diff --git a/src/FirmwarePlugin/APM/ArduCopterFirmwarePlugin.cc b/src/FirmwarePlugin/APM/ArduCopterFirmwarePlugin.cc
index 5bdb2b627587528f2fbd0afc29b3b253feada315..1ff48698240b9cf6502fca7f56c57634e0470057 100644
--- a/src/FirmwarePlugin/APM/ArduCopterFirmwarePlugin.cc
+++ b/src/FirmwarePlugin/APM/ArduCopterFirmwarePlugin.cc
@@ -133,14 +133,22 @@ void ArduCopterFirmwarePlugin::guidedModeLand(Vehicle* vehicle)
     vehicle->setFlightMode("Land");
 }
 
-void ArduCopterFirmwarePlugin::guidedModeTakeoff(Vehicle* vehicle, double altitudeRel)
+#if 0
+// WIP
+void ArduCopterFirmwarePlugin::guidedModeTakeoff(Vehicle* vehicle)
 {
+    if (!_armVehicle(vehicle)) {
+        qgcApp()->showMessage(tr("Unable to takeoff: Vehicle failed to arm."));
+        return;
+    }
+
     vehicle->sendMavCommand(vehicle->defaultComponentId(),
                             MAV_CMD_NAV_TAKEOFF,
                             true, // show error
                             0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f,
-                            altitudeRel);
+                            2.5);
 }
+#endif
 
 void ArduCopterFirmwarePlugin::guidedModeGotoLocation(Vehicle* vehicle, const QGeoCoordinate& gotoCoord)
 {
diff --git a/src/FirmwarePlugin/APM/ArduCopterFirmwarePlugin.h b/src/FirmwarePlugin/APM/ArduCopterFirmwarePlugin.h
index 40c5f76233fba1991758ae45c39ef41618f37fbd..041d8396938ee9b61c38e94914723b53ad3bce2d 100644
--- a/src/FirmwarePlugin/APM/ArduCopterFirmwarePlugin.h
+++ b/src/FirmwarePlugin/APM/ArduCopterFirmwarePlugin.h
@@ -59,7 +59,10 @@ public:
     void pauseVehicle(Vehicle* vehicle) final;
     void guidedModeRTL(Vehicle* vehicle) final;
     void guidedModeLand(Vehicle* vehicle) final;
-    void guidedModeTakeoff(Vehicle* vehicle, double altitudeRel) final;
+#if 0
+    // WIP
+    void guidedModeTakeoff(Vehicle* vehicle) final;
+#endif
     void guidedModeGotoLocation(Vehicle* vehicle, const QGeoCoordinate& gotoCoord) final;
     void guidedModeChangeAltitude(Vehicle* vehicle, double altitudeRel) final;
     const FirmwarePlugin::remapParamNameMajorVersionMap_t& paramNameRemapMajorVersionMap(void) const final { return _remapParamName; }
diff --git a/src/FirmwarePlugin/FirmwarePlugin.cc b/src/FirmwarePlugin/FirmwarePlugin.cc
index 498be2571186328e0052828a216d67abdd1667b0..5739615467ec7c31f0723f9d2e824ac3a928d363 100644
--- a/src/FirmwarePlugin/FirmwarePlugin.cc
+++ b/src/FirmwarePlugin/FirmwarePlugin.cc
@@ -265,11 +265,10 @@ void FirmwarePlugin::guidedModeLand(Vehicle* vehicle)
     qgcApp()->showMessage(guided_mode_not_supported_by_vehicle);
 }
 
-void FirmwarePlugin::guidedModeTakeoff(Vehicle* vehicle, double altitudeRel)
+void FirmwarePlugin::guidedModeTakeoff(Vehicle* vehicle)
 {
     // Not supported by generic vehicle
     Q_UNUSED(vehicle);
-    Q_UNUSED(altitudeRel);
     qgcApp()->showMessage(guided_mode_not_supported_by_vehicle);
 }
 
