MP 19.shp differ
diff --git a/src/MissionManager/UnitTest/MP 19.shx b/src/MissionManager/UnitTest/MP 19.shx
new file mode 100644
index 0000000000000000000000000000000000000000..1094b553681921f96961aedd3fb4ea2f6133a565
Binary files /dev/null and b/src/MissionManager/UnitTest/MP 19.shx differ
diff --git a/src/MissionManager/UnitTest/MP Bonus.prj b/src/MissionManager/UnitTest/MP Bonus.prj
new file mode 100644
index 0000000000000000000000000000000000000000..a30c00a55de19be195abf9e942f6cff93bf0a825
--- /dev/null
+++ b/src/MissionManager/UnitTest/MP Bonus.prj	
@@ -0,0 +1 @@
+GEOGCS["GCS_WGS_1984",DATUM["D_WGS_1984",SPHEROID["WGS_1984",6378137,298.257223563]],PRIMEM["Greenwich",0],UNIT["Degree",0.017453292519943295]]
\ No newline at end of file
diff --git a/src/MissionManager/UnitTest/MP Bonus.shp b/src/MissionManager/UnitTest/MP Bonus.shp
new file mode 100644
index 0000000000000000000000000000000000000000..38c575f34f554a14b15debdb941e16a912c4f643
Binary files /dev/null and b/src/MissionManager/UnitTest/MP Bonus.shp differ
diff --git a/src/MissionManager/UnitTest/MP Bonus.shx b/src/MissionManager/UnitTest/MP Bonus.shx
new file mode 100644
index 0000000000000000000000000000000000000000..8dd9412638b55d9824540f3b3827aa39ce846af7
Binary files /dev/null and b/src/MissionManager/UnitTest/MP Bonus.shx differ
diff --git a/src/MissionManager/UnitTest/Sarah's Farm.prj b/src/MissionManager/UnitTest/Sarah's Farm.prj
new file mode 100644
index 0000000000000000000000000000000000000000..a30c00a55de19be195abf9e942f6cff93bf0a825
--- /dev/null
+++ b/src/MissionManager/UnitTest/Sarah's Farm.prj	
@@ -0,0 +1 @@
+GEOGCS["GCS_WGS_1984",DATUM["D_WGS_1984",SPHEROID["WGS_1984",6378137,298.257223563]],PRIMEM["Greenwich",0],UNIT["Degree",0.017453292519943295]]
\ No newline at end of file
diff --git a/src/MissionManager/UnitTest/Sarah's Farm.shp b/src/MissionManager/UnitTest/Sarah's Farm.shp
new file mode 100644
index 0000000000000000000000000000000000000000..cb0985bb0409bdb744912ae39d1a69fa1fa9724c
Binary files /dev/null and b/src/MissionManager/UnitTest/Sarah's Farm.shp differ
diff --git a/src/MissionManager/UnitTest/Sarah's Farm.shx b/src/MissionManager/UnitTest/Sarah's Farm.shx
new file mode 100644
index 0000000000000000000000000000000000000000..f82d459c668466a4675e6c53b45cb2b078e04ac8
Binary files /dev/null and b/src/MissionManager/UnitTest/Sarah's Farm.shx differ
diff --git a/src/PlanView/PlanView.qml b/src/PlanView/PlanView.qml
index 0d9e5eda54dca78f04c7eaa757755b7acb976e3a..399cea59e400d97e5c8cdaa541194babd2d6b5c3 100644
--- a/src/PlanView/PlanView.qml
+++ b/src/PlanView/PlanView.qml
@@ -617,7 +617,7 @@ Item {
                 {
                     name:               _missionController.isROIActive ? qsTr("Cancel ROI") : qsTr("ROI"),
                     iconSource:         "/qmlimages/MapAddMission.svg",
-                    buttonEnabled:      true,
+                    buttonEnabled:      !_missionController.onlyInsertTakeoffValid,
                     buttonVisible:      _isMissionLayer && _planMasterController.controllerVehicle.roiModeSupported,
                     toggle:             !_missionController.isROIActive
                 },
diff --git a/src/QmlControls/QGCFileDialog.qml b/src/QmlControls/QGCFileDialog.qml
index fedb66e15db2108296d13f3d8602b48bfb9591cc..06fe48e4a274c56d19ec3585f8e4cde266f9f4ea 100644
--- a/src/QmlControls/QGCFileDialog.qml
+++ b/src/QmlControls/QGCFileDialog.qml
@@ -117,12 +117,12 @@ Item {
 
                             onClicked: {
                                 hideDialog()
-                                _root.acceptedForLoad(controller.fullyQualifiedFilename(folder, modelData, fileExtension))
+                                _root.acceptedForLoad(controller.fullyQualifiedFilename(folder, modelData, _rgExtensions))
                             }
 
