diff --git a/src/FirmwarePlugin/APM/ArduCopterFirmwarePlugin.cc b/src/FirmwarePlugin/APM/ArduCopterFirmwarePlugin.cc
index 3af285e00b90a4e924184072459b985780fee982..0ae992bd7a454840d2687ec97d6a1593b5609085 100644
--- a/src/FirmwarePlugin/APM/ArduCopterFirmwarePlugin.cc
+++ b/src/FirmwarePlugin/APM/ArduCopterFirmwarePlugin.cc
@@ -134,19 +134,6 @@ bool ArduCopterFirmwarePlugin::multiRotorXConfig(Vehicle* vehicle)
     return vehicle->parameterManager()->getParameter(FactSystem::defaultComponentId, "FRAME")->rawValue().toInt() != 0;
 }
 
-bool ArduCopterFirmwarePlugin::vehicleYawsToNextWaypointInMission(const Vehicle* vehicle) const
-{
-    if (vehicle->isOfflineEditingVehicle()) {
-        return FirmwarePlugin::vehicleYawsToNextWaypointInMission(vehicle);
-    } else {
-        if (vehicle->multiRotor() && vehicle->parameterManager()->parameterExists(FactSystem::defaultComponentId, QStringLiteral("WP_YAW_BEHAVIOR"))) {
-            Fact* yawMode = vehicle->parameterManager()->getParameter(FactSystem::defaultComponentId, QStringLiteral("WP_YAW_BEHAVIOR"));
-            return yawMode && yawMode->rawValue().toInt() != 0;
-        }
-    }
-    return true;
-}
-
 #if 0
     // Follow me not ready for Stable
 void ArduCopterFirmwarePlugin::sendGCSMotionReport(Vehicle* vehicle, FollowMe::GCSMotionReport& motionReport, uint8_t estimatationCapabilities)
diff --git a/src/FirmwarePlugin/APM/ArduCopterFirmwarePlugin.h b/src/FirmwarePlugin/APM/ArduCopterFirmwarePlugin.h
index 05c596994f8964498e2efd3c2f051cd7b679817e..0294872c65f87d6073cb3ec156b5d923c802e6f2 100644
--- a/src/FirmwarePlugin/APM/ArduCopterFirmwarePlugin.h
+++ b/src/FirmwarePlugin/APM/ArduCopterFirmwarePlugin.h
@@ -71,7 +71,6 @@ public:
     QString landFlightMode                      (void) const override { return QStringLiteral("Land"); }
     QString takeControlFlightMode               (void) const override { return QStringLiteral("Loiter"); }
     QString followFlightMode                    (void) const override { return QStringLiteral("Follow"); }
-    bool    vehicleYawsToNextWaypointInMission  (const Vehicle* vehicle) const override;
     QString autoDisarmParameter                 (Vehicle* vehicle) override { Q_UNUSED(vehicle); return QStringLiteral("DISARM_DELAY"); }
     bool    supportsSmartRTL                    (void) const override { return true; }
 #if 0
diff --git a/src/FirmwarePlugin/FirmwarePlugin.cc b/src/FirmwarePlugin/FirmwarePlugin.cc
index 3a4e07807badb0dd3cd516010cec6c7a3335dc38..1b992dfe6cf0006ba1f690a9f42df2ab27ad05d4 100644
--- a/src/FirmwarePlugin/FirmwarePlugin.cc
+++ b/src/FirmwarePlugin/FirmwarePlugin.cc
@@ -698,11 +698,6 @@ QMap<QString, FactGroup*>* FirmwarePlugin::factGroups(void) {
     return nullptr;
 }
 
-bool FirmwarePlugin::vehicleYawsToNextWaypointInMission(const Vehicle* vehicle) const
-{
-    return vehicle->multiRotor() ? false : true;
-}
-
 bool FirmwarePlugin::_armVehicleAndValidate(Vehicle* vehicle)
 {
     if (vehicle->armed()) {
diff --git a/src/FirmwarePlugin/FirmwarePlugin.h b/src/FirmwarePlugin/FirmwarePlugin.h
index a6d0f8c5378de98da20ac57f17fbf2000ea6a8e5..8f2f626f1c9d290f7e869e1bb8a233ccdd74583a 100644
--- a/src/FirmwarePlugin/FirmwarePlugin.h
+++ b/src/FirmwarePlugin/FirmwarePlugin.h
@@ -297,9 +297,6 @@ public:
     /// Returns a pointer to a dictionary of firmware-specific FactGroups
     virtual QMap<QString, FactGroup*>* factGroups(void);
 