@@ -295,6 +294,13 @@ void FirmwarePlugin::guidedModeChangeAltitude(Vehicle* vehicle, double altitudeR
     qgcApp()->showMessage(guided_mode_not_supported_by_vehicle);
 }
 
+void FirmwarePlugin::startMission(Vehicle* vehicle)
+{
+    // Not supported by generic vehicle
+    Q_UNUSED(vehicle);
+    qgcApp()->showMessage(guided_mode_not_supported_by_vehicle);
+}
+
 const FirmwarePlugin::remapParamNameMajorVersionMap_t& FirmwarePlugin::paramNameRemapMajorVersionMap(void) const
 {
     static const remapParamNameMajorVersionMap_t remap;
@@ -436,3 +442,20 @@ bool FirmwarePlugin::vehicleYawsToNextWaypointInMission(const Vehicle* vehicle)
 {
     return vehicle->multiRotor() ? false : true;
 }
+
+bool FirmwarePlugin::_armVehicle(Vehicle* vehicle)
+{
+    if (!vehicle->armed()) {
+        vehicle->setArmed(true);
+    }
+
+    // Wait for vehicle to return armed state for 2 seconds
+    for (int i=0; i<20; i++) {
+        if (vehicle->armed()) {
+            break;
+        }
+        QGC::SLEEP::msleep(100);
+        qgcApp()->processEvents(QEventLoop::ExcludeUserInputEvents);
+    }
+    return vehicle->armed();
+}
diff --git a/src/FirmwarePlugin/FirmwarePlugin.h b/src/FirmwarePlugin/FirmwarePlugin.h
index 2a9f51da29fa09bfd6e09a4b10713ec365199564..ed139f76fc06f004ba30df0bb962eeeaed711511 100644
--- a/src/FirmwarePlugin/FirmwarePlugin.h
+++ b/src/FirmwarePlugin/FirmwarePlugin.h
@@ -112,9 +112,11 @@ public:
     /// Command vehicle to land at current location
     virtual void guidedModeLand(Vehicle* vehicle);
 
-    /// Command vehicle to takeoff from current location
-    ///     @param altitudeRel Relative altitude to takeoff to
-    virtual void guidedModeTakeoff(Vehicle* vehicle, double altitudeRel);
+    /// Command vehicle to takeoff from current location to a firmware specific height.
+    virtual void guidedModeTakeoff(Vehicle* vehicle);
+
+    /// Command the vehicle to start the mission
+    virtual void startMission(Vehicle* vehicle);
 
     /// Command vehicle to orbit given center point
     ///     @param centerCoord Center Coordinates
@@ -126,6 +128,9 @@ public:
     /// Command vehicle to change to the specified relatice altitude
     virtual void guidedModeChangeAltitude(Vehicle* vehicle, double altitudeRel);
 
+
+
+
     /// Returns the flight mode for running missions
     virtual QString missionFlightMode(void);
 
@@ -273,6 +278,11 @@ public:
     // FIXME: Hack workaround for non pluginize FollowMe support
     static const char* px4FollowMeFlightMode;
 
+protected:
+    // Arms the vehicle, waiting for the arm state to change.
+    // @return: true - vehicle armed, false - vehicle failed to arm
+    bool _armVehicle(Vehicle* vehicle);
+
 private:
     QVariantList _toolBarIndicatorList;
     static QVariantList _cameraList;    ///< Standard QGC camera list
diff --git a/src/FirmwarePlugin/PX4/PX4FirmwarePlugin.cc b/src/FirmwarePlugin/PX4/PX4FirmwarePlugin.cc
index cd2314cbc7955017996542a287f849d45642f615..84e314a883238ef65e06698473947c2d72f10637 100644
--- a/src/FirmwarePlugin/PX4/PX4FirmwarePlugin.cc
+++ b/src/FirmwarePlugin/PX4/PX4FirmwarePlugin.cc
@@ -350,24 +350,33 @@ void PX4FirmwarePlugin::guidedModeOrbit(Vehicle* vehicle, const QGeoCoordinate&
                             centerCoord.isValid() ? centerCoord.altitude()  : NAN);
 }
 