                             onHamburgerClicked: {
                                 highlight = true
-                                hamburgerMenu.fileToDelete = controller.fullyQualifiedFilename(folder, modelData, fileExtension)
+                                hamburgerMenu.fileToDelete = controller.fullyQualifiedFilename(folder, modelData, _rgExtensions)
                                 hamburgerMenu.popup()
                             }
 
@@ -162,12 +162,12 @@ Item {
                     return
                 }
                 if (!replaceMessage.visible) {
-                    if (controller.fileExists(controller.fullyQualifiedFilename(folder, filenameTextField.text, fileExtension))) {
+                    if (controller.fileExists(controller.fullyQualifiedFilename(folder, filenameTextField.text, _rgExtensions))) {
                         replaceMessage.visible = true
                         return
                     }
                 }
-                _root.acceptedForSave(controller.fullyQualifiedFilename(folder, filenameTextField.text, fileExtension))
+                _root.acceptedForSave(controller.fullyQualifiedFilename(folder, filenameTextField.text, _rgExtensions))
                 hideDialog()
             }
 
@@ -230,12 +230,12 @@ Item {
 
                             onClicked: {
                                 hideDialog()
-                                _root.acceptedForSave(controller.fullyQualifiedFilename(folder, modelData, fileExtension))
+                                _root.acceptedForSave(controller.fullyQualifiedFilename(folder, modelData, _rgExtensions))
                             }
 
                             onHamburgerClicked: {
                                 highlight = true
-                                hamburgerMenu.fileToDelete = controller.fullyQualifiedFilename(folder, modelData, fileExtension)
+                                hamburgerMenu.fileToDelete = controller.fullyQualifiedFilename(folder, modelData, _rgExtensions)
                                 hamburgerMenu.popup()
                             }
 
diff --git a/src/QmlControls/QGCFileDialogController.cc b/src/QmlControls/QGCFileDialogController.cc
index f5528df80d52cf4ce90c49eab7340a35ce442059..375fbd32aa564b9186942d4f54367964a45c877e 100644
--- a/src/QmlControls/QGCFileDialogController.cc
+++ b/src/QmlControls/QGCFileDialogController.cc
@@ -38,16 +38,24 @@ QStringList QGCFileDialogController::getFiles(const QString& directoryPath, cons
     return files;
 }
 
-QString QGCFileDialogController::filenameWithExtension(const QString& filename, const QString& fileExtension)
+QString QGCFileDialogController::filenameWithExtension(const QString& filename, const QStringList& rgFileExtensions)
 {
     QString filenameWithExtension(filename);
 
-    QString correctExtension = QString(".%1").arg(fileExtension);
-    if (!filenameWithExtension.endsWith(correctExtension)) {
-        filenameWithExtension += correctExtension;
+    bool matchFound = false;
+    for (const QString& extension : rgFileExtensions) {
+        QString dotExtension = QString(".%1").arg(extension);
+        matchFound = filenameWithExtension.endsWith(dotExtension);
+        if (matchFound) {
+            break;
+        }
     }
 
-    return filenameWithExtension;
+    if (!matchFound) {
+        filenameWithExtension += rgFileExtensions[0];
+    }
+
+return filenameWithExtension;
 }
 
 bool QGCFileDialogController::fileExists(const QString& filename)
@@ -55,9 +63,9 @@ bool QGCFileDialogController::fileExists(const QString& filename)
     return QFile(filename).exists();
 }
 
-QString QGCFileDialogController::fullyQualifiedFilename(const QString& directoryPath, const QString& filename, const QString& fileExtension)
+QString QGCFileDialogController::fullyQualifiedFilename(const QString& directoryPath, const QString& filename, const QStringList& rgFileExtensions)
 {
-    return directoryPath + QStringLiteral("/") + filenameWithExtension(filename, fileExtension);
+    return directoryPath + QStringLiteral("/") + filenameWithExtension(filename, rgFileExtensions);
 }
 
 void QGCFileDialogController::deleteFile(const QString& filename)
diff --git a/src/QmlControls/QGCFileDialogController.h b/src/QmlControls/QGCFileDialogController.h
index 209a483cd376c24544f91ad36091fda65cc0aaa6..4e80503a06cd1cbda317dfa7d03a70dfe1d8cb8e 100644
--- a/src/QmlControls/QGCFileDialogController.h
+++ b/src/QmlControls/QGCFileDialogController.h
@@ -27,10 +27,10 @@ public:
     Q_INVOKABLE QStringList getFiles(const QString& directoryPath, const QStringList& fileExtensions);
 
     /// Returns the specified file name with the extension added it needed
-    Q_INVOKABLE QString filenameWithExtension(const QString& filename, const QString& fileExtension);
+    Q_INVOKABLE QString filenameWithExtension(const QString& filename, const QStringList& rgFileExtensions);
 
     /// Returns the fully qualified file name from the specified parts
-    Q_INVOKABLE QString fullyQualifiedFilename(const QString& directoryPath, const QString& filename, const QString& fileExtension);
+    Q_INVOKABLE QString fullyQualifiedFilename(const QString& directoryPath, const QString& filename, const QStringList& rgFileExtensions);
 
