diff --git a/src/MissionEditor/MissionEditor.cc b/src/MissionEditor/MissionEditor.cc
index 3aa1f1a8e624c8492404478806c8ab0b148daef9..688ee145ce66848936d8fddaee5a1eb41227f079 100644
--- a/src/MissionEditor/MissionEditor.cc
+++ b/src/MissionEditor/MissionEditor.cc
@@ -26,6 +26,7 @@ This file is part of the QGROUNDCONTROL project
 #include "MultiVehicleManager.h"
 #include "MissionManager.h"
 #include "QGCFileDialog.h"
+#include "CoordinateVector.h"
 
 #include <QQmlContext>
 #include <QQmlEngine>
@@ -51,6 +52,7 @@ MissionEditor::MissionEditor(QWidget *parent)
         _newMissionItemsAvailable();
     } else {
         _missionItems = new QmlObjectListModel(this);
+        connect(_missionItems, &QmlObjectListModel::dirtyChanged, this, &MissionEditor::_missionListDirtyChanged);
     }
     
     setContextPropertyObject("controller", this);
@@ -75,6 +77,9 @@ void MissionEditor::_newMissionItemsAvailable(void)
     _reSequence();
     _missionItems->setDirty(false);
     
+    connect(_missionItems, &QmlObjectListModel::dirtyChanged, this, &MissionEditor::_missionListDirtyChanged);
+    _rebuildWaypointLines();
+    
     emit missionItemsChanged();
     emit canEditChanged(_canEdit);
 }
@@ -190,7 +195,11 @@ void MissionEditor::loadMissionFromFile(void)
         return;
     }
     
-    _missionItems->clear();
+    if (_missionItems) {
+        _missionItems->deleteLater();
+    }
+    _missionItems = new QmlObjectListModel(this);
+
     _canEdit = true;
     
     QFile file(filename);
@@ -229,6 +238,9 @@ void MissionEditor::loadMissionFromFile(void)
     
     _missionItems->setDirty(false);
     emit canEditChanged(_canEdit);
+    
+    connect(_missionItems, &QmlObjectListModel::dirtyChanged, this, &MissionEditor::_missionListDirtyChanged);
+    _rebuildWaypointLines();
 }
 
 void MissionEditor::saveMissionToFile(void)
@@ -256,3 +268,21 @@ void MissionEditor::saveMissionToFile(void)
     
     _missionItems->setDirty(false);
 }
+
+void MissionEditor::_rebuildWaypointLines(void)
+{
+    _waypointLines.clear();
+    for (int i=1; i<_missionItems->count(); i++) {
+        MissionItem* item1 = qobject_cast<MissionItem*>(_missionItems->get(i-1));
+        MissionItem* item2 = qobject_cast<MissionItem*>(_missionItems->get(i));
+        
+        _waypointLines.append(new CoordinateVector(item1->coordinate(), item2->coordinate()));
+    }
+    emit waypointLinesChanged();
+}
+
+void MissionEditor::_missionListDirtyChanged(bool dirty)
+{
+    Q_UNUSED(dirty);
+    _rebuildWaypointLines();
+}
diff --git a/src/MissionEditor/MissionEditor.h b/src/MissionEditor/MissionEditor.h
index dc8821826f28a1ce20ecbccfc85da3681066173a..eed09fc199d7db85054205e70cdbe194373274aa 100644
--- a/src/MissionEditor/MissionEditor.h
+++ b/src/MissionEditor/MissionEditor.h
@@ -35,7 +35,8 @@ public:
     MissionEditor(QWidget* parent = NULL);
     ~MissionEditor();
 
-    Q_PROPERTY(QmlObjectListModel*  missionItems    READ missionItemsModel  NOTIFY missionItemsChanged)
+    Q_PROPERTY(QmlObjectListModel*  missionItems    READ missionItems       NOTIFY missionItemsChanged)
+    Q_PROPERTY(QmlObjectListModel*  waypointLines   READ waypointLines      NOTIFY waypointLinesChanged)
     Q_PROPERTY(bool                 canEdit         READ canEdit            NOTIFY canEditChanged)
     
     Q_INVOKABLE int addMissionItem(QGeoCoordinate coordinate);
@@ -49,21 +50,26 @@ public:
 
