diff --git a/src/MissionManager/MissionController.cc b/src/MissionManager/MissionController.cc
index 234dbf412ed03cd14a5e03a73245fc223c72255e..33c137852beb9feb93941130d321eefa02e65c55 100644
--- a/src/MissionManager/MissionController.cc
+++ b/src/MissionManager/MissionController.cc
@@ -410,6 +410,12 @@ int MissionController::insertComplexMissionItem(QString itemName, QGeoCoordinate
 {
     ComplexMissionItem* newItem;
 
+    // If the ComplexMissionItem is inserted first, add a TakeOff SimpleMissionItem
+    if (_visualItems->count() == 1 && (_controllerVehicle->fixedWing() || _controllerVehicle->vtol() || _controllerVehicle->multiRotor())) {
+        insertSimpleMissionItem(mapCenterCoordinate, i);
+        i++;
+    }
+
     int sequenceNumber = _nextSequenceNumber();
     if (itemName == _surveyMissionItemName) {
         newItem = new SurveyComplexItem(_controllerVehicle, _flyView, QString() /* kmlFile */, _visualItems /* parent */);