     /// Check for file existence of specified fully qualified file name
     Q_INVOKABLE bool fileExists(const QString& filename);
diff --git a/src/QmlControls/ToolStrip.qml b/src/QmlControls/ToolStrip.qml
index 067928fb44a7dd4925660b621684b6024580901e..9e10e79dc383e9d3678b793bbeb0f8cf9c770864 100644
--- a/src/QmlControls/ToolStrip.qml
+++ b/src/QmlControls/ToolStrip.qml
@@ -30,8 +30,10 @@ Rectangle {
 
     function simulateClick(buttonIndex) {
         buttonIndex = buttonIndex + 1 // skip over title
-        toolStripColumn.children[buttonIndex].checked = true
-        toolStripColumn.children[buttonIndex].clicked()
+        if (!toolStripColumn.children[buttonIndex].checked) {
+            toolStripColumn.children[buttonIndex].checked = true
+            toolStripColumn.children[buttonIndex].clicked()
+        }
     }
 
     // Ensure we don't get narrower than content
diff --git a/src/Settings/PlanView.SettingsGroup.json b/src/Settings/PlanView.SettingsGroup.json
index 38a63492c720542939922789cc398fc57ce1fbd0..dcb198bc95f712442b53fdf7721a4586c52beeca 100644
--- a/src/Settings/PlanView.SettingsGroup.json
+++ b/src/Settings/PlanView.SettingsGroup.json
@@ -15,6 +15,12 @@
     "name":             "showMissionItemStatus",
     "shortDescription": "Show/Hide the mission item status display",
     "type":             "bool",
+    "defaultValue":     true
+},
+{
+    "name":             "takeoffItemNotRequired",
+    "shortDescription": "Allow missions to not require a takeoff item",
+    "type":             "bool",
     "defaultValue":     false
 },
 {
diff --git a/src/Settings/PlanViewSettings.cc b/src/Settings/PlanViewSettings.cc
index b6ea71fac50fe05607063b82d4fc7437af9b8bfd..9af8227d7b04641f8fea04693fb906a3ab870211 100644
--- a/src/Settings/PlanViewSettings.cc
+++ b/src/Settings/PlanViewSettings.cc
@@ -21,3 +21,4 @@ DECLARE_SETTINGSFACT(PlanViewSettings, displayPresetsTabFirst)
 DECLARE_SETTINGSFACT(PlanViewSettings, aboveTerrainWarning)
 DECLARE_SETTINGSFACT(PlanViewSettings, showMissionItemStatus)
 DECLARE_SETTINGSFACT(PlanViewSettings, useConditionGate)
+DECLARE_SETTINGSFACT(PlanViewSettings, takeoffItemNotRequired)
diff --git a/src/Settings/PlanViewSettings.h b/src/Settings/PlanViewSettings.h
index c1a6d0c04daf8c8d95d2ce4d3d8f6daeb933a8cb..c9bed13462743bcb2956e6f1ac861d09b3f6e134 100644
--- a/src/Settings/PlanViewSettings.h
+++ b/src/Settings/PlanViewSettings.h
@@ -24,4 +24,5 @@ public:
     DEFINE_SETTINGFACT(aboveTerrainWarning)
     DEFINE_SETTINGFACT(showMissionItemStatus)
     DEFINE_SETTINGFACT(useConditionGate)
+    DEFINE_SETTINGFACT(takeoffItemNotRequired)
 };
diff --git a/src/Vehicle/Vehicle.cc b/src/Vehicle/Vehicle.cc
index 5ed7a64c4fe27c0fd655d777232517976cce2cda..9bd2e9111d45cff4f8205ba896a1522d0735114a 100644
--- a/src/Vehicle/Vehicle.cc
+++ b/src/Vehicle/Vehicle.cc
@@ -148,12 +148,6 @@ Vehicle::Vehicle(LinkInterface*             link,
     , _telemetryTXBuffer(0)
     , _telemetryLNoise(0)
     , _telemetryRNoise(0)
-    , _mavlinkProtocolRequestComplete(false)
-    , _maxProtoVersion(0)
-    , _vehicleCapabilitiesKnown(false)
-    , _capabilityBits(firmwareType == MAV_AUTOPILOT_ARDUPILOTMEGA ?
-                          MAV_PROTOCOL_CAPABILITY_MISSION_INT | MAV_PROTOCOL_CAPABILITY_COMMAND_INT | MAV_PROTOCOL_CAPABILITY_TERRAIN | MAV_PROTOCOL_CAPABILITY_MISSION_FENCE | MAV_PROTOCOL_CAPABILITY_MISSION_RALLY : // Hack workound for ArduPilot startup problems
-                          0)
     , _highLatencyLink(false)
     , _receivingAttitudeQuaternion(false)
     , _cameras(nullptr)
@@ -355,7 +349,7 @@ Vehicle::Vehicle(MAV_AUTOPILOT              firmwareType,
     , _defaultHoverSpeed(_settingsManager->appSettings()->offlineEditingHoverSpeed()->rawValue().toDouble())
     , _mavlinkProtocolRequestComplete(true)
     , _maxProtoVersion(200)
-    , _vehicleCapabilitiesKnown(true)
+    , _capabilityBitsKnown(true)
     , _capabilityBits(MAV_PROTOCOL_CAPABILITY_MISSION_FENCE | MAV_PROTOCOL_CAPABILITY_MISSION_RALLY)
     , _highLatencyLink(false)
     , _receivingAttitudeQuaternion(false)
@@ -712,6 +706,34 @@ void Vehicle::_mavlinkMessageReceived(LinkInterface* link, mavlink_message_t mes
         return;
     }
 