-void PX4FirmwarePlugin::guidedModeTakeoff(Vehicle* vehicle, double altitudeRel)
+void PX4FirmwarePlugin::guidedModeTakeoff(Vehicle* vehicle)
 {
-    Q_UNUSED(altitudeRel);
+    QString takeoffAltParam("MIS_TAKEOFF_ALT");
+
     if (qIsNaN(vehicle->altitudeAMSL()->rawValue().toDouble())) {
         qgcApp()->showMessage(tr("Unable to takeoff, vehicle position not known."));
         return;
     }
 
+    if (!vehicle->parameterManager()->parameterExists(FactSystem::defaultComponentId, takeoffAltParam)) {
+        qgcApp()->showMessage(tr("Unable to takeoff, MIS_TAKEOFF_ALT parameter missing."));
+        return;
+    }
+    Fact* takeoffAlt = vehicle->parameterManager()->getParameter(FactSystem::defaultComponentId, takeoffAltParam);
+
+    if (!_armVehicle(vehicle)) {
+        qgcApp()->showMessage(tr("Unable to takeoff: Vehicle failed to arm."));
+        return;
+    }
+
     vehicle->sendMavCommand(vehicle->defaultComponentId(),
                             MAV_CMD_NAV_TAKEOFF,
-                            true,   // show error is fails
-                            -1.0f,
-                            0.0f,
-                            0.0f,
-                            NAN,
-                            NAN,
-                            NAN,
-                            vehicle->altitudeAMSL()->rawValue().toDouble() + altitudeRel);
+                            true,                           // show error is fails
+                            -1,                             // No pitch requested
+                            0, 0,                           // param 2-4 unused
+                            NAN, NAN, NAN,                  // No yaw, lat, lon
+                            vehicle->altitudeAMSL()->rawValue().toDouble() + takeoffAlt->rawValue().toDouble());
 }
 
 void PX4FirmwarePlugin::guidedModeGotoLocation(Vehicle* vehicle, const QGeoCoordinate& gotoCoord)
@@ -412,6 +421,16 @@ void PX4FirmwarePlugin::guidedModeChangeAltitude(Vehicle* vehicle, double altitu
                             vehicle->homePosition().altitude() + altitudeRel);
 }
 
+void PX4FirmwarePlugin::startMission(Vehicle* vehicle)
+{
+    if (!_armVehicle(vehicle)) {
+        qgcApp()->showMessage(tr("Unable to start mission: Vehicle failed to arm."));
+        return;
+    }
+
+    vehicle->setFlightMode(missionFlightMode());
+}
+
 void PX4FirmwarePlugin::setGuidedMode(Vehicle* vehicle, bool guidedMode)
 {
     if (guidedMode) {
diff --git a/src/FirmwarePlugin/PX4/PX4FirmwarePlugin.h b/src/FirmwarePlugin/PX4/PX4FirmwarePlugin.h
index 7394abb023a304feb06fa93fe622ef8b685f98e9..4707411997ca283bbce52bbc6a823052ed272255 100644
--- a/src/FirmwarePlugin/PX4/PX4FirmwarePlugin.h
+++ b/src/FirmwarePlugin/PX4/PX4FirmwarePlugin.h
@@ -40,10 +40,11 @@ public:
     void                pauseVehicle                    (Vehicle* vehicle) override;
     void                guidedModeRTL                   (Vehicle* vehicle) override;
     void                guidedModeLand                  (Vehicle* vehicle) override;
-    void                guidedModeTakeoff               (Vehicle* vehicle, double altitudeRel) override;
+    void                guidedModeTakeoff               (Vehicle* vehicle) override;
     void                guidedModeOrbit                 (Vehicle* vehicle, const QGeoCoordinate& centerCoord = QGeoCoordinate(), double radius = NAN, double velocity = NAN, double altitude = NAN) override;
     void                guidedModeGotoLocation          (Vehicle* vehicle, const QGeoCoordinate& gotoCoord) override;
     void                guidedModeChangeAltitude        (Vehicle* vehicle, double altitudeRel) override;
+    void                startMission                    (Vehicle* vehicle) override;
     bool                isGuidedMode                    (const Vehicle* vehicle) const override;
     int                 manualControlReservedButtonCount(void) override;
     bool                supportsManualControl           (void) override;
diff --git a/src/FlightDisplay/FlightDisplayView.qml b/src/FlightDisplay/FlightDisplayView.qml
index 6b9588cb0e85414daa077d95322e2b18e954979b..47e4a76ff1b9de49bc43d1aaa948e340f253d722 100644
--- a/src/FlightDisplay/FlightDisplayView.qml
+++ b/src/FlightDisplay/FlightDisplayView.qml
@@ -247,6 +247,7 @@ QGCView {
             anchors.bottom:     parent.bottom
             qgcView:            root
             useLightColors:     isBackgroundDark
+            missionController:  _flightMap.missionController
             visible:            singleVehicleView.checked
         }
 
