diff --git a/src/FirmwarePlugin/APM/MavCmdInfoCommon.json b/src/FirmwarePlugin/APM/MavCmdInfoCommon.json
index 4a508187203b0f1d6ecf82914161cfc95a7fdf94..8f35edd874a2e3d8fb3b56e2b613ea50aaa716a2 100644
--- a/src/FirmwarePlugin/APM/MavCmdInfoCommon.json
+++ b/src/FirmwarePlugin/APM/MavCmdInfoCommon.json
@@ -9,6 +9,36 @@
             "comment":      "MAV_CMD_NAV_WAYPOINT",
             "paramRemove":  "2"
         },
+        {
+            "id":                   17,
+            "comment":              "MAV_CMD_NAV_LOITER_UNLIM",
+            "param4": {
+                "label":            "Heading",
+                "units":            "radians",
+                "default":          0,
+                "decimalPlaces":    2
+            }
+        },
+        {
+            "id":                   18,
+            "comment":              "MAV_CMD_NAV_LOITER_TURNS",
+            "param4": {
+                "label":            "Heading",
+                "units":            "radians",
+                "default":          0,
+                "decimalPlaces":    2
+            }
+        },
+        {
+            "id":                   19,
+            "comment":              "MAV_CMD_NAV_LOITER_TIME",
+            "param4": {
+                "label":            "Heading",
+                "units":            "radians",
+                "default":          0,
+                "decimalPlaces":    2
+            }
+        },
         {
             "id":                       22,
             "comment":                  "MAV_CMD_NAV_TAKEOFF",
diff --git a/src/FirmwarePlugin/APM/MavCmdInfoFixedWing.json b/src/FirmwarePlugin/APM/MavCmdInfoFixedWing.json
index 6fa8db824139abf600a73f4e648afb5db7d37621..9cca7514c414990bcf3f94092886c11c9716dc6a 100644
--- a/src/FirmwarePlugin/APM/MavCmdInfoFixedWing.json
+++ b/src/FirmwarePlugin/APM/MavCmdInfoFixedWing.json
@@ -9,6 +9,28 @@
             "comment":      "MAV_CMD_NAV_WAYPOINT",
             "paramRemove":  "1,3,4"
         },
+        {
+            "id":           18,
+            "comment":      "MAV_CMD_NAV_LOITER_TURNS",
+            "param4": {
+                "label":            "Exit loiter from",
+                "enumStrings":      "Center,Tangent",
+                "enumValues":       "0,1",
+                "default":          1,
+                "decimalPlaces":    0
+            }
+        },
+        {
+            "id":           19,
+            "comment":      "MAV_CMD_NAV_LOITER_TIME",
+            "param4": {
+                "label":            "Exit loiter from",
+                "enumStrings":      "Center,Tangent",
+                "enumValues":       "0,1",
+                "default":          1,
+                "decimalPlaces":    0
+            }
+        },
         {
             "id":           21,
             "comment":      "MAV_CMD_NAV_LAND",
diff --git a/src/FirmwarePlugin/PX4/MavCmdInfoCommon.json b/src/FirmwarePlugin/PX4/MavCmdInfoCommon.json
index e8f236bbd10e99d9fe2b8e16340952a8da5fc6e9..8657261895e728cd9fdf5aa479ab99e3d4d1e8c7 100644
--- a/src/FirmwarePlugin/PX4/MavCmdInfoCommon.json
+++ b/src/FirmwarePlugin/PX4/MavCmdInfoCommon.json
@@ -9,39 +9,6 @@
             "comment":      "MAV_CMD_NAV_WAYPOINT",
             "paramRemove":  "2,3"
         },
-        {
-            "id":                   17,
-            "comment":              "MAV_CMD_NAV_LOITER_UNLIM",
-            "param4": {
-                "label":            "Heading",
-                "units":            "radians",
-                "nanUnchanged":     true,
-                "default":          null,
-                "decimalPlaces":    2
-            }
-        },
-        {
-            "id":                   18,
-            "comment":              "MAV_CMD_NAV_LOITER_TURNS",
-            "param4": {
-                "label":            "Heading",
-                "units":            "radians",
-                "nanUnchanged":     true,
-                "default":          null,
-                "decimalPlaces":    2
-            }
-        },
-        {
-            "id":                   19,
-            "comment":              "MAV_CMD_NAV_LOITER_TIME",
-            "param4": {
-                "label":            "Heading",
-                "units":            "radians",
-                "nanUnchanged":     true,
-                "default":          null,
-                "decimalPlaces":    2
-            }
-        },
         {
             "id":           21,
             "comment":      "MAV_CMD_NAV_LAND",
diff --git a/src/MissionManager/FixedWingLandingComplexItem.cc b/src/MissionManager/FixedWingLandingComplexItem.cc
index db3ad990abe4aa4318b89a4eca11b1b112a89386..bb418830646a988c984a7707b1dd9f13dffab0d9 100644
--- a/src/MissionManager/FixedWingLandingComplexItem.cc
+++ b/src/MissionManager/FixedWingLandingComplexItem.cc
@@ -100,6 +100,12 @@ FixedWingLandingComplexItem::FixedWingLandingComplexItem(Vehicle* vehicle, bool
     connect(this,                       &FixedWingLandingComplexItem::altitudesAreRelativeChanged,      this, &FixedWingLandingComplexItem::coordinateHasRelativeAltitudeChanged);
     connect(this,                       &FixedWingLandingComplexItem::altitudesAreRelativeChanged,      this, &FixedWingLandingComplexItem::exitCoordinateHasRelativeAltitudeChanged);
 
