diff --git a/src/Vehicle/Vehicle.cc b/src/Vehicle/Vehicle.cc
index 1ee46725703cfc8c77f4b26ee013aaa8ffde2d9e..19db8e2e2477c16f047d33b05b9acd7ce526ecab 100644
--- a/src/Vehicle/Vehicle.cc
+++ b/src/Vehicle/Vehicle.cc
@@ -2957,6 +2957,11 @@ void Vehicle::_handleFlightModeChanged(const QString& flightMode)
 void Vehicle::_announceArmedChanged(bool armed)
 {
     _say(QString("%1 %2").arg(_vehicleIdSpeech()).arg(armed ? tr("armed") : tr("disarmed")));
+    if(armed) {
+        //-- Keep track of armed coordinates
+        _armedPosition = _coordinate;
+        emit armedPositionChanged();
+    }
 }
 
 void Vehicle::_setFlying(bool flying)
diff --git a/src/Vehicle/Vehicle.h b/src/Vehicle/Vehicle.h
index e222f42c9e661d9114b962395104b225a434324a..10595d92534e9b1f8b7454d2d0387cc0efe25b39 100644
--- a/src/Vehicle/Vehicle.h
+++ b/src/Vehicle/Vehicle.h
@@ -538,6 +538,7 @@ public:
     Q_PROPERTY(AutoPilotPlugin*     autopilot               MEMBER _autopilotPlugin                                     CONSTANT)
     Q_PROPERTY(QGeoCoordinate       coordinate              READ coordinate                                             NOTIFY coordinateChanged)
     Q_PROPERTY(QGeoCoordinate       homePosition            READ homePosition                                           NOTIFY homePositionChanged)
+    Q_PROPERTY(QGeoCoordinate       armedPosition           READ armedPosition                                          NOTIFY armedPositionChanged)
     Q_PROPERTY(bool                 armed                   READ armed                  WRITE setArmed                  NOTIFY armedChanged)
     Q_PROPERTY(bool                 autoDisarm              READ autoDisarm                                             NOTIFY autoDisarmChanged)
     Q_PROPERTY(bool                 flightModeSetAvailable  READ flightModeSetAvailable                                 CONSTANT)
@@ -792,7 +793,8 @@ public:
 
     // Property accessors
 
-    QGeoCoordinate coordinate(void) { return _coordinate; }
+    QGeoCoordinate coordinate       (void) { return _coordinate; }
+    QGeoCoordinate armedPosition    (void) { return _armedPosition; }
 
     typedef enum {
         JoystickModeRC,         ///< Joystick emulates an RC Transmitter
@@ -1123,6 +1125,7 @@ signals:
     void activeChanged(bool active);
     void mavlinkMessageReceived(const mavlink_message_t& message);
     void homePositionChanged(const QGeoCoordinate& homePosition);
+    void armedPositionChanged();
     void armedChanged(bool armed);
     void flightModeChanged(const QString& flightMode);
     void hilModeChanged(bool hilMode);
@@ -1367,6 +1370,7 @@ private:
 
     QGeoCoordinate  _coordinate;
     QGeoCoordinate  _homePosition;
+    QGeoCoordinate  _armedPosition;
 
     UASInterface*   _mav;
     int             _currentMessageCount;