diff --git a/src/MissionManager/MavCmdInfo.json b/src/MissionManager/MavCmdInfo.json
index 91dd41a9c01b3ed995959151e513883a038ba953..b3737f3a0f41c4743d1310ead247455ff6f2a429 100644
--- a/src/MissionManager/MavCmdInfo.json
+++ b/src/MissionManager/MavCmdInfo.json
@@ -25,6 +25,12 @@
                 "units":            "seconds",
                 "default":          0,
                 "decimalPlaces":    0
+            },
+            "param2": {
+                "label":            "Accept radius:",
+                "units":            "meters",
+                "default":          3.0,
+                "decimalPlaces":    2
             }
         },
         {
diff --git a/src/MissionManager/MissionController.cc b/src/MissionManager/MissionController.cc
index 38811c5c39a07642c7327f49c6146962192c799b..6b385dfbe88a9983a855ebc6907b9e3e5f446e14 100644
--- a/src/MissionManager/MissionController.cc
+++ b/src/MissionManager/MissionController.cc
@@ -169,7 +169,14 @@ int MissionController::addMissionItem(QGeoCoordinate coordinate)
     }
     newItem->setDefaultsForCommand();
     if ((MAV_CMD)newItem->command() == MAV_CMD_NAV_WAYPOINT) {
-        newItem->setParam7(_findLastAltitude());
+        double lastValue;
+
+        if (_findLastAcceptanceRadius(&lastValue)) {
+            newItem->setParam2(lastValue);
+        }
+        if (_findLastAltitude(&lastValue)) {
+            newItem->setParam7(lastValue);
+        }
     }
     _missionItems->append(newItem);
 
@@ -611,17 +618,44 @@ QmlObjectListModel* MissionController::missionItems(void)
     return _missionItems;
 }
 
-double MissionController::_findLastAltitude(void)
+bool MissionController::_findLastAltitude(double* lastAltitude)
 {
-    double lastAltitude = MissionItem::defaultAltitude;
+    bool found = false;
+    double foundAltitude;
 
     for (int i=0; i<_missionItems->count(); i++) {
         MissionItem* item = qobject_cast<MissionItem*>(_missionItems->get(i));
 
         if (item->specifiesCoordinate()) {
-            lastAltitude = item->param7();
+            foundAltitude = item->param7();
+            found = true;
         }
     }
 
-    return lastAltitude;
+    if (found) {
+        *lastAltitude = foundAltitude;
+    }
+
+    return found;
+}
+
+bool MissionController::_findLastAcceptanceRadius(double* lastAcceptanceRadius)
+{
+    bool found = false;
+    double foundAcceptanceRadius;
+
+    for (int i=0; i<_missionItems->count(); i++) {
+        MissionItem* item = qobject_cast<MissionItem*>(_missionItems->get(i));
+
+        if ((MAV_CMD)item->command() == MAV_CMD_NAV_WAYPOINT) {
+            foundAcceptanceRadius = item->param2();
+            found = true;
+        }
+    }
+
+    if (found) {
+        *lastAcceptanceRadius = foundAcceptanceRadius;
+    }
+
+    return found;
 }
diff --git a/src/MissionManager/MissionController.h b/src/MissionManager/MissionController.h
index daeea3f23a08c128dd43bf37c1bb0e5f5e0bb0f8..3c023617c2d7d9fbfdda514c44efaf511b084204 100644
--- a/src/MissionManager/MissionController.h
+++ b/src/MissionManager/MissionController.h
@@ -95,7 +95,8 @@ private:
     void _setupMissionItems(bool loadFromVehicle, bool forceLoad);
     void _setupActiveVehicle(Vehicle* activeVehicle, bool forceLoadFromVehicle);
     void _calcPrevWaypointValues(bool homePositionValid, double homeAlt, MissionItem* item1, MissionItem* item2, double* azimuth, double* distance);
-    double _findLastAltitude(void);
+    bool _findLastAltitude(double* lastAltitude);
+    bool _findLastAcceptanceRadius(double* lastAcceptanceRadius);
 
 private:
     bool                _editMode;
diff --git a/src/MissionManager/MissionItem.cc b/src/MissionManager/MissionItem.cc
index f8f7c031752f151ee9c45d387e7cb20ae61acd8a..dbc135e16c32cb5a210d8f51f81ff1e9221cafca 100644
--- a/src/MissionManager/MissionItem.cc
+++ b/src/MissionManager/MissionItem.cc
@@ -29,12 +29,7 @@ This file is part of the QGROUNDCONTROL project
 
 QGC_LOGGING_CATEGORY(MissionItemLog, "MissionItemLog")
 
-const double MissionItem::defaultTakeoffPitch =         15.0;
-const double MissionItem::defaultHeading =              0.0;
 const double MissionItem::defaultAltitude =             25.0;
-const double MissionItem::defaultAcceptanceRadius =     3.0;
-const double MissionItem::defaultLoiterOrbitRadius =    10.0;
-const double MissionItem::defaultLoiterTurns =          1.0;
 
 FactMetaData* MissionItem::_altitudeMetaData =          NULL;
 FactMetaData* MissionItem::_commandMetaData =           NULL;
@@ -122,6 +117,7 @@ MissionItem::MissionItem(QObject* parent)
     _connectSignals();
 
     setAutoContinue(true);
+    setDefaultsForCommand();
 }
 
 MissionItem::MissionItem(int             sequenceNumber,
@@ -770,13 +766,15 @@ void MissionItem::_syncCommandToSupportedCommand(const QVariant& value)
 
 void MissionItem::setDefaultsForCommand(void)
 {
+    // We set these global defaults first, then if there are param defaults they will get reset
+    setParam7(defaultAltitude);
+
     foreach (const MavCmdParamInfo* paramInfo, _mavCmdInfoMap[(MAV_CMD)command()]->paramInfoMap()) {
         Fact* rgParamFacts[7] = { &_param1Fact, &_param2Fact, &_param3Fact, &_param4Fact, &_param5Fact, &_param6Fact, &_param7Fact };
 
         rgParamFacts[paramInfo->param()-1]->setRawValue(paramInfo->defaultValue());
     }
 
-    setParam7(defaultAltitude);
     setAutoContinue(true);
     setFrame(specifiesCoordinate() ? MAV_FRAME_GLOBAL_RELATIVE_ALT : MAV_FRAME_MISSION);
     setRawEdit(false);
diff --git a/src/MissionManager/MissionItem.h b/src/MissionManager/MissionItem.h
index f79d302babb306f448212b355fe99bcc3c53c0d2..9573b69947b60f91614d02a4b098ea743ff8beaf 100644
--- a/src/MissionManager/MissionItem.h
+++ b/src/MissionManager/MissionItem.h
@@ -167,12 +167,7 @@ public:
 
     bool relativeAltitude(void) { return frame() == MAV_FRAME_GLOBAL_RELATIVE_ALT; }
 
-    static const double defaultTakeoffPitch;
-    static const double defaultHeading;
     static const double defaultAltitude;
-    static const double defaultAcceptanceRadius;
-    static const double defaultLoiterOrbitRadius;
-    static const double defaultLoiterTurns;
 
 public slots:
     void setDefaultsForCommand(void);