diff --git a/src/MissionManager/PlanMasterController.cc b/src/MissionManager/PlanMasterController.cc
index a0d453646ac7491070248a16a68836c70adb5b87..a02ee1c5fe4f09b1a957507b93c5562cc44d2c16 100644
--- a/src/MissionManager/PlanMasterController.cc
+++ b/src/MissionManager/PlanMasterController.cc
@@ -33,22 +33,23 @@ const char* PlanMasterController::kJsonGeoFenceObjectKey =      "geoFence";
 const char* PlanMasterController::kJsonRallyPointsObjectKey =   "rallyPoints";
 
 PlanMasterController::PlanMasterController(QObject* parent)
-    : QObject               (parent)
-    , _multiVehicleMgr      (qgcApp()->toolbox()->multiVehicleManager())
-    , _controllerVehicle    (new Vehicle(
+    : QObject                   (parent)
+    , _multiVehicleMgr          (qgcApp()->toolbox()->multiVehicleManager())
+    , _controllerVehicle        (new Vehicle(
         static_cast<MAV_AUTOPILOT>(qgcApp()->toolbox()->settingsManager()->appSettings()->offlineEditingFirmwareType()->rawValue().toInt()),
         static_cast<MAV_TYPE>(qgcApp()->toolbox()->settingsManager()->appSettings()->offlineEditingVehicleType()->rawValue().toInt()),
         qgcApp()->toolbox()->firmwarePluginManager()))
-    , _managerVehicle       (_controllerVehicle)
-    , _flyView              (true)
-    , _offline              (true)
-    , _missionController    (this)
-    , _geoFenceController   (this)
-    , _rallyPointController (this)
-    , _loadGeoFence         (false)
-    , _loadRallyPoints      (false)
-    , _sendGeoFence         (false)
-    , _sendRallyPoints      (false)
+    , _managerVehicle           (_controllerVehicle)
+    , _flyView                  (true)
+    , _offline                  (true)
+    , _missionController        (this)
+    , _geoFenceController       (this)
+    , _rallyPointController     (this)
+    , _loadGeoFence             (false)
+    , _loadRallyPoints          (false)
+    , _sendGeoFence             (false)
+    , _sendRallyPoints          (false)
+    , _deleteWhenSendCompleted  (false)
 {
     connect(&_missionController,    &MissionController::dirtyChanged,       this, &PlanMasterController::dirtyChanged);
     connect(&_geoFenceController,   &GeoFenceController::dirtyChanged,      this, &PlanMasterController::dirtyChanged);
@@ -86,9 +87,10 @@ void PlanMasterController::start(bool flyView)
 #endif
 }
 
-void PlanMasterController::startStaticActiveVehicle(Vehicle* vehicle)
+void PlanMasterController::startStaticActiveVehicle(Vehicle* vehicle, bool deleteWhenSendCompleted)
 {
     _flyView = true;
+    _deleteWhenSendCompleted = deleteWhenSendCompleted;
     _missionController.start(_flyView);
     _geoFenceController.start(_flyView);
     _rallyPointController.start(_flyView);
@@ -264,6 +266,9 @@ void PlanMasterController::_sendGeoFenceComplete(void)
 void PlanMasterController::_sendRallyPointsComplete(void)
 {
     qCDebug(PlanMasterControllerLog) << "PlanMasterController::sendToVehicle Rally Point send complete";
+    if (_deleteWhenSendCompleted) {
+        this->deleteLater();
+    }
 }
 
 void PlanMasterController::sendToVehicle(void)
@@ -535,10 +540,9 @@ void PlanMasterController::sendPlanToVehicle(Vehicle* vehicle, const QString& fi
 {
     // Use a transient PlanMasterController to accomplish this
     PlanMasterController* controller = new PlanMasterController();
-    controller->startStaticActiveVehicle(vehicle);
+    controller->startStaticActiveVehicle(vehicle, true /* deleteWhenSendCompleted */);
     controller->loadFromFile(filename);
     controller->sendToVehicle();
-    delete controller;
 }
 
 void PlanMasterController::_showPlanFromManagerVehicle(void)
diff --git a/src/MissionManager/PlanMasterController.h b/src/MissionManager/PlanMasterController.h
index 8d38401d88f3a8653d164d72a7236bd9b8abf59c..b0df25926d95e0e544e2025ad5374de70d0cc6b0 100644
--- a/src/MissionManager/PlanMasterController.h
+++ b/src/MissionManager/PlanMasterController.h
@@ -49,7 +49,8 @@ public:
     Q_INVOKABLE void start(bool flyView);
 
     /// Starts the controller using a single static active vehicle. Will not track global active vehicle changes.
-    Q_INVOKABLE void startStaticActiveVehicle(Vehicle* vehicle);
+    ///     @param deleteWhenSendCmplete The PlanMasterController object should be deleted after the first send is completed.
+    Q_INVOKABLE void startStaticActiveVehicle(Vehicle* vehicle, bool deleteWhenSendCompleted = false);
 
     /// Determines if the plan has all data needed to be saved or sent to the vehicle. Currently the only case where this
     /// would return false is when it is still waiting on terrain data to determine correct altitudes.
@@ -127,5 +128,6 @@ private:
     bool                    _sendGeoFence;
     bool                    _sendRallyPoints;
     QString                 _currentPlanFile;
+    bool                    _deleteWhenSendCompleted;
 
 };
diff --git a/src/MissionManager/RallyPointController.cc b/src/MissionManager/RallyPointController.cc
index 58a369aa4ece83d646c9a3e0d97b2a7980de33c9..589fb5f5d01fed770be28a3bc4a8292c915a59db 100644
--- a/src/MissionManager/RallyPointController.cc
+++ b/src/MissionManager/RallyPointController.cc
@@ -203,15 +203,15 @@ QString RallyPointController::editorQml(void) const
     return _rallyPointManager->editorQml();
 }
 
