diff --git a/src/AutoPilotPlugins/APM/APMFollowComponent.FactMetaData.json b/src/AutoPilotPlugins/APM/APMFollowComponent.FactMetaData.json
index 297b030d3374a828aef86a491f07ae3a8ede9803..7d02697181a75e18333ba792e60be27b0d79594f 100644
--- a/src/AutoPilotPlugins/APM/APMFollowComponent.FactMetaData.json
+++ b/src/AutoPilotPlugins/APM/APMFollowComponent.FactMetaData.json
@@ -20,7 +20,7 @@
 },
 {
     "name":             "height",
-    "shortDescription": "Vertical distance from ground station to vehicle",
+    "shortDescription": "Vertical distance from Launch (home) position to vehicle",
     "type":             "double",
     "min":              0,
     "decimalPlaces":    1,
diff --git a/src/AutoPilotPlugins/APM/APMFollowComponent.qml b/src/AutoPilotPlugins/APM/APMFollowComponent.qml
index 8cd35ce0ef11193ab8e40e1381ca388974571129..77c6c93022130dbb5cfd0a28bf3325d37bf3325e 100644
--- a/src/AutoPilotPlugins/APM/APMFollowComponent.qml
+++ b/src/AutoPilotPlugins/APM/APMFollowComponent.qml
@@ -49,20 +49,37 @@ SetupPage {
             property int  _followComboMaintainIndex:    0
             property int  _followComboSpecifyIndex:     1
             property bool _followMaintain:              followPositionCombo.currentIndex === _followComboMaintainIndex
-            property bool _isFollowMeSetup:             _followEnabled.rawValue == 1 && _followParamsAvailable && _followOffsetType.rawValue == _followOffsetTypeHeadingRelative && _followSysId.rawValue == 0
+            property bool _supportedSetup:              true
             property bool _roverFirmware:               controller.roverFirmware
+            property bool _showMainSetup:               _followEnabled.rawValue == 1 && _supportedSetup
+            property bool _showOffsetsSetup:            _showMainSetup && !_followMaintain
 
             readonly property int _followYawBehaviorNone:           0
             readonly property int _followYawBehaviorFace:           1
             readonly property int _followYawBehaviorSame:           2
             readonly property int _followYawBehaviorFlight:         3
-            readonly property int _followOffsetTypeHeadingRelative: 1
+            readonly property int _followAltitudeTypeAbsolute:      0
             readonly property int _followAltitudeTypeRelative:      1
+            readonly property int _followOffsetTypeRelative:        1
 
             Component.onCompleted: _setUIFromParams()
 
+            function validateSupportedParamSetup() {
+                var followSysIdOk = _followSysId.rawValue == QGroundControl.mavlinkSystemID
+                var followOffsetOk = _followOffsetType.rawValue == _followOffsetTypeRelative
+                var followAltOk = true
+                var followYawOk = true
+                if (!_roverFirmware) {
+                    followAltOk = _followAltitudeType.rawValue == _followAltitudeTypeRelative
+                    followYawOk = _followYawBehavior.rawValue == _followYawBehaviorNone || _followYawBehavior.rawValue == _followYawBehaviorFace || _followYawBehavior.rawValue == _followYawBehaviorFlight
+                }
+                _supportedSetup = followOffsetOk && followAltOk && followYawOk && followSysIdOk
+                console.log("_supportedSetup", _supportedSetup, followSysIdOk, followOffsetOk, followAltOk, followYawOk)
+                return _supportedSetup
+            }
+
             function _setUIFromParams() {
-                if (!_followParamsAvailable) {
+                if (!_followParamsAvailable || !validateSupportedParamSetup()) {
                     return
                 }
 
