diff --git a/src/MissionManager/MissionController.cc b/src/MissionManager/MissionController.cc
index 54af4762bbbad6442ce1960cfef98346ee263f07..8de299f5961348232fd58ec696aa357f5bb7726c 100644
--- a/src/MissionManager/MissionController.cc
+++ b/src/MissionManager/MissionController.cc
@@ -39,6 +39,7 @@
 #endif
 
 #define UPDATE_TIMEOUT 5000 ///< How often we check for bounding box changes
+#define REMAINING_DIST_TIME_UPDATE_INTERVAL 100 ///< How often we check for bounding box changes
 
 QGC_LOGGING_CATEGORY(MissionControllerLog, "MissionControllerLog")
 
@@ -83,6 +84,9 @@ MissionController::MissionController(PlanMasterController* masterController, QOb
     _updateTimer.setSingleShot(true);
     connect(&_updateTimer, &QTimer::timeout, this, &MissionController::_updateTimeout);
 
+    _remainingDistanceTimeTimer.setInterval(REMAINING_DIST_TIME_UPDATE_INTERVAL);
+    connect(&_remainingDistanceTimeTimer, &QTimer::timeout, this, &MissionController::distanceTimeToMissionEnd);
+
 }
 
 MissionController::~MissionController()
@@ -1668,6 +1672,29 @@ void MissionController::_recalcAll(void)
     _recalcAllWithClickCoordinate(emptyCoord);
 }
 
+void MissionController::_enableDisableRemainingDistTimeCalculation(bool flying)
+{
+    if (flying) {
+        _remainingDistanceTimeTimer.start();
+    } else {
+        _remainingDistanceTimeTimer.stop();
+    }
+}
+
+void MissionController::_updateRemainingDistanceTime()
+{
+    double dist = 0;
+    double time = 0;
+    bool success = distanceTimeToMissionEnd(dist, time, _missionManager->currentIndex() /*missionIndex >= 1*/);
+    if (success) {
+        _remainingTime      = time;
+        _remainingDistance  = dist;
+
+        emit remainingTimeChanged();
+        emit remainingDistanceChanged();
+    }
+}
+
 /// Initializes a new set of mission items
 void MissionController::_initAllVisualItems(void)
 {
@@ -1787,8 +1814,6 @@ void MissionController::managerVehicleChanged(Vehicle* managerVehicle)
     connect(_missionManager, &MissionManager::inProgressChanged,        this, &MissionController::_inProgressChanged);
     connect(_missionManager, &MissionManager::progressPct,              this, &MissionController::_progressPctChanged);
     connect(_missionManager, &MissionManager::currentIndexChanged,      this, &MissionController::_currentMissionIndexChanged);
-    connect(_missionManager, &MissionManager::currentIndexChanged,      this, &MissionController::remainingDistanceChanged);
-    connect(_missionManager, &MissionManager::currentIndexChanged,      this, &MissionController::remainingTimeChanged);
     connect(_missionManager, &MissionManager::lastCurrentIndexChanged,  this, &MissionController::resumeMissionIndexChanged);
     connect(_missionManager, &MissionManager::resumeMissionReady,       this, &MissionController::resumeMissionReady);
     connect(_missionManager, &MissionManager::resumeMissionUploadFail,  this, &MissionController::resumeMissionUploadFail);
@@ -1796,6 +1821,7 @@ void MissionController::managerVehicleChanged(Vehicle* managerVehicle)
     connect(_managerVehicle, &Vehicle::defaultCruiseSpeedChanged,       this, &MissionController::_recalcMissionFlightStatus);
     connect(_managerVehicle, &Vehicle::defaultHoverSpeedChanged,        this, &MissionController::_recalcMissionFlightStatus);
     connect(_managerVehicle, &Vehicle::vehicleTypeChanged,              this, &MissionController::complexMissionItemNamesChanged);
+    connect(_managerVehicle, &Vehicle::flyingChanged,                   this, &MissionController::_enableDisableRemainingDistTimeCalculation);
 
     if (!_masterController->offline()) {
         _managerVehicleHomePositionChanged(_managerVehicle->homePosition());
@@ -2144,8 +2170,9 @@ int MissionController::currentPlanViewIndex(void) const
     return _currentPlanViewIndex;
 }
 
-bool MissionController::remainingDistanceAndTime(double &remainingDistance, double &remainingTime, int missionIndex) const
+bool MissionController::distanceTimeToMissionEnd(double &remainingDistance, double &remainingTime, int missionIndex, bool useVehiclePosition) const
 {
+    // input check
     if (   _visualItems == nullptr
         || _visualItems->count() < 1
         || !_flyView
@@ -2154,6 +2181,17 @@ bool MissionController::remainingDistanceAndTime(double &remainingDistance, doub
         return false;
     }
 
