diff --git a/src/FirmwarePlugin/PX4/MavCmdInfoCommon.json b/src/FirmwarePlugin/PX4/MavCmdInfoCommon.json
index 8657261895e728cd9fdf5aa479ab99e3d4d1e8c7..e8f236bbd10e99d9fe2b8e16340952a8da5fc6e9 100644
--- a/src/FirmwarePlugin/PX4/MavCmdInfoCommon.json
+++ b/src/FirmwarePlugin/PX4/MavCmdInfoCommon.json
@@ -9,6 +9,39 @@
             "comment":      "MAV_CMD_NAV_WAYPOINT",
             "paramRemove":  "2,3"
         },
+        {
+            "id":                   17,
+            "comment":              "MAV_CMD_NAV_LOITER_UNLIM",
+            "param4": {
+                "label":            "Heading",
+                "units":            "radians",
+                "nanUnchanged":     true,
+                "default":          null,
+                "decimalPlaces":    2
+            }
+        },
+        {
+            "id":                   18,
+            "comment":              "MAV_CMD_NAV_LOITER_TURNS",
+            "param4": {
+                "label":            "Heading",
+                "units":            "radians",
+                "nanUnchanged":     true,
+                "default":          null,
+                "decimalPlaces":    2
+            }
+        },
+        {
+            "id":                   19,
+            "comment":              "MAV_CMD_NAV_LOITER_TIME",
+            "param4": {
+                "label":            "Heading",
+                "units":            "radians",
+                "nanUnchanged":     true,
+                "default":          null,
+                "decimalPlaces":    2
+            }
+        },
         {
             "id":           21,
             "comment":      "MAV_CMD_NAV_LAND",
diff --git a/src/MissionManager/MavCmdInfoCommon.json b/src/MissionManager/MavCmdInfoCommon.json
index a6ce14e3bf3f9e8bbace885fbd622f0ebf15e0ef..93cf03214027082100a264acc2ac436efddf53c9 100644
--- a/src/MissionManager/MavCmdInfoCommon.json
+++ b/src/MissionManager/MavCmdInfoCommon.json
@@ -75,8 +75,7 @@
             "param4": {
                 "label":            "Heading",
                 "units":            "radians",
-                "nanUnchanged":     true,
-                "default":          null,
+                "default":          0,
                 "decimalPlaces":    2
             }
         },
@@ -102,8 +101,7 @@
             "param4": {
                 "label":            "Heading",
                 "units":            "radians",
-                "nanUnchanged":     true,
-                "default":          null,
+                "default":          0,
                 "decimalPlaces":    2
             }
         },
@@ -130,7 +128,7 @@
             "param4": {
                 "label":            "Heading",
                 "units":            "radians",
-                "nanUnchanged":     true,
+                "default":          0,
                 "decimalPlaces":    2
             }
         },