diff --git a/src/FlightMap/FlightMap.qml b/src/FlightMap/FlightMap.qml
index 7fad44e2a7e8ebbda482c3abf365ac7801ecbcca..5387ebf51314115997a1a8dc27a72c62bf55483e 100644
--- a/src/FlightMap/FlightMap.qml
+++ b/src/FlightMap/FlightMap.qml
@@ -166,8 +166,7 @@ Item {
             
             delegate:
                 VehicleMapItem {
-                        coordinate:     object.coordinate
-                        heading:        object.heading
+                        vehicle:        object
                         isSatellite:    root.isSatelliteMap
                 }
         }
@@ -236,6 +235,25 @@ Item {
 */
     }
     
+    // Vehicle GPS lock display
+    Column {
+        id:     gpsLockColumn
+        y:      (parent.height - height) / 2
+        width:  parent.width
+
+        Repeater {
+            model: multiVehicleManager.vehicles
+            
+            delegate:
+                QGCLabel {
+                    width:                  gpsLockColumn.width
+                    horizontalAlignment:    Text.AlignHCenter
+                    visible:                object.satelliteLock < 2
+                    text:                   "No GPS Lock for Vehicle #" + object.id
+                }
+        }
+    }
+    
     // Mission item list
     ListView {
         id:                 missionItemSummaryList
diff --git a/src/FlightMap/MapItems/VehicleMapItem.qml b/src/FlightMap/MapItems/VehicleMapItem.qml
index 2da49863e4658566c6eda5b89139901a6c34d425..d15c0a7df99754abc980643c6493364485328c2d 100644
--- a/src/FlightMap/MapItems/VehicleMapItem.qml
+++ b/src/FlightMap/MapItems/VehicleMapItem.qml
@@ -27,15 +27,18 @@ This file is part of the QGROUNDCONTROL project
 import QtQuick      2.4
 import QtLocation   5.3
 
-import QGroundControl.ScreenTools 1.0
+import QGroundControl.ScreenTools   1.0
+import QGroundControl.Vehicle       1.0
 
 /// Marker for displaying a vehicle location on the map
 MapQuickItem {
-    property real heading: 0
-    property bool isSatellite: false
+    property var    vehicle             ///< Vehicle object
+    property bool   isSatellite: false  ///< true: satellite map is showing
 
-    anchorPoint.x: vehicleIcon.width  / 2
-    anchorPoint.y: vehicleIcon.height / 2
+    anchorPoint.x:  vehicleIcon.width  / 2
+    anchorPoint.y:  vehicleIcon.height / 2
+    coordinate:     vehicle.coordinate
+    visible:        vehicle.satelliteLock >= 2  // 2D lock
 
     sourceItem: Image {
         id:         vehicleIcon
@@ -47,7 +50,7 @@ MapQuickItem {
         transform: Rotation {
             origin.x:   vehicleIcon.width  / 2
             origin.y:   vehicleIcon.height / 2
-            angle:      heading
+            angle:      vehicle.heading
         }
     }
 }