+    if (!_capabilityBitsKnown && message.msgid == MAVLINK_MSG_ID_HEARTBEAT && message.compid == MAV_COMP_ID_AUTOPILOT1) {
+        // We want to try to get capabilities as fast as possible so we retry on heartbeats
+        bool foundRequest = false;
+        for (MavCommandQueueEntry_t& queuedCommand : _mavCommandQueue) {
+            if (queuedCommand.command ==  MAV_CMD_REQUEST_AUTOPILOT_CAPABILITIES) {
+                foundRequest = true;
+                break;
+            }
+        }
+        if (!foundRequest) {
+            _capabilitiesRetryCount++;
+            if (_capabilitiesRetryCount == 1) {
+                _capabilitiesRetryElapsed.start();
+            } else if (_capabilitiesRetryElapsed.elapsed() > 10000){
+                qCDebug(VehicleLog) << "Giving up on getting AUTOPILOT_VERSION after 10 seconds";
+                qgcApp()->showMessage(QStringLiteral("Vehicle failed to send AUTOPILOT_VERSION after waiting/retrying for 10 seconds"));
+                _handleUnsupportedRequestAutopilotCapabilities();
+            } else {
+                // Vehicle never sent us AUTOPILOT_VERSION response. Try again.
+                qCDebug(VehicleLog) << QStringLiteral("Sending MAV_CMD_REQUEST_AUTOPILOT_CAPABILITIES again due to no response with AUTOPILOT_VERSION - _capabilitiesRetryCount(%1) elapsed(%2)").arg(_capabilitiesRetryCount).arg(_capabilitiesRetryElapsed.elapsed());
+                sendMavCommand(MAV_COMP_ID_ALL,
+                               MAV_CMD_REQUEST_AUTOPILOT_CAPABILITIES,
+                               true,                                    // Show error on failure
+                               1);                                      // Request firmware version
+            }
+        }
+    }
+
     switch (message.msgid) {
     case MAVLINK_MSG_ID_HOME_POSITION:
         _handleHomePosition(message);
@@ -1308,7 +1330,7 @@ void Vehicle::_handleAltitude(mavlink_message_t& message)
 void Vehicle::_setCapabilities(uint64_t capabilityBits)
 {
     _capabilityBits = capabilityBits;
-    _vehicleCapabilitiesKnown = true;
+    _capabilityBitsKnown = true;
     emit capabilitiesKnownChanged(true);
     emit capabilityBitsChanged(_capabilityBits);
 
@@ -1321,6 +1343,8 @@ void Vehicle::_setCapabilities(uint64_t capabilityBits)
     qCDebug(VehicleLog) << QString("Vehicle %1 GeoFence").arg(_capabilityBits & MAV_PROTOCOL_CAPABILITY_MISSION_FENCE ? supports : doesNotSupport);
     qCDebug(VehicleLog) << QString("Vehicle %1 RallyPoints").arg(_capabilityBits & MAV_PROTOCOL_CAPABILITY_MISSION_RALLY ? supports : doesNotSupport);
     qCDebug(VehicleLog) << QString("Vehicle %1 Terrain").arg(_capabilityBits & MAV_PROTOCOL_CAPABILITY_TERRAIN ? supports : doesNotSupport);
+
+    _setMaxProtoVersionFromBothSources();
 }
 
 void Vehicle::_handleAutopilotVersion(LinkInterface *link, mavlink_message_t& message)
@@ -1383,8 +1407,9 @@ void Vehicle::_handleProtocolVersion(LinkInterface *link, mavlink_message_t& mes
 
     qCDebug(VehicleLog) << "_handleProtocolVersion" << protoVersion.max_version;
 
+    _mavlinkProtocolRequestMaxProtoVersion = protoVersion.max_version;
     _mavlinkProtocolRequestComplete = true;
-    _setMaxProtoVersion(protoVersion.max_version);
+    _setMaxProtoVersionFromBothSources();
     _startPlanRequest();
 }
 
@@ -1398,6 +1423,19 @@ void Vehicle::_setMaxProtoVersion(unsigned version) {
     }
 }
 
