diff --git a/src/MissionManager/PlanMasterController.cc b/src/MissionManager/PlanMasterController.cc
index a02ee1c5fe4f09b1a957507b93c5562cc44d2c16..c872b765fd3f79fd223f993ee2be4dd3e4ac44da 100644
--- a/src/MissionManager/PlanMasterController.cc
+++ b/src/MissionManager/PlanMasterController.cc
@@ -82,7 +82,8 @@ void PlanMasterController::start(bool flyView)
 #if defined(QGC_AIRMAP_ENABLED)
     //-- This assumes there is one single instance of PlanMasterController in edit mode.
     if(!flyView) {
-        qgcApp()->toolbox()->airspaceManager()->flightPlan()->startFlightPlanning(this);
+        // Wait for signal confirming AirMap client connection before starting flight planning
+        connect(qgcApp()->toolbox()->airspaceManager(), &AirspaceManager::connectStatusChanged, this, &PlanMasterController::_startFlightPlanning);
     }
 #endif
 }
@@ -271,6 +272,15 @@ void PlanMasterController::_sendRallyPointsComplete(void)
     }
 }
 
+#if defined(QGC_AIRMAP_ENABLED)
+void PlanMasterController::_startFlightPlanning(void) {
+    if (qgcApp()->toolbox()->airspaceManager()->connected()) {
+        qCDebug(PlanMasterControllerLog) << "PlanMasterController::_startFlightPlanning client connected, start flight planning";
+        qgcApp()->toolbox()->airspaceManager()->flightPlan()->startFlightPlanning(this);
+    }
+}
+#endif
+
 void PlanMasterController::sendToVehicle(void)
 {
     if (_managerVehicle->highLatencyLink()) {
diff --git a/src/MissionManager/PlanMasterController.h b/src/MissionManager/PlanMasterController.h
index b0df25926d95e0e544e2025ad5374de70d0cc6b0..344465a1ae64cd35fff8892ce0b3535f451a8ee8 100644
--- a/src/MissionManager/PlanMasterController.h
+++ b/src/MissionManager/PlanMasterController.h
@@ -111,6 +111,9 @@ private slots:
     void _sendMissionComplete(void);
     void _sendGeoFenceComplete(void);
     void _sendRallyPointsComplete(void);
+#if defined(QGC_AIRMAP_ENABLED)
+    void _startFlightPlanning(void);
+#endif
 
 private:
     void _showPlanFromManagerVehicle(void);