-    /// @true: When flying a mission the vehicle is always facing towards the next waypoint
-    virtual bool vehicleYawsToNextWaypointInMission(const Vehicle* vehicle) const;
-
     /// Returns the data needed to do battery consumption calculations
     ///     @param[out] mAhBattery Battery milliamp-hours rating (0 for no battery data available)
     ///     @param[out] hoverAmps Current draw in amps during hover
diff --git a/src/MissionManager/MavCmdInfoMultiRotor.json b/src/MissionManager/MavCmdInfoMultiRotor.json
index b2f3607868f20555145dfdf151c93ebec18b75bb..abd97e5a79c325bfa5b452b04848f2c93ce4424f 100644
--- a/src/MissionManager/MavCmdInfoMultiRotor.json
+++ b/src/MissionManager/MavCmdInfoMultiRotor.json
@@ -9,6 +9,11 @@
             "comment":      "MAV_CMD_NAV_LOITER_UNLIM",
             "paramRemove":  "3"
         },
+        {
+            "id":           18,
+            "comment":      "MAV_CMD_NAV_LOITER_TURNS",
+            "paramRemove":  "1,2,3,4"
+        },
         {
             "id":           19,
             "comment":      "MAV_CMD_NAV_LOITER_TIME",
diff --git a/src/MissionManager/SimpleMissionItem.cc b/src/MissionManager/SimpleMissionItem.cc
index 0248e0d3dc6c62f8c0ed65b828e80f34200edf7d..2d491fa09a226df074df273a26f899a4408e2dea 100644
--- a/src/MissionManager/SimpleMissionItem.cc
+++ b/src/MissionManager/SimpleMissionItem.cc
@@ -501,10 +501,6 @@ void SimpleMissionItem::_rebuildNaNFacts(void)
                 if (!firmwareVehicle) {
                     firmwareVehicle = _controllerVehicle;
                 }
-                bool hideWaypointHeading = (command == MAV_CMD_NAV_WAYPOINT || command == MAV_CMD_NAV_TAKEOFF) && (i == 4) && firmwareVehicle->firmwarePlugin()->vehicleYawsToNextWaypointInMission(firmwareVehicle);
-                if (hideWaypointHeading) {
-                    continue;
-                }
 
                 Fact*               paramFact =     rgParamFacts[i-1];
                 FactMetaData*       paramMetaData = rgParamMetaData[i-1];
diff --git a/src/Vehicle/Vehicle.cc b/src/Vehicle/Vehicle.cc
index 9128684a85c36501feca8dc921ba98fb31128cb4..617baebe1be4945c4ef5cb654fbc9a33fac680a5 100644
--- a/src/Vehicle/Vehicle.cc
+++ b/src/Vehicle/Vehicle.cc
@@ -3835,11 +3835,6 @@ const QVariantList& Vehicle::staticCameraList() const
     return emptyList;
 }
 
-bool Vehicle::vehicleYawsToNextWaypointInMission() const
-{
-    return _firmwarePlugin->vehicleYawsToNextWaypointInMission(this);
-}
-
 void Vehicle::_setupAutoDisarmSignalling()
 {
     QString param = _firmwarePlugin->autoDisarmParameter(this);
diff --git a/src/Vehicle/Vehicle.h b/src/Vehicle/Vehicle.h
index 73162690caa47f64275efe256a5c523e09b08657..407a2650bbd38a6fe6028f012db5fe64f18466fc 100644
--- a/src/Vehicle/Vehicle.h
+++ b/src/Vehicle/Vehicle.h
@@ -1125,9 +1125,6 @@ public:
     QGCCameraManager*           dynamicCameras      () { return _cameras; }
     QString                     hobbsMeter          ();
 
-    /// @true: When flying a mission the vehicle is always facing towards the next waypoint
-    bool vehicleYawsToNextWaypointInMission() const;
-
     /// The vehicle is responsible for making the initial request for the Plan.
     /// @return: true: initial request is complete, false: initial request is still in progress;
     bool initialPlanRequestComplete() const { return _initialPlanRequestComplete; }