diff --git a/src/FlightDisplay/FlightDisplayViewWidgets.qml b/src/FlightDisplay/FlightDisplayViewWidgets.qml
index a9167c1f3704ed0593620b2ec17e42e3a52caec1..6c85db413689b97e8dd8f825c84f0e270ac17f02 100644
--- a/src/FlightDisplay/FlightDisplayViewWidgets.qml
+++ b/src/FlightDisplay/FlightDisplayViewWidgets.qml
@@ -29,11 +29,19 @@ Item {
     property bool   gotoEnabled:            _activeVehicle && _activeVehicle.guidedMode && _activeVehicle.flying
     property var    qgcView
     property bool   useLightColors
+    property var    missionController
 
     property var    _activeVehicle:         QGroundControl.multiVehicleManager.activeVehicle
     property bool   _isSatellite:           _mainIsMap ? (_flightMap ? _flightMap.isSatelliteMap : true) : true
     property bool   _lightWidgetBorders:    _isSatellite
 
+    // Guided bar properties
+    property bool _missionAvailable:    missionController.containsItems
+    property bool _missionActive:       _activeVehicle ? _activeVehicle.flightMode === _activeVehicle.missionFlightMode : false
+    property bool _missionInProgress:   missionController.missionInProgress
+    property bool _showEmergenyStop:    QGroundControl.corePlugin.options.guidedBarShowEmergencyStop
+    property bool _showOrbit:           QGroundControl.corePlugin.options.guidedBarShowOrbit
+
     readonly property real _margins:        ScreenTools.defaultFontPixelHeight * 0.5
 
     QGCMapPalette { id: mapPal; lightColors: useLightColors }
@@ -222,6 +230,8 @@ Item {
         readonly property int confirmRetask:        9
         readonly property int confirmOrbit:         10
         readonly property int confirmAbort:         11
+        readonly property int confirmStartMission:  12
+        readonly property int confirmResumeMission: 13
 
         property int    confirmActionCode
         property real   _showMargin:    _margins
@@ -237,10 +247,11 @@ Item {
                 _activeVehicle.guidedModeLand()
                 break;
             case confirmTakeoff:
-                var altitude1 = altitudeSlider.getValue()
-                if (!isNaN(altitude1)) {
-                    _activeVehicle.guidedModeTakeoff(altitude1)
-                }
+                _activeVehicle.guidedModeTakeoff()
+                break;
+            case confirmResumeMission:
+            case confirmStartMission:
+                _activeVehicle.startMission()
                 break;
             case confirmArm:
                 _activeVehicle.armed = true
@@ -299,10 +310,14 @@ Item {
                 guidedModeConfirm.confirmText = qsTr("STOP ALL MOTORS!")
                 break;
             case confirmTakeoff:
-                altitudeSlider.visible = true
-                altitudeSlider.setInitialValueMeters(3)
                 guidedModeConfirm.confirmText = qsTr("takeoff")
                 break;
+            case confirmStartMission:
+                guidedModeConfirm.confirmText = qsTr("start mission")
+                break;
+            case confirmResumeMission:
+                guidedModeConfirm.confirmText = qsTr("resume mission")
+                break;
             case confirmLand:
                 guidedModeConfirm.confirmText = qsTr("land")
                 break;
@@ -350,33 +365,58 @@ Item {
 
