diff --git a/src/FirmwarePlugin/PX4/PX4FirmwarePlugin.cc b/src/FirmwarePlugin/PX4/PX4FirmwarePlugin.cc
index 188da227fb950f3f941e53d6446d2d89dea4c747..ea1f2d7a6945577542d8152aa48c12fe7195e85e 100644
--- a/src/FirmwarePlugin/PX4/PX4FirmwarePlugin.cc
+++ b/src/FirmwarePlugin/PX4/PX4FirmwarePlugin.cc
@@ -285,7 +285,7 @@ QList<MAV_CMD> PX4FirmwarePlugin::supportedMissionCommands(void)
 
     list << MAV_CMD_NAV_WAYPOINT
          << MAV_CMD_NAV_LOITER_UNLIM << MAV_CMD_NAV_LOITER_TIME << MAV_CMD_NAV_LOITER_TO_ALT
-         << MAV_CMD_NAV_LAND << MAV_CMD_NAV_TAKEOFF
+         << MAV_CMD_NAV_LAND << MAV_CMD_NAV_TAKEOFF << MAV_CMD_NAV_RETURN_TO_LAUNCH
          << MAV_CMD_DO_JUMP
          << MAV_CMD_DO_VTOL_TRANSITION << MAV_CMD_NAV_VTOL_TAKEOFF << MAV_CMD_NAV_VTOL_LAND
          << MAV_CMD_DO_DIGICAM_CONTROL
diff --git a/src/MissionManager/MissionController.cc b/src/MissionManager/MissionController.cc
index 1b3e803f8ed1997284e4c50efcd9c645e1c04270..590098b861294ed5731de3fe829332f58bd595d9 100644
--- a/src/MissionManager/MissionController.cc
+++ b/src/MissionManager/MissionController.cc
@@ -355,7 +355,6 @@ int MissionController::insertSimpleMissionItem(QGeoCoordinate coordinate, int i)
             newItem->setCommand(takeoffCmd);
         }
     }
-    newItem->setDefaultsForCommand();
     if (newItem->specifiesAltitude()) {
         double  prevAltitude;
         int     prevAltitudeMode;
@@ -382,7 +381,6 @@ int MissionController::insertROIMissionItem(QGeoCoordinate coordinate, int i)
         MAV_CMD_DO_SET_ROI_LOCATION :
         MAV_CMD_DO_SET_ROI));
     _initVisualItem(newItem);
-    newItem->setDefaultsForCommand();
     newItem->setCoordinate(coordinate);
 
     double  prevAltitude;
diff --git a/src/MissionManager/SimpleMissionItem.cc b/src/MissionManager/SimpleMissionItem.cc
index 6c1583b6c5b3ee105e5b3d7786c89ac2749b2683..e96c9256b95b088775155a2234957bb536388af1 100644
--- a/src/MissionManager/SimpleMissionItem.cc
+++ b/src/MissionManager/SimpleMissionItem.cc
@@ -78,7 +78,7 @@ SimpleMissionItem::SimpleMissionItem(Vehicle* vehicle, bool flyView, QObject* pa
     _connectSignals();
     _updateOptionalSections();
 
-    setDefaultsForCommand();
+    _setDefaultsForCommand();
     _rebuildFacts();
 
     setDirty(false);
@@ -213,7 +213,7 @@ void SimpleMissionItem::_connectSignals(void)
     connect(&_missionItem._frameFact,           &Fact::valueChanged, this, &SimpleMissionItem::_sendFriendlyEditAllowedChanged);
 
     // A command change triggers a number of other changes as well.
-    connect(&_missionItem._commandFact, &Fact::valueChanged, this, &SimpleMissionItem::setDefaultsForCommand);
+    connect(&_missionItem._commandFact, &Fact::valueChanged, this, &SimpleMissionItem::_setDefaultsForCommand);
     connect(&_missionItem._commandFact, &Fact::valueChanged, this, &SimpleMissionItem::commandNameChanged);
     connect(&_missionItem._commandFact, &Fact::valueChanged, this, &SimpleMissionItem::commandDescriptionChanged);
     connect(&_missionItem._commandFact, &Fact::valueChanged, this, &SimpleMissionItem::abbreviationChanged);
@@ -729,15 +729,32 @@ bool SimpleMissionItem::readyForSave(void) const
     return !specifiesAltitude() || !qIsNaN(_missionItem._param7Fact.rawValue().toDouble());
 }
 
-void SimpleMissionItem::setDefaultsForCommand(void)
+void SimpleMissionItem::_setDefaultsForCommand(void)
 {
-    // We set these global defaults first, then if there are param defaults they will get reset
+    // First reset params 1-4 to 0, we leave 5-7 alone to preserve any previous location information on command change
+    _missionItem._param1Fact.setRawValue(0);
+    _missionItem._param2Fact.setRawValue(0);
+    _missionItem._param3Fact.setRawValue(0);
+    _missionItem._param4Fact.setRawValue(0);
+
+    if (!specifiesCoordinate() && !isStandaloneCoordinate()) {
+        // No need to carry across previous lat/lon
+        _missionItem._param5Fact.setRawValue(0);
+        _missionItem._param6Fact.setRawValue(0);
+    }
+
+    // Set global defaults first, then if there are param defaults they will get reset
     _altitudeMode = AltitudeRelative;
     emit altitudeModeChanged();
-    double defaultAlt = qgcApp()->toolbox()->settingsManager()->appSettings()->defaultMissionItemAltitude()->rawValue().toDouble();
-    _altitudeFact.setRawValue(defaultAlt);
-    _missionItem._param7Fact.setRawValue(defaultAlt);
     _amslAltAboveTerrainFact.setRawValue(qQNaN());
+    if (specifiesCoordinate() || isStandaloneCoordinate() || specifiesAltitudeOnly()) {
+        double defaultAlt = qgcApp()->toolbox()->settingsManager()->appSettings()->defaultMissionItemAltitude()->rawValue().toDouble();
+        _altitudeFact.setRawValue(defaultAlt);
+        _missionItem._param7Fact.setRawValue(defaultAlt);
+    } else {
+        _altitudeFact.setRawValue(0);
+        _missionItem._param7Fact.setRawValue(0);
+    }
 
     MAV_CMD command = (MAV_CMD)this->command();
     const MissionCommandUIInfo* uiInfo = _commandTree->getUIInfo(_vehicle, command);
diff --git a/src/MissionManager/SimpleMissionItem.h b/src/MissionManager/SimpleMissionItem.h
index 886d6f4cdc812ca9e67eed78d375be5216d7bd32..c8a85ca4a2d729f8bd205ee8cffd4521ed26dcc0 100644
--- a/src/MissionManager/SimpleMissionItem.h
+++ b/src/MissionManager/SimpleMissionItem.h
@@ -134,9 +134,6 @@ public:
     int  lastSequenceNumber (void) const final;
     void save               (QJsonArray&  missionItems) final;
 
-public slots:
-    void setDefaultsForCommand(void);
-
 signals:
     void commandChanged             (int command);
     void friendlyEditAllowedChanged (bool friendlyEditAllowed);
@@ -160,6 +157,7 @@ private slots:
     void _rebuildFacts                      (void);
     void _rebuildTextFieldFacts             (void);
     void _possibleAdditionalTimeDelayChanged(void);
+    void _setDefaultsForCommand              (void);
 
 private:
     void _connectSignals        (void);