@@ -83,15 +100,24 @@ SetupPage {
                 }
                 controller.height.rawValue = -_followOffsetZ.rawValue
                 if (!_roverFirmware) {
-                    pointVehicleCombo.currentIndex = _followYawBehavior.rawValue
+                    var comboIndex = -1
+                    for (var i=0; i<pointVehicleCombo.rgValues.length; i++) {
+                        if (pointVehicleCombo.rgValues[i] == _followYawBehavior.rawValue) {
+                            comboIndex = i
+                            break
+                        }
+                    }
+
+                    pointVehicleCombo.currentIndex = comboIndex
                 }
             }
 
             function _setFollowMeParamDefaults() {
-                _followOffsetType.rawValue =    1   // Relative to vehicle
-                _followSysId.rawValue =         0   // Follow first message sent
+                _followSysId.rawValue = QGroundControl.mavlinkSystemID
+                _followOffsetType.rawValue = _followOffsetTypeRelative
                 if (!_roverFirmware) {
                     _followAltitudeType.rawValue = _followAltitudeTypeRelative
+                    _followYawBehavior.rawValue = _followYawBehaviorFace
                 }
 
                 controller.distance.value = controller.distance.defaultValue
@@ -153,12 +179,11 @@ SetupPage {
                     if (!_roverFirmware) {
                         _followAltitudeType =   controller.getParameterFact(-1, "FOLL_ALT_TYPE")
                         _followYawBehavior =    controller.getParameterFact(-1, "FOLL_YAW_BEHAVE")
-                        _followYawBehavior.rawValue = 1   // Point at GCS
                     }
 
                     _followParamsAvailable = true
                     vehicleParamRefreshLabel.visible = false
-                    _setFollowMeParamDefaults()
+                    validateSupportedParamSetup()
                 }
             }
 
@@ -166,14 +191,13 @@ SetupPage {
 
             QGCCheckBox {
                 text:       qsTr("Enable Follow Me")
-                checked:    _isFollowMeSetup
+                checked:    _followEnabled.rawValue == 1
                 onClicked: {
                     if (checked) {
                         _followEnabled.rawValue = 1
                         var missingParameters = [ "FOLL_DIST_MAX", "FOLL_SYSID", "FOLL_OFS_X", "FOLL_OFS_Y", "FOLL_OFS_Z", "FOLL_OFS_TYPE"  ]
                         if (!_roverFirmware) {
-                            missingParameters.push("FOLL_ALT_TYPE")
-                            missingParameters.push("FOLL_YAW_BEHAVE")
+                            missingParameters.push("FOLL_ALT_TYPE", "FOLL_YAW_BEHAVE")
                         }
                         controller.getMissingParameters(missingParameters)
                         vehicleParamRefreshLabel.visible = true
@@ -189,15 +213,33 @@ SetupPage {
                 visible:    false
             }
 
+            Column {
+                width:      offsetSetupLayout.width
+                spacing:    ScreenTools.defaultFontPixelWidth
+                visible:    !_supportedSetup
+
+                QGCLabel {
+                    anchors.left:   parent.left
+                    anchors.right:  parent.right
+                    text:           qsTr("The vehicle parameters required for follow me are currently set in a way which is not supported. Using follow with this setup may lead to unpredictable/hazardous results.")
+                    wrapMode:       Text.WordWrap
+                    onWidthChanged: console.log('width', width)
+                }
+
+                QGCButton {
+                    text:       qsTr("Reset To Supported Settings")
+                    onClicked:  _setFollowMeParamDefaults()
+                }
+            }
+
             ColumnLayout {
                 Layout.fillWidth:   true
                 spacing:            ScreenTools.defaultFontPixelWidth
-                visible:            _isFollowMeSetup
+                visible:            _showMainSetup
 
                 ColumnLayout {
                     Layout.fillWidth:   true
                     spacing:            ScreenTools.defaultFontPixelWidth
-                    visible:            _followParamsAvailable && _isFollowMeSetup
 
