diff --git a/Paths/KlingenbachSurvey.plan b/Paths/KlingenbachSurvey.plan
new file mode 100644
index 0000000000000000000000000000000000000000..ea7a4bf24569089913599f00b1229ba5d29a7423
--- /dev/null
+++ b/Paths/KlingenbachSurvey.plan
@@ -0,0 +1,239 @@
+{
+    "fileType": "Plan",
+    "geoFence": {
+        "circles": [
+        ],
+        "polygons": [
+        ],
+        "version": 2
+    },
+    "groundStation": "QGroundControl",
+    "mission": {
+        "cruiseSpeed": 15,
+        "firmwareType": 3,
+        "hoverSpeed": 2,
+        "items": [
+            {
+                "autoContinue": true,
+                "command": 22,
+                "doJumpId": 1,
+                "frame": 3,
+                "params": [
+                    15,
+                    0,
+                    0,
+                    null,
+                    0,
+                    0,
+                    15
+                ],
+                "type": "SimpleItem"
+            },
+            {
+                "TransectStyleComplexItem": {
+                    "CameraCalc": {
+                        "AdjustedFootprintFrontal": 25,
+                        "AdjustedFootprintSide": 25,
+                        "CameraName": "Manual (no camera specs)",
+                        "DistanceToSurface": 16,
+                        "DistanceToSurfaceRelative": true,
+                        "version": 1
+                    },
+                    "CameraShots": 6,
+                    "CameraTriggerInTurnAround": true,
+                    "FollowTerrain": false,
+                    "HoverAndCapture": false,
+                    "Items": [
+                        {
+                            "autoContinue": true,
+                            "command": 16,
+                            "doJumpId": 2,
+                            "frame": 3,
+                            "params": [
+                                0,
+                                0,
+                                0,
+                                null,
+                                47.76823086287187,
+                                16.53058942509675,
+                                12
+                            ],
+                            "type": "SimpleItem"
+                        },
+                        {
+                            "autoContinue": true,
+                            "command": 206,
+                            "doJumpId": 3,
+                            "frame": 2,
+                            "params": [
+                                25,
+                                0,
+                                1,
+                                0,
+                                0,
+                                0,
+                                0
+                            ],
+                            "type": "SimpleItem"
+                        },
+                        {
+                            "autoContinue": true,
+                            "command": 206,
+                            "doJumpId": 4,
+                            "frame": 2,
+                            "params": [
+                                25,
+                                0,
+                                1,
+                                0,
+                                0,
+                                0,
+                                0
+                            ],
+                            "type": "SimpleItem"
+                        },
+                        {
+                            "autoContinue": true,
+                            "command": 16,
+                            "doJumpId": 5,
+                            "frame": 3,
+                            "params": [
+                                0,
+                                0,
+                                0,
+                                null,
+                                47.767777545528425,
+                                16.530589422507354,
+                                12
+                            ],
+                            "type": "SimpleItem"
+                        },
+                        {
+                            "autoContinue": true,
+                            "command": 16,
+                            "doJumpId": 6,
+                            "frame": 3,
+                            "params": [
+                                0,
+                                0,
+                                0,
+                                null,
+                                47.7678946477262,
+                                16.53092392473375,
+                                12
+                            ],
+                            "type": "SimpleItem"
+                        },
+                        {
+                            "autoContinue": true,
+                            "command": 206,
+                            "doJumpId": 7,
+                            "frame": 2,
+                            "params": [
+                                25,
+                                0,
+                                1,
+                                0,
+                                0,
+                                0,
+                                0
+                            ],
+                            "type": "SimpleItem"
+                        },
+                        {
+                            "autoContinue": true,
+                            "command": 16,
+                            "doJumpId": 8,
+                            "frame": 3,
+                            "params": [
+                                0,
+                                0,
+                                0,
+                                null,
+                                47.76834255995745,
+                                16.530923930172992,
+                                12
+                            ],
+                            "type": "SimpleItem"
+                        },
+                        {
+                            "autoContinue": true,
+                            "command": 206,
+                            "doJumpId": 9,
+                            "frame": 2,
+                            "params": [
+                                0,
+                                0,
+                                0,
+                                0,
+                                0,
+                                0,
+                                0
+                            ],
+                            "type": "SimpleItem"
+                        }
+                    ],
+                    "Refly90Degrees": false,
+                    "TurnAroundDistance": 0,
+                    "VisualTransectPoints": [
+                        [
+                            47.76823086287187,
+                            16.53058942509675
+                        ],
+                        [
+                            47.767777545528425,
+                            16.530589422507354
+                        ],
+                        [
+                            47.7678946477262,
+                            16.53092392473375
+                        ],
+                        [
+                            47.76834255995745,
+                            16.530923930172992
+                        ]
+                    ],
+                    "version": 1
+                },
+                "angle": 0,
+                "complexItemType": "survey",
+                "entryLocation": 0,
+                "flyAlternateTransects": false,
+                "polygon": [
+                    [
+                        47.76813165710231,
+                        16.530292332060014
+                    ],
+                    [
+                        47.76836780779515,
+                        16.530999541789157
+                    ],
+                    [
+                        47.767985395495465,
+                        16.531183148525685
+                    ],
+                    [
+                        47.76771877171136,
+                        16.530421536814117
+                    ]
+                ],
+                "splitConcavePolygons": false,
+                "type": "ComplexItem",
+                "version": 5
+            }
+        ],
+        "plannedHomePosition": [
+            47.7677909,
+            16.5305408,
+            0.01
+        ],
+        "vehicleType": 2,
+        "version": 2
+    },
+    "rallyPoints": {
+        "points": [
+        ],
+        "version": 2
+    },
+    "version": 1
+}
diff --git a/src/MissionManager/SurveyComplexItem.cc b/src/MissionManager/SurveyComplexItem.cc
index a1f6e867b00ca5f12d920d96f9d4e107da7304d5..0c7be8ccca1d3680a3374c9af1ba6273bc97188d 100644
--- a/src/MissionManager/SurveyComplexItem.cc
+++ b/src/MissionManager/SurveyComplexItem.cc
@@ -640,6 +640,7 @@ void SurveyComplexItem::_buildAndAppendMissionItems(QList<MissionItem*>& items,
         bool transectEntry = true;
 
