diff --git a/src/MissionManager/MissionController.cc b/src/MissionManager/MissionController.cc
index af61115480e28554e384290cebba17c0b257417f..d5946cb4db1447810c3ea21b37067ec599bb784c 100644
--- a/src/MissionManager/MissionController.cc
+++ b/src/MissionManager/MissionController.cc
@@ -365,7 +365,9 @@ int MissionController::insertROIMissionItem(QGeoCoordinate coordinate, int i)
     SimpleMissionItem * newItem = new SimpleMissionItem(_controllerVehicle, this);
     newItem->setSequenceNumber(sequenceNumber);
     newItem->setCoordinate(coordinate);
-    newItem->setCommand(MavlinkQmlSingleton::MAV_CMD_DO_SET_ROI);
+    newItem->setCommand((MavlinkQmlSingleton::Qml_MAV_CMD)(_controllerVehicle->firmwarePlugin()->supportedMissionCommands().contains((MAV_CMD)MAV_CMD_DO_SET_ROI_LOCATION) ?
+        MAV_CMD_DO_SET_ROI_LOCATION :
+        MAV_CMD_DO_SET_ROI));
     _initVisualItem(newItem);
     newItem->setDefaultsForCommand();