                     GridLayout {
                         Layout.fillWidth:   true
@@ -226,10 +268,12 @@ SetupPage {
                         QGCComboBox {
                             id:                     pointVehicleCombo
                             Layout.fillWidth:       true
-                            // NOTE: The indices for the model below must match the values for FOLL_YAW_BEHAVE
-                            model:                  [ qsTr("Maintain current vehicle orientation"), qsTr("Point at ground station location"), qsTr("Same orientation as ground station"), qsTr("Same direction as ground station movement") ]
+                            model:                  rgText
                             visible:                !_roverFirmware
-                            onActivated:            _followYawBehavior.rawValue = index
+                            onActivated:            _followYawBehavior.rawValue = rgValues[index]
+
+                            property var rgText:    [ qsTr("Maintain current vehicle orientation"), qsTr("Point at ground station location"), qsTr("Same direction as ground station movement") ]
+                            property var rgValues:  [ _followYawBehaviorNone, _followYawBehaviorFace, _followYawBehaviorFlight ]
                         }
                     }
 
@@ -271,8 +315,9 @@ SetupPage {
             }
 
             RowLayout {
-                spacing: ScreenTools.defaultFontPixelWidth * 2
-                visible: _isFollowMeSetup && !_followMaintain
+                id:         offsetSetupLayout
+                spacing:    ScreenTools.defaultFontPixelWidth * 2
+                visible:    _showOffsetsSetup
 
                 Item {
                     height: ScreenTools.defaultFontPixelWidth * 50
@@ -392,6 +437,7 @@ SetupPage {
                             var x = mouse.x - (width / 2)
                             var y = (height - mouse.y) - (height / 2)
                             controller.angle.rawValue = _radiansToHeading(Math.atan2(y, x))
+                            _setXYOffsetByAngleAndDistance(controller.angle.rawValue, controller.distance.rawValue)
                         }
                     }
                 }
@@ -455,21 +501,25 @@ SetupPage {
                         }
                     }
 
-                    Image {
-                        id:                 gcsIconHeight
-                        source:             "/res/QGCLogoArrow"
-                        mipmap:             true
-                        antialiasing:       true
-                        fillMode:           Image.PreserveAspectFit
-                        height:             ScreenTools.defaultFontPixelHeight * 2.5
-                        sourceSize.height:  height
-
-                        transform: Rotation {
-                            origin.x:       gcsIconHeight.width  / 2
-                            origin.y:       gcsIconHeight.height / 2
-                            angle:          65
-                            axis { x: 1; y: 0; z: 0 }
-                        }
+                    MissionItemIndexLabel {
+                        id:                 launchIconHeight
+                        Layout.alignment:   Qt.AlignHCenter
+                        label:              qsTr("L")
+
+                        transform: [
+                            Scale {
+                                origin.x:       launchIconHeight.width  / 2
+                                origin.y:       launchIconHeight.height / 2
+                                xScale:         1.5
+                                yScale:         2.5
+
+                            },
+                            Rotation {
+                                origin.x:       launchIconHeight.width  / 2
+                                origin.y:       launchIconHeight.height / 2
+                                angle:          75
+                                axis { x: 1; y: 0; z: 0 }
+                            } ]
                     }
                 }
             }
diff --git a/src/FirmwarePlugin/APM/APMFirmwarePlugin.cc b/src/FirmwarePlugin/APM/APMFirmwarePlugin.cc
index 233f1b906ad7a43532f0f146b53d1fda3f9264d4..df0d86f89b7d5d05392e189042866592da2e02ed 100644
--- a/src/FirmwarePlugin/APM/APMFirmwarePlugin.cc
+++ b/src/FirmwarePlugin/APM/APMFirmwarePlugin.cc
@@ -1136,15 +1136,16 @@ void APMFirmwarePlugin::_sendGCSMotionReport(Vehicle* vehicle, FollowMe::GCSMoti
     mavlink_global_position_int_t globalPositionInt;
     memset(&globalPositionInt, 0, sizeof(globalPositionInt));
 
