diff --git a/src/MissionManager/MavCmdInfoCommon.json b/src/MissionManager/MavCmdInfoCommon.json
index 2166449ed0c5e19ccb7b8de3eb1d00ad9a415ace..d0c722e22721052a27faa662e804f1d515671f67 100644
--- a/src/MissionManager/MavCmdInfoCommon.json
+++ b/src/MissionManager/MavCmdInfoCommon.json
@@ -35,12 +35,6 @@
                 "units":            "seconds",
                 "default":          0,
                 "decimalPlaces":    0
-            },
-            "param2": {
-                "label":            "Accept radius:",
-                "units":            "meters",
-                "default":          3.0,
-                "decimalPlaces":    2
             }
         },
         {
diff --git a/src/MissionManager/MissionItem.cc b/src/MissionManager/MissionItem.cc
index 938ae79a6936a962baef28296e28a354750fc12f..314645ea5d0961de1cb16da1e5fa099e78a0b5f4 100644
--- a/src/MissionManager/MissionItem.cc
+++ b/src/MissionManager/MissionItem.cc
@@ -821,6 +821,12 @@ void MissionItem::setDefaultsForCommand(void)
         }
     }
 
+    if (command == MAV_CMD_NAV_WAYPOINT) {
+        // We default all acceptance radius to 0. This allows flight controller to be in control of
+        // accept radius.
+        setParam2(0);
+    }
+
     setAutoContinue(true);
     setFrame(specifiesCoordinate() ? MAV_FRAME_GLOBAL_RELATIVE_ALT : MAV_FRAME_MISSION);
     setRawEdit(false);
diff --git a/src/MissionManager/MissionItemTest.cc b/src/MissionManager/MissionItemTest.cc
index 0acba534504a416fa35ba41c74827456b1fd6f00..74c650d587eb3ca9a99a7a3817aa32fca8cc0269 100644
--- a/src/MissionManager/MissionItemTest.cc
+++ b/src/MissionManager/MissionItemTest.cc
@@ -38,7 +38,6 @@ const MissionItemTest::ItemInfo_t MissionItemTest::_rgItemInfo[] = {
 const MissionItemTest::FactValue_t MissionItemTest::_rgFactValuesWaypoint[] = {
     { "Altitude:",      70.1234567 },
     { "Hold:",          10.1234567 },
-    { "Accept radius:", 20.1234567 },
 };
 
 const MissionItemTest::FactValue_t MissionItemTest::_rgFactValuesLoiterUnlim[] = {
@@ -189,6 +188,5 @@ void MissionItemTest::_testDefaultValues(void)
 
     item.setCommand(MAV_CMD_NAV_WAYPOINT);
     item.setFrame(MAV_FRAME_GLOBAL_RELATIVE_ALT);
-    QCOMPARE(item.param2(), 3.0);
     QCOMPARE(item.param7(), MissionItem::defaultAltitude);
 }