diff --git a/ChangeLog.md b/ChangeLog.md
index 9d2f4f3fae773b509d3920193b33c17285cf60f4..0bed17e554f83efa3baa25733352bc2ee5821536 100644
--- a/ChangeLog.md
+++ b/ChangeLog.md
@@ -7,6 +7,7 @@ Note: This file only contains high level features or important fixes.
 ### 4.0.6 - Not yet released
 
 * Analyze/Log Download - Fix download on mobile versions of QGC
+* Fly: Fix problems where Continue Mission and Change Altitude were not available after a Mission Pause.
 
 ### 4.0.5 - Stable
 
diff --git a/src/FirmwarePlugin/APM/APMFirmwarePlugin.cc b/src/FirmwarePlugin/APM/APMFirmwarePlugin.cc
index df0d86f89b7d5d05392e189042866592da2e02ed..3f913a22de30431627828c9c82f364ed54717698 100644
--- a/src/FirmwarePlugin/APM/APMFirmwarePlugin.cc
+++ b/src/FirmwarePlugin/APM/APMFirmwarePlugin.cc
@@ -936,6 +936,11 @@ void APMFirmwarePlugin::guidedModeChangeAltitude(Vehicle* vehicle, double altitu
         return;
     }
 
+    if (abs(altitudeChange) < 0.01) {
+        // This prevents unecessary changes to Guided mode when the users selects pause and doesn't really touch the altitude slider
+        return;
+    }
+
     setGuidedMode(vehicle, true);
 
     mavlink_message_t msg;
diff --git a/src/FlightDisplay/FlightDisplayView.qml b/src/FlightDisplay/FlightDisplayView.qml
index 9bcbf6918e49f174885293783af5ac1412e0f2a1..7a60e8f4ced8551d068eb3dc60fb7635454c98ae 100644
--- a/src/FlightDisplay/FlightDisplayView.qml
+++ b/src/FlightDisplay/FlightDisplayView.qml
@@ -639,8 +639,7 @@ Item {
                 {
                     name:               qsTr("Action"),
                     iconSource:         "/res/action.svg",
-                    buttonVisible:      !_guidedController.showPause,
-                    buttonEnabled:      _anyActionAvailable,
+                    buttonVisible:      _anyActionAvailable,
                     action:             -1
                 }
             ]
diff --git a/src/FlightDisplay/GuidedActionsController.qml b/src/FlightDisplay/GuidedActionsController.qml
index b3027d3605e159ee38868c90e30150c0885b7887..1507646aa06455cb5dc5d1749b24aba9a4ea028e 100644
--- a/src/FlightDisplay/GuidedActionsController.qml
+++ b/src/FlightDisplay/GuidedActionsController.qml
@@ -203,7 +203,12 @@ Item {
         }
         _outputState()
     }
-    // End of hack
+    onShowChangeAltChanged: {
+        if (_corePlugin.guidedActionsControllerLogging()) {
+            console.log("showChangeAlt", showChangeAlt)
+        }
+        _outputState()
+    }
 
     on_VehicleFlyingChanged: {
         _outputState()