+    // Important note: QGC only supports sending the constant GCS home position altitude for follow me.
     globalPositionInt.time_boot_ms =    static_cast<uint32_t>(qgcApp()->msecsSinceBoot());
     globalPositionInt.lat =             motionReport.lat_int;
     globalPositionInt.lon =             motionReport.lon_int;
-    globalPositionInt.alt =             static_cast<int32_t>(motionReport.altMetersAMSL * 1000);                                        // mm
-    globalPositionInt.relative_alt =    static_cast<int32_t>((motionReport.altMetersAMSL - vehicle->homePosition().altitude()) * 1000); // mm
-    globalPositionInt.vx =              static_cast<int16_t>(motionReport.vxMetersPerSec * 100);                                        // cm/sec
-    globalPositionInt.vy =              static_cast<int16_t>(motionReport.vyMetersPerSec * 100);                                        // cm/sec
-    globalPositionInt.vy =              static_cast<int16_t>(motionReport.vzMetersPerSec * 100);                                        // cm/sec
-    globalPositionInt.hdg =             static_cast<uint16_t>(motionReport.headingDegrees * 100.0);                                     // centi-degrees
+    globalPositionInt.alt =             static_cast<int32_t>(vehicle->homePosition().altitude() * 1000);    // mm
+    globalPositionInt.relative_alt =    static_cast<int32_t>(0);                                            // mm
+    globalPositionInt.vx =              static_cast<int16_t>(motionReport.vxMetersPerSec * 100);            // cm/sec
+    globalPositionInt.vy =              static_cast<int16_t>(motionReport.vyMetersPerSec * 100);            // cm/sec
+    globalPositionInt.vy =              static_cast<int16_t>(motionReport.vzMetersPerSec * 100);            // cm/sec
+    globalPositionInt.hdg =             static_cast<uint16_t>(motionReport.headingDegrees * 100.0);         // centi-degrees
 
     mavlink_message_t message;
     mavlink_msg_global_position_int_encode_chan(static_cast<uint8_t>(mavlinkProtocol->getSystemId()),
diff --git a/src/FollowMe/FollowMe.cc b/src/FollowMe/FollowMe.cc
index 2f35b493d7ee0165975828de82532a0cebaa2666..b75df953af6230ee55a3e02f460094c42711ce51 100644
--- a/src/FollowMe/FollowMe.cc
+++ b/src/FollowMe/FollowMe.cc
@@ -84,6 +84,23 @@ void FollowMe::_sendGCSMotionReport()
         return;
     }
 
+    // First check to see if any vehicles need follow me updates
+    bool needFollowMe = false;
+    if (_currentMode == MODE_ALWAYS) {
+        needFollowMe = true;
+    } else if (_currentMode == MODE_FOLLOWME) {
+        QmlObjectListModel* vehicles = _toolbox->multiVehicleManager()->vehicles();
+        for (int i=0; i<vehicles->count(); i++) {
+            Vehicle* vehicle = vehicles->value<Vehicle*>(i);
+            if (_isFollowFlightMode(vehicle, vehicle->flightMode())) {
+                needFollowMe = true;
+            }
+        }
+    }
+    if (!needFollowMe) {
+        return;
+    }
+
     GCSMotionReport motionReport = {};
     uint8_t         estimatation_capabilities = 0;
 
@@ -134,7 +151,7 @@ void FollowMe::_sendGCSMotionReport()
 
     for (int i=0; i<vehicles->count(); i++) {
         Vehicle* vehicle = vehicles->value<Vehicle*>(i);
-        if (_currentMode == MODE_ALWAYS || (_currentMode == MODE_FOLLOWME && _isFollowFlightMode(vehicle, vehicle->flightMode()))) {
+        if (_isFollowFlightMode(vehicle, vehicle->flightMode())) {
             qCDebug(FollowMeLog) << "sendGCSMotionReport latInt:lonInt:altMetersAMSL" << motionReport.lat_int << motionReport.lon_int << motionReport.altMetersAMSL;
             vehicle->firmwarePlugin()->sendGCSMotionReport(vehicle, motionReport, estimatation_capabilities);
         }