     // Property accessors
     
-    QmlObjectListModel* missionItemsModel(void) { return _missionItems; }
+    QmlObjectListModel* missionItems(void) { return _missionItems; }
+    QmlObjectListModel* waypointLines(void) { return &_waypointLines; }
     bool canEdit(void) { return _canEdit; }
     
 signals:
     void missionItemsChanged(void);
     void canEditChanged(bool canEdit);
+    void waypointLinesChanged(void);
     
 private slots:
     void _newMissionItemsAvailable();
+    void _missionListDirtyChanged(bool dirty);
     
 private:
     void _reSequence(void);
-    
+    void _rebuildWaypointLines(void);
+   
 private:
     QmlObjectListModel* _missionItems;
+    QmlObjectListModel  _waypointLines;
     bool                _canEdit;           ///< true: UI can edit these items, false: can't edit, can only send to vehicle or save
     
     static const char* _settingsGroup;
diff --git a/src/MissionEditor/MissionEditor.qml b/src/MissionEditor/MissionEditor.qml
index 1751e19dd71cef96816d62d781577c4ed3d9eb50..28b0e3a984d8e46371121e0753d5c2ae7ed8e1d3 100644
--- a/src/MissionEditor/MissionEditor.qml
+++ b/src/MissionEditor/MissionEditor.qml
@@ -383,6 +383,7 @@ This code will need to wait for Qml 5.5 support since Map.visibleRegion is only
                     label:          "H"
                     isCurrentItem:  _showHomePositionManager
                     coordinate:     _homePositionCoordinate
+                    z:              2
 
                     onClicked: _showHomePositionManager = true
                 }
@@ -396,13 +397,59 @@ This code will need to wait for Qml 5.5 support since Map.visibleRegion is only
                             label:          object.sequenceNumber
                             isCurrentItem:  !_showHomePositionManager && object.isCurrentItem
                             coordinate:     object.coordinate
+                            z:              2
 
                             onClicked: {
                                 _showHomePositionManager = false
                                 setCurrentItem(object.sequenceNumber)
                             }
+                        }
+                }
+
+                MapPolyline {
+                    id:         homePositionLine
+                    line.width: 3
+                    line.color: "orange"
+                    z:          1
+
+                    property var homePositionCoordinate: _homePositionCoordinate
+
+                    function update() {
+                        while (homePositionLine.path.length != 0) {
+                            homePositionLine.removeCoordinate(homePositionLine.path[0])
+                        }
+                        if (_missionItems && _missionItems.count != 0) {
+                            homePositionLine.addCoordinate(homePositionCoordinate)
+                            homePositionLine.addCoordinate(_missionItems.get(0).coordinate)
+                        }
+                    }
+
+                    onHomePositionCoordinateChanged: update()
 
-                            Component.onCompleted: console.log("Indicator", object.coordinate)
+                    Connections {
+                        target: controller
+
+                        onWaypointLinesChanged: homePositionLine.update()
+                    }
+
+                    Component.onCompleted: homePositionLine.update()
+                }
+
+
+                // Add lines between waypoints
+                MapItemView {
+                    model: controller.waypointLines
+
+                    delegate:
+                        MapPolyline {
+                            line.width: 3
+                            line.color: "orange"
+                            z:          1
+
+                            path: [
+                                { latitude: object.coordinate1.latitude, longitude: object.coordinate1.longitude },
+                                { latitude: object.coordinate2.latitude, longitude: object.coordinate2.longitude },
+                            ]
                         }
                 }
 
@@ -630,7 +677,8 @@ This code will need to wait for Qml 5.5 support since Map.visibleRegion is only
                                     text: "Add/Update"
 
                                     onClicked: {
-                                        _homePositionManager.updateHomePosition(nameField.text, QtPositioning.coordinate(latitudeField.text, longitudeField.text, altitudeField.text))
+                                        _homePositionCoordinate = QtPositioning.coordinate(latitudeField.text, longitudeField.text, altitudeField.text)
+                                        _homePositionManager.updateHomePosition(nameField.text, _homePositionCoordinate)
                                         homePosCombo.currentIndex = homePosCombo.find(nameField.text)
                                     }
                                 }