+    // check if vehicle is flying and fetch vehicle coordinate
+    QGeoCoordinate vehiclePosition;
+    if (_managerVehicle && _managerVehicle->flying() && useVehiclePosition) {
+        vehiclePosition = _managerVehicle->coordinate();
+    } else {
+        if (useVehiclePosition) {
+            useVehiclePosition = false;
+            qWarning("MissionController::distanceTimeToMissionEnd(): vehicle position can't be used. Either no vehicle connected, or vehicle not flying.");
+        }
+    }
+
     remainingDistance = 0;
     remainingTime = 0;
 
@@ -2199,6 +2237,17 @@ bool MissionController::remainingDistanceAndTime(double &remainingDistance, doub
         }
     }
 
+    if (useVehiclePosition) {
+        SimpleMissionItem* simpleItem = _visualItems->value<SimpleMissionItem*>(missionIndex-1);
+        if (simpleItem != nullptr) {
+            double dist = vehiclePosition.distanceTo(simpleItem->coordinate());
+            double time = dist/currentSpeed;
+
+            remainingDistance   += dist;
+            remainingTime       += time;
+        }
+    }
+
     // iterate over mission items starting at currentMissionIdx-1 and determine time and distance
     for (int i=missionIndex-1; i<_visualItems->count(); i++) {
         VisualMissionItem* item = qobject_cast<VisualMissionItem*>(_visualItems->get(i));
@@ -2286,40 +2335,6 @@ bool MissionController::remainingDistanceAndTime(double &remainingDistance, doub
     return true;
 }
 
-double MissionController::remainingDistance(int missionIndex) const
-{
-    double remainingDistance = 0, remainingTime = 0;
-    if (remainingDistanceAndTime(remainingDistance, remainingTime, missionIndex))
-        return remainingDistance;
-
-    return -1;
-}
-
-double MissionController::remainingTime(int missionIndex) const
-{
-    double remainingDistance = 0, remainingTime = 0;
-    if (remainingDistanceAndTime(remainingDistance, remainingTime, missionIndex))
-        return remainingTime;
-
-    return -1;
-}
-
-double MissionController::remainingDistance() const
-{
-    if (_missionManager != nullptr)
-        return remainingDistance(_missionManager->currentIndex());
-
-    return -1;
-}
-
-double MissionController::remainingTime() const
-{
-    if (_missionManager != nullptr)
-        return remainingTime(_missionManager->currentIndex());
-
-    return -1;
-}
-
 VisualMissionItem* MissionController::currentPlanViewItem(void) const
 {
     return _currentPlanViewItem;
diff --git a/src/MissionManager/MissionController.h b/src/MissionManager/MissionController.h
index b3a7d61ab72fafff63ed2b37284f3548ef64a3e8..a38e3563f59418dcbcbf0997e9774dfd6e67c4e4 100644
--- a/src/MissionManager/MissionController.h
+++ b/src/MissionManager/MissionController.h
@@ -208,11 +208,13 @@ public:
     int     currentMissionIndex         (void) const;
     int     resumeMissionIndex          (void) const;
     int     currentPlanViewIndex        (void) const;
-    bool    remainingDistanceAndTime    (double &remainingDistance, double &remainingTime, int missionIndex) const;
-    double  remainingDistance           (int missionIndex) const;
-    double  remainingTime               (int missionIndex) const;
-    double  remainingDistance           () const;
-    double  remainingTime               () const;
+    // distance and time to mission end (this function does not take into account current vehicle position, if useVehiclePosition == false)
+    bool    distanceTimeToMissionEnd    (double &remainingDistance, double &remainingTime, int missionIndex, bool useVehiclePosition) const;
+
+    // distance and time to mission end (this function does (!) take into account current vehicle position)
+    double  remainingDistance           () const { return _remainingDistance; }
+    // distance and time to mission end (this function does (!) take into account current vehicle position)
+    double  remainingTime               () const { return _remainingTime; }
 
     double  missionDistance         (void) const { return _missionFlightStatus.totalDistance; }
     double  missionTime             (void) const { return _missionFlightStatus.totalTime; }
@@ -276,6 +278,9 @@ private slots:
     void _updateTimeout();
     void _complexBoundingBoxChanged();
     void _recalcAll(void);
+    void _enableDisableRemainingDistTimeCalculation(bool flying);
+    // updates the fields _remainingTime and_remainingDistance (this function does (!) take into account current vehicle position)
+    void _updateRemainingDistanceTime();
 
 private:
     void _init(void);
@@ -330,8 +335,11 @@ private:
     int                     _currentPlanViewIndex;
     VisualMissionItem*      _currentPlanViewItem;
     QTimer                  _updateTimer;
+    QTimer                  _remainingDistanceTimeTimer;
     QGCGeoBoundingCube      _travelBoundingCube;
     QGeoCoordinate          _takeoffCoordinate;
+    double                  _remainingTime; // estimated Time until mission end
+    double                  _remainingDistance; // estimated Distance to mission end
 
     static const char*  _settingsGroup;