+void Vehicle::_setMaxProtoVersionFromBothSources()
+{
+    if (_mavlinkProtocolRequestComplete && _capabilityBitsKnown) {
+        if (_mavlinkProtocolRequestMaxProtoVersion != 0) {
+            qCDebug(VehicleLog) << "_setMaxProtoVersionFromBothSources using protocol version message";
+            _setMaxProtoVersion(_mavlinkProtocolRequestMaxProtoVersion);
+        } else {
+            qCDebug(VehicleLog) << "_setMaxProtoVersionFromBothSources using capability bits";
+            _setMaxProtoVersion(capabilityBits() & MAV_PROTOCOL_CAPABILITY_MAVLINK2 ? 200 : 100);
+        }
+    }
+}
+
 QString Vehicle::vehicleUIDStr()
 {
     QString uid;
@@ -2621,7 +2659,7 @@ void Vehicle::_startPlanRequest()
     //  - Parameter download is complete
     //  - We know the vehicle capabilities
     //  - We know the max mavlink protocol version
-    if (_parameterManager->parametersReady() && _vehicleCapabilitiesKnown && _mavlinkProtocolRequestComplete) {
+    if (_parameterManager->parametersReady() && _capabilityBitsKnown && _mavlinkProtocolRequestComplete) {
         qCDebug(VehicleLog) << "_startPlanRequest";
         _missionManagerInitialRequestSent = true;
         if (_settingsManager->appSettings()->autoLoadMissions()->rawValue().toBool()) {
@@ -2640,7 +2678,7 @@ void Vehicle::_startPlanRequest()
     } else {
         if (!_parameterManager->parametersReady()) {
             qCDebug(VehicleLog) << "Delaying _startPlanRequest due to parameters not ready";
-        } else if (!_vehicleCapabilitiesKnown) {
+        } else if (!_capabilityBitsKnown) {
             qCDebug(VehicleLog) << "Delaying _startPlanRequest due to vehicle capabilities not known";
         } else if (!_mavlinkProtocolRequestComplete) {
             qCDebug(VehicleLog) << "Delaying _startPlanRequest due to mavlink protocol request not complete";
@@ -3405,19 +3443,9 @@ void Vehicle::_handleUnsupportedRequestProtocolVersion()
     // We end up here if either the vehicle does not support the MAV_CMD_REQUEST_PROTOCOL_VERSION command or if
     // we never received an Ack back for the command.
 
-    // If the link isn't already running Mavlink V2 fall back to the capability bits to determine whether to use Mavlink V2 or not.
-    if (_maxProtoVersion == 0) {
-        if (capabilitiesKnown()) {
-            unsigned vehicleMaxProtoVersion = capabilityBits() & MAV_PROTOCOL_CAPABILITY_MAVLINK2 ? 200 : 100;
-            qCDebug(VehicleLog) << QStringLiteral("Setting _maxProtoVersion to %1 based on capabilitity bits since not yet set.").arg(vehicleMaxProtoVersion);
-            _setMaxProtoVersion(vehicleMaxProtoVersion);
-        } else {
-            qCDebug(VehicleLog) << "Waiting for capabilities to be known to set _maxProtoVersion";
-        }
-    } else {
-        qCDebug(VehicleLog) << "Leaving _maxProtoVersion at current value" << _maxProtoVersion;
-    }
+    // _mavlinkProtocolRequestMaxProtoVersion stays at 0 to indicate unknown
     _mavlinkProtocolRequestComplete = true;
+    _setMaxProtoVersionFromBothSources();
 
     // Determining protocol version is one of the triggers to possibly start downloading the plan
     _startPlanRequest();
@@ -3428,8 +3456,9 @@ void Vehicle::_protocolVersionTimeOut()
     // The PROTOCOL_VERSION message didn't make it through the pipe from Vehicle->QGC.
     // This means although the vehicle may support mavlink 2, the pipe does not.
     qCDebug(VehicleLog) << QStringLiteral("Setting _maxProtoVersion to 100 due to timeout on receiving PROTOCOL_VERSION message.");
-    _setMaxProtoVersion(100);
+    _mavlinkProtocolRequestMaxProtoVersion = 100;
     _mavlinkProtocolRequestComplete = true;
+    _setMaxProtoVersionFromBothSources();
     _startPlanRequest();
 }
 
diff --git a/src/Vehicle/Vehicle.h b/src/Vehicle/Vehicle.h
index e4f9191da5a8e61ce831fdab7747f30717c8bd3a..eb0d39b8f4f44922e75ce4c3a92b9614f465ebdb 100644
--- a/src/Vehicle/Vehicle.h
+++ b/src/Vehicle/Vehicle.h
@@ -12,6 +12,7 @@
 #include <QObject>
 #include <QVariantList>
 #include <QGeoCoordinate>
+#include <QTime>
 