-void RallyPointController::_managerLoadComplete(const QList<QGeoCoordinate> rgPoints)
+void RallyPointController::_managerLoadComplete(void)
 {
     // Fly view always reloads on _loadComplete
     // Plan view only reloads on _loadComplete if specifically requested
     if (_flyView || _itemsRequested) {
         _points.clearAndDeleteContents();
         QObjectList pointList;
-        for (int i=0; i<rgPoints.count(); i++) {
-            pointList.append(new RallyPoint(rgPoints[i], this));
+        for (int i=0; i<_rallyPointManager->points().count(); i++) {
+            pointList.append(new RallyPoint(_rallyPointManager->points()[i], this));
         }
         _points.swapObjectList(pointList);
         setDirty(false);
@@ -224,7 +224,7 @@ void RallyPointController::_managerLoadComplete(const QList<QGeoCoordinate> rgPo
 void RallyPointController::_managerSendComplete(bool error)
 {
     // Fly view always reloads after send
-    if (!error && !_flyView) {
+    if (!error && _flyView) {
         showPlanFromManagerVehicle();
     }
 }
@@ -317,6 +317,7 @@ bool RallyPointController::showPlanFromManagerVehicle (void)
         } else {
             qCDebug(RallyPointControllerLog) << "showPlanFromManagerVehicle: sync complete";
             _itemsRequested = true;
+            _managerLoadComplete();
             return false;
         }
     }
diff --git a/src/MissionManager/RallyPointController.h b/src/MissionManager/RallyPointController.h
index eff4b242ee2176b3b96bc8cd7982c3d79a5814ab..95d1f0f13b672c517b70d479730f6429fa071506 100644
--- a/src/MissionManager/RallyPointController.h
+++ b/src/MissionManager/RallyPointController.h
@@ -61,7 +61,7 @@ signals:
     void loadComplete(void);
 
 private slots:
-    void _managerLoadComplete(const QList<QGeoCoordinate> rgPoints);
+    void _managerLoadComplete(void);
     void _managerSendComplete(bool error);
     void _managerRemoveAllComplete(bool error);
     void _setFirstPointCurrent(void);
diff --git a/src/MissionManager/RallyPointManager.cc b/src/MissionManager/RallyPointManager.cc
index e0880cae67856372387198b9cbc8e0d68f89d75e..0db0f7342c1a3633c315fa7c3c7dac869765b281 100644
--- a/src/MissionManager/RallyPointManager.cc
+++ b/src/MissionManager/RallyPointManager.cc
@@ -21,7 +21,7 @@ RallyPointManager::RallyPointManager(Vehicle* vehicle)
     connect(&_planManager, &PlanManager::inProgressChanged,         this, &RallyPointManager::inProgressChanged);
     connect(&_planManager, &PlanManager::error,                     this, &RallyPointManager::error);
     connect(&_planManager, &PlanManager::removeAllComplete,         this, &RallyPointManager::removeAllComplete);
-    connect(&_planManager, &PlanManager::sendComplete,              this, &RallyPointManager::sendComplete);
+    connect(&_planManager, &PlanManager::sendComplete,              this, &RallyPointManager::_sendComplete);
     connect(&_planManager, &PlanManager::newMissionItemsAvailable,  this, &RallyPointManager::_planManagerLoadComplete);
 }
 
@@ -45,8 +45,12 @@ void RallyPointManager::loadFromVehicle(void)
 
 void RallyPointManager::sendToVehicle(const QList<QGeoCoordinate>& rgPoints)
 {
-    QList<MissionItem*> rallyItems;
+    _rgSendPoints.clear();
+    for (const QGeoCoordinate& rallyPoint: rgPoints) {
+        _rgSendPoints.append(rallyPoint);
+    }
 
+    QList<MissionItem*> rallyItems;
     for (int i=0; i<rgPoints.count(); i++) {
 
         MissionItem* item = new MissionItem(0,
@@ -100,5 +104,16 @@ void RallyPointManager::_planManagerLoadComplete(bool removeAllRequested)
     }
 
 
-    emit loadComplete(_rgPoints);
+    emit loadComplete();
+}
+
+void RallyPointManager::_sendComplete(bool error)
+{
+    if (error) {
+        _rgPoints.clear();
+    } else {
+        _rgPoints = _rgSendPoints;
+    }
+    _rgSendPoints.clear();
+    emit sendComplete(error);
 }
diff --git a/src/MissionManager/RallyPointManager.h b/src/MissionManager/RallyPointManager.h
index dc49edb82549b42049cc12b0c852d4eab46231a9..c888f621f934b0f35492f8ab6d2a02fa848f23d1 100644
--- a/src/MissionManager/RallyPointManager.h
+++ b/src/MissionManager/RallyPointManager.h
@@ -62,13 +62,14 @@ public:
     } ErrorCode_t;
     
 signals:
-    void loadComplete       (const QList<QGeoCoordinate> rgPoints);
+    void loadComplete       (void);
     void inProgressChanged  (bool inProgress);
     void error              (int errorCode, const QString& errorMsg);
     void removeAllComplete  (bool error);
     void sendComplete       (bool error);
 
 private slots:
+    void _sendComplete              (bool error);
     void _planManagerLoadComplete   (bool removeAllRequested);
 
 protected:
@@ -77,6 +78,7 @@ protected:
     Vehicle*                _vehicle;
     PlanManager             _planManager;
     QList<QGeoCoordinate>   _rgPoints;
+    QList<QGeoCoordinate>   _rgSendPoints;
 };
 
 #endif