                 QGCButton {
                     pointSize:  _guidedModeBar._fontPointSize
-                    text:       (_activeVehicle && _activeVehicle.armed) ? (_activeVehicle.flying ? qsTr("Emergency Stop") : qsTr("Disarm")) :  qsTr("Arm")
-                    visible:    _activeVehicle
-                    onClicked:  _guidedModeBar.confirmAction(_activeVehicle.armed ? (_activeVehicle.flying ? _guidedModeBar.confirmEmergencyStop : _guidedModeBar.confirmDisarm) : _guidedModeBar.confirmArm)
+                    text:       qsTr("Emergency Stop")
+                    visible:    _showEmergenyStop && _activeVehicle && _activeVehicle.armed && _activeVehicle.flying
+                    onClicked:  _guidedModeBar.confirmAction(_guidedModeBar.confirmEmergencyStop)
+                }
+
+                QGCButton {
+                    pointSize:  _guidedModeBar._fontPointSize
+                    text:       qsTr("Disarm")
+                    visible:    _activeVehicle && _activeVehicle.armed && !_activeVehicle.flying
+                    onClicked:  _guidedModeBar.confirmAction(_guidedModeBar.confirmDisarm)
                 }
 
                 QGCButton {
                     pointSize:  _guidedModeBar._fontPointSize
                     text:       qsTr("RTL")
-                    visible:    (_activeVehicle && _activeVehicle.armed) && _activeVehicle.guidedModeSupported && _activeVehicle.flying
+                    visible:    _activeVehicle && _activeVehicle.armed && _activeVehicle.guidedModeSupported && _activeVehicle.flying
                     onClicked:  _guidedModeBar.confirmAction(_guidedModeBar.confirmHome)
                 }
 
                 QGCButton {
                     pointSize:  _guidedModeBar._fontPointSize
-                    text:       (_activeVehicle && _activeVehicle.flying) ?  qsTr("Land"):  qsTr("Takeoff")
-                    visible:    _activeVehicle && _activeVehicle.guidedModeSupported && _activeVehicle.armed
-                    onClicked:  _guidedModeBar.confirmAction(_activeVehicle.flying ? _guidedModeBar.confirmLand : _guidedModeBar.confirmTakeoff)
+                    text:       qsTr("Takeoff")
+                    visible:    _activeVehicle && _activeVehicle.guidedModeSupported && !_activeVehicle.flying  && !_activeVehicle.fixedWing
+                    onClicked:  _guidedModeBar.confirmAction(_guidedModeBar.confirmTakeoff)
+                }
+
+                QGCButton {
+                    pointSize:  _guidedModeBar._fontPointSize
+                    text:       qsTr("Land")
+                    visible:    _activeVehicle && _activeVehicle.guidedModeSupported && _activeVehicle.armed && !_activeVehicle.fixedWing
+                    onClicked:  _guidedModeBar.confirmAction(_guidedModeBar.confirmLand)
+                }
+
+                QGCButton {
+                    pointSize:  _guidedModeBar._fontPointSize
+                    text:       qsTr("Start Mission")
+                    visible:    _activeVehicle && !_activeVehicle.flying && _missionAvailable
+                    onClicked:  _guidedModeBar.confirmAction(_guidedModeBar.confirmStartMission)
+                }
+
+                QGCButton {
+                    pointSize:  _guidedModeBar._fontPointSize
+                    text:       qsTr("Resume Mission")
+                    visible:    _activeVehicle && _activeVehicle.guidedModeSupported && !_activeVehicle.flying && _missionAvailable && _missionInProgress
+                    onClicked:  _guidedModeBar.confirmAction(_guidedModeBar.confirmResumeMission)
                 }
 
