diff --git a/src/FirmwarePlugin/APM/ArduCopterFirmwarePlugin.cc b/src/FirmwarePlugin/APM/ArduCopterFirmwarePlugin.cc
index 57094a7bd5c01ca1a53623e9d1f7a688067be82a..86221320c5dfaa39d9388384e58a339d95d8adc9 100644
--- a/src/FirmwarePlugin/APM/ArduCopterFirmwarePlugin.cc
+++ b/src/FirmwarePlugin/APM/ArduCopterFirmwarePlugin.cc
@@ -237,9 +237,13 @@ QString ArduCopterFirmwarePlugin::geoFenceRadiusParam(Vehicle* vehicle)
 
 bool ArduCopterFirmwarePlugin::vehicleYawsToNextWaypointInMission(const Vehicle* vehicle) const
 {
-    if (!vehicle->isOfflineEditingVehicle() && vehicle->parameterManager()->parameterExists(FactSystem::defaultComponentId, QStringLiteral("WP_YAW_BEHAVIOR"))) {
-        Fact* yawMode = vehicle->parameterManager()->getParameter(FactSystem::defaultComponentId, QStringLiteral("WP_YAW_BEHAVIOR"));
-        return yawMode && yawMode->rawValue().toInt() != 0;
+    if (vehicle->isOfflineEditingVehicle()) {
+        return FirmwarePlugin::vehicleYawsToNextWaypointInMission(vehicle);
+    } else {
+        if (vehicle->multiRotor() && vehicle->parameterManager()->parameterExists(FactSystem::defaultComponentId, QStringLiteral("WP_YAW_BEHAVIOR"))) {
+            Fact* yawMode = vehicle->parameterManager()->getParameter(FactSystem::defaultComponentId, QStringLiteral("WP_YAW_BEHAVIOR"));
+            return yawMode && yawMode->rawValue().toInt() != 0;
+        }
     }
     return true;
 }
diff --git a/src/FirmwarePlugin/PX4/PX4FirmwarePlugin.cc b/src/FirmwarePlugin/PX4/PX4FirmwarePlugin.cc
index ce622359f3d2bf86e039efd72d9370a93700c9da..65aa0ff451b5d6af7bb292a6eb9c844b50e57601 100644
--- a/src/FirmwarePlugin/PX4/PX4FirmwarePlugin.cc
+++ b/src/FirmwarePlugin/PX4/PX4FirmwarePlugin.cc
@@ -518,9 +518,13 @@ void PX4FirmwarePlugin::_handleAutopilotVersion(Vehicle* vehicle, mavlink_messag
 
 bool PX4FirmwarePlugin::vehicleYawsToNextWaypointInMission(const Vehicle* vehicle) const
 {
-    if (!vehicle->isOfflineEditingVehicle() && vehicle->parameterManager()->parameterExists(FactSystem::defaultComponentId, QStringLiteral("MIS_YAWMODE"))) {
-        Fact* yawMode = vehicle->parameterManager()->getParameter(FactSystem::defaultComponentId, QStringLiteral("MIS_YAWMODE"));
-        return yawMode && yawMode->rawValue().toInt() == 1;
+    if (vehicle->isOfflineEditingVehicle()) {
+        return FirmwarePlugin::vehicleYawsToNextWaypointInMission(vehicle);
+    } else {
+        if (vehicle->multiRotor() && vehicle->parameterManager()->parameterExists(FactSystem::defaultComponentId, QStringLiteral("MIS_YAWMODE"))) {
+            Fact* yawMode = vehicle->parameterManager()->getParameter(FactSystem::defaultComponentId, QStringLiteral("MIS_YAWMODE"));
+            return yawMode && yawMode->rawValue().toInt() == 1;
+        }
     }
     return true;
 }
diff --git a/src/MissionManager/MissionController.cc b/src/MissionManager/MissionController.cc
index 5067ac73c07f57422fb2792319a8230761349e9a..d228ae3d87dd9790ae421f26cd9e80f7a8b38f24 100644
--- a/src/MissionManager/MissionController.cc
+++ b/src/MissionManager/MissionController.cc
@@ -1044,7 +1044,7 @@ void MissionController::_recalcMissionFlightStatus()
         }
 
         // Look for gimbal change
-        if (_controllerVehicle->vehicleYawsToNextWaypointInMission()) {
+        if (_managerVehicle->vehicleYawsToNextWaypointInMission()) {
             // We current only support gimbal display in this mode
             double gimbalYaw = item->specifiedGimbalYaw();
             if (!qIsNaN(gimbalYaw)) {
@@ -1371,7 +1371,7 @@ void MissionController::managerVehicleChanged(Vehicle* managerVehicle)
 
     _managerVehicle = managerVehicle;
     if (!_managerVehicle) {
-        qWarning() << "RallyPointController::managerVehicleChanged managerVehicle=NULL";
+        qWarning() << "MissionController::managerVehicleChanged managerVehicle=NULL";
         return;
     }
 
diff --git a/src/MissionManager/SimpleMissionItem.cc b/src/MissionManager/SimpleMissionItem.cc
index bc982faa94277826f66f9f957fff06fa028b6b7e..9a63c2cfa277d73c7d193380d6805d4b1af8d9ce 100644
--- a/src/MissionManager/SimpleMissionItem.cc
+++ b/src/MissionManager/SimpleMissionItem.cc
@@ -446,6 +446,17 @@ void SimpleMissionItem::_rebuildNaNFacts(void)
             const MissionCmdParamInfo* paramInfo = uiInfo->getParamInfo(i);
 
             if (paramInfo && paramInfo->nanUnchanged()) {
+                // Show hide Heading field on waypoint based on vehicle yaw to next waypoint setting. This needs to come from the actual vehicle if it exists
+                // and not _vehicle which is always offline.
+                Vehicle* firmwareVehicle = qgcApp()->toolbox()->multiVehicleManager()->activeVehicle();
+                if (!firmwareVehicle) {
+                    firmwareVehicle = _vehicle;
+                }
+                bool hideWaypointHeading = (command == MAV_CMD_NAV_WAYPOINT) && (i == 4) && firmwareVehicle->firmwarePlugin()->vehicleYawsToNextWaypointInMission(firmwareVehicle);
+                if (hideWaypointHeading) {
+                    continue;
+                }
+
                 Fact*               paramFact =     rgParamFacts[i-1];
                 FactMetaData*       paramMetaData = rgParamMetaData[i-1];