 #include "FactGroup.h"
 #include "LinkInterface.h"
@@ -1082,7 +1083,7 @@ public:
     const QVariantList&         toolBarIndicators   ();
     const QVariantList&         staticCameraList    () const;
 
-    bool capabilitiesKnown      () const { return _vehicleCapabilitiesKnown; }
+    bool capabilitiesKnown      () const { return _capabilityBitsKnown; }
     uint64_t capabilityBits     () const { return _capabilityBits; }    // Change signalled by capabilityBitsChanged
 
     QGCCameraManager*           dynamicCameras      () { return _cameras; }
@@ -1100,7 +1101,8 @@ public:
     void _setFlying(bool flying);
     void _setLanding(bool landing);
     void _setHomePosition(QGeoCoordinate& homeCoord);
-    void _setMaxProtoVersion (unsigned version);
+    void _setMaxProtoVersion(unsigned version);
+    void _setMaxProtoVersionFromBothSources();
 
     /// Vehicle is about to be deleted
     void prepareDelete();
@@ -1410,9 +1412,10 @@ private:
     uint32_t        _telemetryTXBuffer;
     int             _telemetryLNoise;
     int             _telemetryRNoise;
-    bool            _mavlinkProtocolRequestComplete;
-    unsigned        _maxProtoVersion;
-    bool            _vehicleCapabilitiesKnown;
+    bool            _mavlinkProtocolRequestComplete =           false;
+    unsigned        _mavlinkProtocolRequestMaxProtoVersion =    0;
+    unsigned        _maxProtoVersion =                          0;
+    bool            _capabilityBitsKnown =                      false;
     uint64_t        _capabilityBits;
     bool            _highLatencyLink;
     bool            _receivingAttitudeQuaternion;
@@ -1432,8 +1435,10 @@ private:
     QList<MavCommandQueueEntry_t>   _mavCommandQueue;
     QTimer                          _mavCommandAckTimer;
     int                             _mavCommandRetryCount;
-    static const int                _mavCommandMaxRetryCount = 3;
-    static const int                _mavCommandAckTimeoutMSecs = 3000;
+    int                             _capabilitiesRetryCount =               0;
+    QTime                           _capabilitiesRetryElapsed;
+    static const int                _mavCommandMaxRetryCount =              3;
+    static const int                _mavCommandAckTimeoutMSecs =            3000;
     static const int                _mavCommandAckTimeoutMSecsHighLatency = 120000;
 
     QString             _prearmError;
diff --git a/src/VehicleSetup/FirmwareUpgrade.qml b/src/VehicleSetup/FirmwareUpgrade.qml
index 178380924e179f71471dc129b4a4d998399b3a23..094b30b2fb39060ff6d8fa8f6d720bee69342745 100644
--- a/src/VehicleSetup/FirmwareUpgrade.qml
+++ b/src/VehicleSetup/FirmwareUpgrade.qml
@@ -383,8 +383,7 @@ SetupPage {
                                 anchors.right:  parent.right
                                 visible:        !px4Flow && apmFlightStack.checked && !controller.downloadingFirmwareList && controller.apmFirmwareNames.length !== 0
                                 model:          controller.apmFirmwareNames
-
-                                onModelChanged: console.log("model", model)
+                                onModelChanged: currentIndex = controller.apmFirmwareNamesBestIndex
                             }
 
                             QGCLabel {
diff --git a/src/VehicleSetup/FirmwareUpgradeController.cc b/src/VehicleSetup/FirmwareUpgradeController.cc
index ae5ec5d012b428f06f4ff4bbad76e4399c67a5b0..e04fad68cb43ef7b6a185322eb1383d5291136cb 100644
--- a/src/VehicleSetup/FirmwareUpgradeController.cc
+++ b/src/VehicleSetup/FirmwareUpgradeController.cc
@@ -730,52 +730,47 @@ void FirmwareUpgradeController::_buildAPMFirmwareNames(void)
     QString                 boardDescription =  _foundBoardInfo.description();
     quint16                 boardVID =          _foundBoardInfo.vendorIdentifier();
     quint16                 boardPID =          _foundBoardInfo.productIdentifier();
-
-#if 0
-    // This is left in for debugging manifest problems
-    boardDescription = "KakuteF7";
-    boardVID = 1155;
-    boardPID = 22336;
-#endif
+    uint32_t                rawBoardId =        _bootloaderBoardID == Bootloader::boardIDPX4FMUV3 ? Bootloader::boardIDPX4FMUV2 : _bootloaderBoardID;
 
     qCDebug(FirmwareUpgradeLog) << QStringLiteral("_buildAPMFirmwareNames description(%1) vid(%2/0x%3) pid(%4/0x%5)").arg(boardDescription).arg(boardVID).arg(boardVID, 1, 16).arg(boardPID).arg(boardPID, 1, 16);
 
     _apmFirmwareNames.clear();
+    _apmFirmwareNamesBestIndex = -1;
     _apmFirmwareUrls.clear();
 