                 QGCButton {
                     pointSize:  _guidedModeBar._fontPointSize
-                    text:       qsTr("Pause")
-                    visible:    (_activeVehicle && _activeVehicle.armed) && _activeVehicle.pauseVehicleSupported && _activeVehicle.flying
-                    onClicked:  {
-                        guidedModeHideTimer.restart()
-                        _activeVehicle.pauseVehicle()
-                    }
+                    text:       _missionActive ? qsTr("Pause Mission") : qsTr("Pause")
+                    visible:    _activeVehicle && _activeVehicle.armed && _activeVehicle.pauseVehicleSupported && _activeVehicle.flying
+                    onClicked:  _activeVehicle.pauseVehicle()
                 }
 
                 QGCButton {
@@ -389,7 +429,7 @@ Item {
                 QGCButton {
                     pointSize:  _guidedModeBar._fontPointSize
                     text:       qsTr("Orbit")
-                    visible:    (_activeVehicle && _activeVehicle.flying) && _activeVehicle.orbitModeSupported && _activeVehicle.armed
+                    visible:    _showOrbit && _activeVehicle && _activeVehicle.flying && _activeVehicle.orbitModeSupported && _activeVehicle.armed
                     onClicked:  _guidedModeBar.confirmAction(_guidedModeBar.confirmOrbit)
                 }
 
diff --git a/src/MissionManager/MissionController.cc b/src/MissionManager/MissionController.cc
index a140f98deaca2ab5b7c173fb4177f66af095c348..af5952447d69fec83dc3c31ab06cf0bd2fa4eade 100644
--- a/src/MissionManager/MissionController.cc
+++ b/src/MissionManager/MissionController.cc
@@ -1238,6 +1238,7 @@ void MissionController::_initAllVisualItems(void)
     connect(_visualItems, &QmlObjectListModel::countChanged, this, &MissionController::_updateContainsItems);
 
     emit visualItemsChanged();
+    emit containsItemsChanged(containsItems());
 
     _visualItems->setDirty(false);
 }
@@ -1503,6 +1504,8 @@ void MissionController::_addMissionSettings(Vehicle* vehicle, QmlObjectListModel
 void MissionController::_currentMissionItemChanged(int sequenceNumber)
 {
     if (!_editMode) {
+        bool prevMissionInProgress = missionInProgress();
+
         if (!_activeVehicle->firmwarePlugin()->sendHomePositionToVehicle()) {
             sequenceNumber++;
         }
@@ -1511,6 +1514,10 @@ void MissionController::_currentMissionItemChanged(int sequenceNumber)
             VisualMissionItem* item = qobject_cast<VisualMissionItem*>(_visualItems->get(i));
             item->setIsCurrentItem(item->sequenceNumber() == sequenceNumber);
         }
+
+        if (prevMissionInProgress != missionInProgress()) {
+            emit missionInProgressChanged();
+        }
     }
 }
 
@@ -1588,3 +1595,8 @@ QStringList MissionController::complexMissionItemNames(void) const
 
     return complexItems;
 }
+
+bool MissionController::missionInProgress(void) const
+{
+    return _visualItems && _visualItems->count() > 1 && (!_visualItems->value<VisualMissionItem*>(0)->isCurrentItem() && !_visualItems->value<VisualMissionItem*>(1)->isCurrentItem());
+}
diff --git a/src/MissionManager/MissionController.h b/src/MissionManager/MissionController.h
index 55da4fcb4b91ecf0e2c4f81ce1ab5f2adaa1362e..08c3d399db6e07e412c403dbd8e360ffd18a7753 100644
--- a/src/MissionManager/MissionController.h
+++ b/src/MissionManager/MissionController.h
@@ -50,11 +50,12 @@ public:
         double gimbalYaw;       ///< NaN signals yaw was never changed
     } MissionFlightStatus_t;
 