+    if (vehicle->apmFirmware()) {
+        // ArduPilot does not support camera commands
+        _stopTakingVideoFact.setRawValue(false);
+        _stopTakingPhotosFact.setRawValue(false);
+    }
+
     if (_valueSetIsDistanceFact.rawValue().toBool()) {
         _recalcFromHeadingAndDistanceChange();
     } else {
diff --git a/src/MissionManager/MavCmdInfoCommon.json b/src/MissionManager/MavCmdInfoCommon.json
index 93cf03214027082100a264acc2ac436efddf53c9..5841b02a92b7d211ec4f705b3afef01aa1973252 100644
--- a/src/MissionManager/MavCmdInfoCommon.json
+++ b/src/MissionManager/MavCmdInfoCommon.json
@@ -101,7 +101,8 @@
             "param4": {
                 "label":            "Heading",
                 "units":            "radians",
-                "default":          0,
+                "nanUnchanged":     true,
+                "default":          null,
                 "decimalPlaces":    2
             }
         },
@@ -128,7 +129,8 @@
             "param4": {
                 "label":            "Heading",
                 "units":            "radians",
-                "default":          0,
+                "nanUnchanged":     true,
+                "default":          null,
                 "decimalPlaces":    2
             }
         },
diff --git a/src/PlanView/FWLandingPatternEditor.qml b/src/PlanView/FWLandingPatternEditor.qml
index 2bfbd1e70830991878e371d14e02e15478a9ca8d..fd3ed3f8990420c303ac19f942e3668e091b1d34 100644
--- a/src/PlanView/FWLandingPatternEditor.qml
+++ b/src/PlanView/FWLandingPatternEditor.qml
@@ -32,11 +32,15 @@ Rectangle {
     //property real   availableWidth    ///< Width for control
     //property var    missionItem       ///< Mission Item for editor
 
+    property var    _masterControler:               masterController
+    property var    _missionController:             _masterControler.missionController
+    property var    _missionVehicle:                _masterControler.controllerVehicle
     property real   _margin:                    ScreenTools.defaultFontPixelWidth / 2
     property real   _spacer:                    ScreenTools.defaultFontPixelWidth / 2
     property var    _activeVehicle:             QGroundControl.multiVehicleManager.activeVehicle
     property string _setToVehicleHeadingStr:    qsTr("Set to vehicle heading")
     property string _setToVehicleLocationStr:   qsTr("Set to vehicle location")
+    property bool   _showCameraSection:         !_missionVehicle.apmFirmware
 
 
     ExclusiveGroup { id: distanceGlideGroup }
@@ -166,15 +170,16 @@ Rectangle {
         }
 
         SectionHeader {
-            id:     cameraSection
-            text:   qsTr("Camera")
+            id:         cameraSection
+            text:       qsTr("Camera")
+            visible:    _showCameraSection
         }
 
         Column {
             anchors.left:       parent.left
             anchors.right:      parent.right
             spacing:            _margin
-            visible:            cameraSection.checked
+            visible:            _showCameraSection && cameraSection.checked
 
             Item { width: 1; height: _spacer }