     QString apmDescriptionSuffix("-BL");
+    QString boardDescriptionPrefix;
     bool    bootloaderMatch = boardDescription.endsWith(apmDescriptionSuffix);
 
+    int currentIndex = 0;
     for (const ManifestFirmwareInfo_t& firmwareInfo: _rgManifestFirmwareInfo) {
         bool match = false;
-        if (firmwareInfo.firmwareBuildType == _selectedFirmwareBuildType && firmwareInfo.chibios == chibios && firmwareInfo.vehicleType == vehicleType) {
-            if (bootloaderMatch) {
-                if (firmwareInfo.rgBootloaderPortString.contains(boardDescription)) {
-                    qCDebug(FirmwareUpgradeLog) << "Bootloader match:" << firmwareInfo.friendlyName << boardDescription << firmwareInfo.rgBootloaderPortString << firmwareInfo.url << firmwareInfo.vehicleType;
-                    match = true;
-                }
+        if (firmwareInfo.firmwareBuildType == _selectedFirmwareBuildType && firmwareInfo.chibios == chibios && firmwareInfo.vehicleType == vehicleType && firmwareInfo.boardId == rawBoardId) {
+            if (firmwareInfo.fmuv2 && _bootloaderBoardID == Bootloader::boardIDPX4FMUV3) {
+                qCDebug(FirmwareUpgradeLog) << "Skipping fmuv2 manifest entry for fmuv3 board:" << firmwareInfo.friendlyName << boardDescription << firmwareInfo.rgBootloaderPortString << firmwareInfo.url << firmwareInfo.vehicleType;
             } else {
-                if (firmwareInfo.rgVID.contains(boardVID) && firmwareInfo.rgPID.contains(boardPID)) {
-                    qCDebug(FirmwareUpgradeLog) << "VID/PID match:" << firmwareInfo.friendlyName << boardVID << boardPID << _bootloaderBoardID << firmwareInfo.url << firmwareInfo.vehicleType;
-                    match = true;
+                qCDebug(FirmwareUpgradeLog) << "Board id match:" << firmwareInfo.friendlyName << boardDescription << firmwareInfo.rgBootloaderPortString << firmwareInfo.url << firmwareInfo.vehicleType;
+                match = true;
+                if (bootloaderMatch && _apmFirmwareNamesBestIndex == -1 && firmwareInfo.rgBootloaderPortString.contains(boardDescription)) {
+                    _apmFirmwareNamesBestIndex = currentIndex;
+                    qCDebug(FirmwareUpgradeLog) << "Bootloader best match:" << firmwareInfo.friendlyName << boardDescription << firmwareInfo.rgBootloaderPortString << firmwareInfo.url << firmwareInfo.vehicleType;
                 }
             }
         }
 
-        // Do a final filter on fmuv2/fmuv3
-        if (match && _bootloaderBoardID == Bootloader::boardIDPX4FMUV3) {
-            match = !firmwareInfo.fmuv2;
-        }
-
         if (match) {
             _apmFirmwareNames.append(firmwareInfo.friendlyName);
             _apmFirmwareUrls.append(firmwareInfo.url);
+            currentIndex++;
         }
     }
 
-    if (_apmFirmwareNames.count() > 1) {
-        _apmFirmwareNames.prepend(tr("Choose board type"));
-        _apmFirmwareUrls.prepend(QString());
+    if (_apmFirmwareNamesBestIndex == -1) {
+        _apmFirmwareNamesBestIndex++;
+        if (_apmFirmwareNames.count() > 1) {
+            _apmFirmwareNames.prepend(tr("Choose board type"));
+            _apmFirmwareUrls.prepend(QString());
+        }
     }
 