-    // Mission settings
     Q_PROPERTY(QmlObjectListModel*  visualItems             READ visualItems                NOTIFY visualItemsChanged)
     Q_PROPERTY(QmlObjectListModel*  waypointLines           READ waypointLines              NOTIFY waypointLinesChanged)
     Q_PROPERTY(QStringList          complexMissionItemNames READ complexMissionItemNames    NOTIFY complexMissionItemNamesChanged)
 
+    Q_PROPERTY(bool                 missionInProgress       READ missionInProgress          NOTIFY missionInProgressChanged)        ///< true: Mission sequence is beyond first item
+
     Q_PROPERTY(double               missionDistance         READ missionDistance            NOTIFY missionDistanceChanged)
     Q_PROPERTY(double               missionTime             READ missionTime                NOTIFY missionTimeChanged)
     Q_PROPERTY(double               missionHoverDistance    READ missionHoverDistance       NOTIFY missionHoverDistanceChanged)
@@ -110,6 +111,7 @@ public:
     QmlObjectListModel* visualItems             (void) { return _visualItems; }
     QmlObjectListModel* waypointLines           (void) { return &_waypointLines; }
     QStringList         complexMissionItemNames (void) const;
+    bool                missionInProgress       (void) const;
 
     double  missionDistance         (void) const { return _missionFlightStatus.totalDistance; }
     double  missionTime             (void) const { return _missionFlightStatus.totalTime; }
@@ -131,6 +133,7 @@ signals:
     void missionCruiseTimeChanged(void);
     void missionMaxTelemetryChanged(double missionMaxTelemetry);
     void complexMissionItemNamesChanged(void);
+    bool missionInProgressChanged(void);
 
 private slots:
     void _newMissionItemsAvailableFromVehicle(bool removeAllRequested);
diff --git a/src/PlanView/PlanToolBar.qml b/src/PlanView/PlanToolBar.qml
index 64b912f29feca034ee4bf684628d451db648197a..21c575bfef3062d417a3ab5798b72c3d8715433b 100644
--- a/src/PlanView/PlanToolBar.qml
+++ b/src/PlanView/PlanToolBar.qml
@@ -91,7 +91,7 @@ Rectangle {
             MessageDialog {
                 id:                 uploadPrompt
                 title:              _activeVehicle ? qsTr("Unsent changes") : qsTr("Unsaved changes")
-                text:               qsTr("You have %1 changes to your mission. Are you sure you want to leave before you %2?").arg(_activeVehicle ? qsTr("unsent") : qsTr("unsaved")).arg(_activeVehicle ? qsTr("send the missoin to the vehicle") : qsTr("save the mission to a file"))
+                text:               qsTr("You have %1 changes to your mission. Are you sure you want to leave before you %2?").arg(_activeVehicle ? qsTr("unsent") : qsTr("unsaved")).arg(_activeVehicle ? qsTr("send the mission to the vehicle") : qsTr("save the mission to a file"))
                 standardButtons:    StandardButton.Yes | StandardButton.No
 
                 onNo: visible = false
diff --git a/src/Vehicle/Vehicle.cc b/src/Vehicle/Vehicle.cc
index 612fa5b1b7088e29a4c7819963ec7061eb085bf1..7c7dcc636968376f5c85457c9ca65892b0b4d992 100644
--- a/src/Vehicle/Vehicle.cc
+++ b/src/Vehicle/Vehicle.cc
@@ -1959,14 +1959,19 @@ void Vehicle::guidedModeLand(void)
     _firmwarePlugin->guidedModeLand(this);
 }
 