         for (const CoordInfo_t& transectCoordInfo: transect) {
+            qWarning() << transectCoordInfo.coord.altitude();
             item = new MissionItem(seqNum++,
                                    MAV_CMD_NAV_WAYPOINT,
                                    mavFrame,
diff --git a/src/MissionManager/TransectStyleComplexItem.cc b/src/MissionManager/TransectStyleComplexItem.cc
index 97f9ebcb78f943eb8be5d23740515e06f19acad5..c54adff6e01b758396afbee158745902f320795c 100644
--- a/src/MissionManager/TransectStyleComplexItem.cc
+++ b/src/MissionManager/TransectStyleComplexItem.cc
@@ -108,6 +108,10 @@ TransectStyleComplexItem::TransectStyleComplexItem(Vehicle* vehicle, bool flyVie
 
     connect(this,                                       &TransectStyleComplexItem::followTerrainChanged, this, &TransectStyleComplexItem::_followTerrainChanged);
 
+    connect(_cameraCalc.distanceToSurface(), &Fact::rawValueChanged, this, &TransectStyleComplexItem::_updateTransectAltitude);
+    connect(_cameraCalc.distanceToSurface(), &Fact::rawValueChanged, this, &TransectStyleComplexItem::_clearLoadedMissionItems);
+
+
     setDirty(false);
 }
 
@@ -228,6 +232,11 @@ bool TransectStyleComplexItem::_load(const QJsonObject& complexObject, QString&
     _coordinate = _visualTransectPoints.count() ? _visualTransectPoints.first().value<QGeoCoordinate>() : QGeoCoordinate();
     _exitCoordinate = _visualTransectPoints.count() ? _visualTransectPoints.last().value<QGeoCoordinate>() : QGeoCoordinate();
 
+    // Load CameraCalc data
+    if (!_cameraCalc.load(innerObject[_jsonCameraCalcKey].toObject(), errorString)) {
+        return false;
+    }
+
     // Load generated mission items
     _loadedMissionItemsParent = new QObject(this);
     QJsonArray missionItemsJsonArray = innerObject[_jsonItemsKey].toArray();
@@ -241,10 +250,6 @@ bool TransectStyleComplexItem::_load(const QJsonObject& complexObject, QString&
         _loadedMissionItems.append(missionItem);
     }
 
-    // Load CameraCalc data
-    if (!_cameraCalc.load(innerObject[_jsonCameraCalcKey].toObject(), errorString)) {
-        return false;
-    }
 
     // Load TransectStyleComplexItem individual values
     _turnAroundDistanceFact.setRawValue         (innerObject[turnAroundDistanceName].toDouble());
@@ -419,9 +424,22 @@ void TransectStyleComplexItem::_updateTransectAltitude()
 {
     double altitude = _cameraCalc.distanceToSurface()->rawValue().toDouble();
     if (altitude > 0)
-        for (auto list : _transects)
-            for (auto vertex : list)
+        for (int h = 0; h < _transects.length(); h++){
+            QList<CoordInfo_t> &list = _transects[h];
+            for (int i = 0; i < list.length(); i++) {
+                CoordInfo_t &vertex = list[i];
                 vertex.coord.setAltitude(altitude);
+            }
+        }
+}
+
+void TransectStyleComplexItem::_clearLoadedMissionItems()
+{
+    if (_loadedMissionItemsParent){
+        _loadedMissionItems.clear();
+        _loadedMissionItemsParent->deleteLater();
+        _loadedMissionItemsParent = nullptr;
+    }
 }
 
 void TransectStyleComplexItem::_queryTransectsPathHeightInfo(void)
diff --git a/src/MissionManager/TransectStyleComplexItem.h b/src/MissionManager/TransectStyleComplexItem.h
index f638693558e2535e9a904852f58c6e0928d2300e..e584575402ff4eebf798b8a56f379dc62addd140 100644
--- a/src/MissionManager/TransectStyleComplexItem.h
+++ b/src/MissionManager/TransectStyleComplexItem.h
@@ -135,6 +135,7 @@ protected slots:
     void _polyPathTerrainData               (bool success, const QList<TerrainPathQuery::PathHeightInfo_t>& rgPathHeightInfo);
     void _rebuildTransects                  (void);
     void _updateTransectAltitude            (void);
+    void _clearLoadedMissionItems           (void);
 
 protected:
     virtual void _rebuildTransectsPhase1    (void) = 0; ///< Rebuilds the _transects array