     emit apmFirmwareNamesChanged();
diff --git a/src/VehicleSetup/FirmwareUpgradeController.h b/src/VehicleSetup/FirmwareUpgradeController.h
index 5a375a9ae4a8b10bfd1374863a9009638bab64dc..88f20f00af6b25dfa6c76167da346d7a2e396c91 100644
--- a/src/VehicleSetup/FirmwareUpgradeController.h
+++ b/src/VehicleSetup/FirmwareUpgradeController.h
@@ -94,6 +94,7 @@ public:
     Q_PROPERTY(bool                 px4FlowBoard                READ px4FlowBoard                                                   NOTIFY boardFound)
     Q_PROPERTY(FirmwareBuildType_t  selectedFirmwareBuildType   READ selectedFirmwareBuildType  WRITE setSelectedFirmwareBuildType  NOTIFY selectedFirmwareBuildTypeChanged)
     Q_PROPERTY(QStringList          apmFirmwareNames            MEMBER _apmFirmwareNames                                            NOTIFY apmFirmwareNamesChanged)
+    Q_PROPERTY(int                  apmFirmwareNamesBestIndex   MEMBER _apmFirmwareNamesBestIndex                                   NOTIFY apmFirmwareNamesChanged)
     Q_PROPERTY(QStringList          apmFirmwareUrls             MEMBER _apmFirmwareUrls                                             NOTIFY apmFirmwareNamesChanged)
     Q_PROPERTY(QString              px4StableVersion            READ px4StableVersion                                               NOTIFY px4StableVersionChanged)
     Q_PROPERTY(QString              px4BetaVersion              READ px4BetaVersion                                                 NOTIFY px4BetaVersionChanged)
@@ -308,6 +309,7 @@ private:
     QMap<QString, FirmwareBuildType_t>      _manifestMavFirmwareVersionTypeToFirmwareBuildTypeMap;
     QMap<QString, FirmwareVehicleType_t>    _manifestMavTypeToFirmwareVehicleTypeMap;
     QStringList                             _apmFirmwareNames;
+    int                                     _apmFirmwareNamesBestIndex = 0;
     QStringList                             _apmFirmwareUrls;
     Fact*                                   _apmChibiOSSetting;
     Fact*                                   _apmVehicleTypeSetting;
diff --git a/src/ui/preferences/GeneralSettings.qml b/src/ui/preferences/GeneralSettings.qml
index c698d44af44b1e811df4f994d099107984a3fab8..865e4fa19f11c4c5a526e672dbdb767fcd09087d 100644
--- a/src/ui/preferences/GeneralSettings.qml
+++ b/src/ui/preferences/GeneralSettings.qml
@@ -43,6 +43,7 @@ Rectangle {
     property Fact _followTarget:                QGroundControl.settingsManager.appSettings.followTarget
     property real _panelWidth:                  _root.width * _internalWidthRatio
     property real _margins:                     ScreenTools.defaultFontPixelWidth
+    property var _planViewSettings:             QGroundControl.settingsManager.planViewSettings
 
     property string _videoSource:               QGroundControl.settingsManager.videoSettings.videoSource.value
     property bool   _isGst:                     QGroundControl.videoManager.isGStreamer
@@ -595,7 +596,7 @@ Rectangle {
                     QGCLabel {
                         id:         planViewSectionLabel
                         text:       qsTr("Plan View")
-                        visible:    QGroundControl.settingsManager.planViewSettings.visible
+                        visible:    _planViewSettings.visible
                     }
                     Rectangle {
                         Layout.preferredHeight: planViewCol.height + (_margins * 2)
@@ -626,6 +627,12 @@ Rectangle {
                                 text:   qsTr("Use MAV_CMD_CONDITION_GATE for pattern generation")
                                 fact:   QGroundControl.settingsManager.planViewSettings.useConditionGate
                             }
+
+                            FactCheckBox {
+                                text:       qsTr("Missions Do Not Require Takeoff Item")
+                                fact:       _planViewSettings.takeoffItemNotRequired
+                                visible:    _planViewSettings.takeoffItemNotRequired.visible
+                            }
                         }
                     }
 
@@ -888,16 +895,27 @@ Rectangle {
                         visible:    QGroundControl.settingsManager.adsbVehicleManagerSettings.visible
                     }
                     Rectangle {
-                        Layout.preferredHeight: adsbGrid.height + (_margins * 2)
+                        Layout.preferredHeight: adsbGrid.y + adsbGrid.height + _margins
                         Layout.preferredWidth:  adsbGrid.width + (_margins * 2)
                         color:                  qgcPal.windowShade
                         visible:                adsbSectionLabel.visible
                         Layout.fillWidth:       true
 
+                        QGCLabel {
+                            id:                 warningLabel
+                            anchors.margins:    _margins
+                            anchors.top:        parent.top
+                            anchors.left:       parent.left
+                            anchors.right:      parent.right
+                            font.pointSize:     ScreenTools.smallFontPointSize
+                            wrapMode:           Text.WordWrap
+                            text:               qsTr("Note: These setting are not meant for use with an ADSB transponder which is situated on the vehicle.")
+                        }
+
                         GridLayout {
                             id:                         adsbGrid
                             anchors.topMargin:          _margins
-                            anchors.top:                parent.top
+                            anchors.top:                warningLabel.bottom
                             Layout.fillWidth:           true
                             anchors.horizontalCenter:   parent.horizontalCenter
                             columns:                    2
diff --git a/src/ui/toolbar/MainToolBar.qml b/src/ui/toolbar/MainToolBar.qml
index 2e6eaf1167aa074236d42eaa3dc568164bd8d9f8..fb6dd695fe1fc25a7caa701d094061a9351d42da 100644
--- a/src/ui/toolbar/MainToolBar.qml
+++ b/src/ui/toolbar/MainToolBar.qml
@@ -42,7 +42,8 @@ Item {
     Connections {
         target: setupWindow
         onVisibleChanged: {
-            if(setupWindow.visible) {
+            if (setupWindow.visible) {
+                buttonRow.clearAllChecks()
                 setupButton.checked = true
             }
         }