-void Vehicle::guidedModeTakeoff(double altitudeRel)
+void Vehicle::guidedModeTakeoff(void)
 {
     if (!guidedModeSupported()) {
         qgcApp()->showMessage(guided_mode_not_supported_by_vehicle);
         return;
     }
     setGuidedMode(true);
-    _firmwarePlugin->guidedModeTakeoff(this, altitudeRel);
+    _firmwarePlugin->guidedModeTakeoff(this);
+}
+
+void Vehicle::startMission(void)
+{
+    _firmwarePlugin->startMission(this);
 }
 
 void Vehicle::guidedModeGotoLocation(const QGeoCoordinate& gotoCoord)
diff --git a/src/Vehicle/Vehicle.h b/src/Vehicle/Vehicle.h
index 44b04230fcc910821c2f111ec548da31d90710aa..ab94811294810f48c1fdc48b1c27a0931040a62c 100644
--- a/src/Vehicle/Vehicle.h
+++ b/src/Vehicle/Vehicle.h
@@ -379,7 +379,7 @@ public:
     Q_INVOKABLE void guidedModeLand(void);
 
     /// Command vehicle to takeoff from current location
-    Q_INVOKABLE void guidedModeTakeoff(double altitudeRel);
+    Q_INVOKABLE void guidedModeTakeoff(void);
 
     /// Command vehicle to move to specified location (altitude is included and relative)
     Q_INVOKABLE void guidedModeGotoLocation(const QGeoCoordinate& gotoCoord);
@@ -404,6 +404,8 @@ public:
     /// Command vehicle to abort landing
     Q_INVOKABLE void abortLanding(double climbOutAltitude);
 
+    Q_INVOKABLE void startMission(void);
+
     /// Alter the current mission item on the vehicle
     Q_INVOKABLE void setCurrentMissionSequence(int seq);
 
diff --git a/src/api/QGCOptions.h b/src/api/QGCOptions.h
index d21b5920e7b2f2929aa404983d8bf1662abba620..403da42f3a1efe226713cea58903e64eed109173 100644
--- a/src/api/QGCOptions.h
+++ b/src/api/QGCOptions.h
@@ -36,6 +36,8 @@ public:
     Q_PROPERTY(bool                     showSensorCalibrationOrient     READ showSensorCalibrationOrient    NOTIFY showSensorCalibrationOrientChanged)
     Q_PROPERTY(bool                     showFirmwareUpgrade             READ showFirmwareUpgrade            NOTIFY showFirmwareUpgradeChanged)
     Q_PROPERTY(QString                  firmwareUpgradeSingleURL        READ firmwareUpgradeSingleURL       CONSTANT)
+    Q_PROPERTY(bool                     guidedBarShowEmergencyStop      READ guidedBarShowEmergencyStop     NOTIFY guidedBarShowEmergencyStopChanged)
+    Q_PROPERTY(bool                     guidedBarShowOrbit              READ guidedBarShowOrbit             NOTIFY guidedBarShowOrbitChanged)
 
     /// Should QGC hide its settings menu and colapse it into one single menu (Settings and Vehicle Setup)?
     /// @return true if QGC should consolidate both menus into one.
@@ -63,6 +65,9 @@ public:
 
     virtual bool    showFirmwareUpgrade             () const { return true; }
 
+    virtual bool    guidedBarShowEmergencyStop      () const { return true; }
+    virtual bool    guidedBarShowOrbit              () const { return true; }
+
     /// If returned QString in non-empty it means that firmware upgrade will run in a mode which only
     /// supports downloading a single firmware file from the URL. It also supports custom install through
     /// the Advanced options.
@@ -76,6 +81,8 @@ signals:
     void showSensorCalibrationAirspeedChanged   (bool show);
     void showSensorCalibrationOrientChanged     (bool show);
     void showFirmwareUpgradeChanged             (bool show);
+    void guidedBarShowEmergencyStopChanged       (bool show);
+    void guidedBarShowOrbitChanged              (bool show);
 
 private:
     CustomInstrumentWidget* _defaultInstrumentWidget;