diff --git a/qgroundcontrol.pro b/qgroundcontrol.pro
index 170838fd8e5ff7d5c2c1ffbff276ae3fd418d40e..47e517ca3eb482397d2665d582ac9f9caabff5ec 100644
--- a/qgroundcontrol.pro
+++ b/qgroundcontrol.pro
@@ -501,6 +501,7 @@ HEADERS += \
     src/MissionManager/FixedWingLandingComplexItem.h \
     src/MissionManager/GeoFenceController.h \
     src/MissionManager/GeoFenceManager.h \
+    src/MissionManager/KML.h \
     src/MissionManager/MissionCommandList.h \
     src/MissionManager/MissionCommandTree.h \
     src/MissionManager/MissionCommandUIInfo.h \
@@ -685,6 +686,7 @@ SOURCES += \
     src/MissionManager/FixedWingLandingComplexItem.cc \
     src/MissionManager/GeoFenceController.cc \
     src/MissionManager/GeoFenceManager.cc \
+    src/MissionManager/KML.cc \
     src/MissionManager/MissionCommandList.cc \
     src/MissionManager/MissionCommandTree.cc \
     src/MissionManager/MissionCommandUIInfo.cc \
diff --git a/src/MissionManager/KML.cc b/src/MissionManager/KML.cc
new file mode 100644
index 0000000000000000000000000000000000000000..164cce9c3cf42dda0d7c4d736a6319207ed884d0
--- /dev/null
+++ b/src/MissionManager/KML.cc
@@ -0,0 +1,128 @@
+/****************************************************************************
+ *
+ *   (c) 2009-2016 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
+ *
+ * QGroundControl is licensed according to the terms in the file
+ * COPYING.md in the root of the source code directory.
+ *
+ ****************************************************************************/
+
+#include "KML.h"
+
+#include <QDomDocument>
+#include <QStringList>
+
+const QString Kml::_version("version=\"1.0\"");
+const QString Kml::_encoding("encoding=\"UTF-8\"");
+const QString Kml::_opengis("http://www.opengis.net/kml/2.2");
+const QString Kml::_qgckml("QGC KML");
+
+Kml::Kml()
+{
+    //create header
+    createHeader();
+    //name
+    createTextElement(_docEle, "name", _qgckml);
+    //open
+    createTextElement(_docEle, "open", "1");
+    //create style
+    createStyles();
+}
+
+void Kml::points(const QStringList& points)
+{
+    //create placemark
+    QDomElement placemark = _domDocument.createElement("Placemark");
+    _docEle.appendChild(placemark);
+    createTextElement(placemark, "styleUrl", "yellowLineGreenPoly");
+    createTextElement(placemark, "name", "Absolute");
+    createTextElement(placemark, "visibility", "0");
+    createTextElement(placemark, "description", "Transparent purple line");
+
+    QStringList latLonAlt = points[0].split(",");
+    QStringList lookAtList({latLonAlt[0], latLonAlt[1], "0" \
+        , "-100", "45", "2500"});
+    createLookAt(placemark, lookAtList);
+
+    //Add linestring
+    QDomElement lineString = _domDocument.createElement("LineString");
+    placemark.appendChild(lineString);
+
+    //extruder
+    createTextElement(lineString, "extruder", "1");
+    createTextElement(lineString, "tessellate", "1");
+    createTextElement(lineString, "altitudeMode", "absolute");
+    QString coordinates;
+    for(const auto& point : points) {
+        coordinates += point + "\n";
+    }
+    createTextElement(lineString, "coordinates", coordinates);
+}
+
+void Kml::save(QDomDocument& document)
+{
+    document = _domDocument;
+}
+
+void Kml::createHeader()
+{
+    QDomProcessingInstruction header = _domDocument.createProcessingInstruction("xml", _version + " " + _encoding);
+    _domDocument.appendChild(header);
+    QDomElement kml = _domDocument.createElement("kml");
+    kml.setAttribute("xmlns", _opengis);
+    _docEle = _domDocument.createElement("Document");
+    kml.appendChild(_docEle);
+    _domDocument.appendChild(kml);
+}
+
+void Kml::createStyles()
+{
+    QDomElement style = _domDocument.createElement("Style");
+    style.setAttribute("id", "yellowLineGreenPoly");
+    createStyleLine(style, "7f00ffff", "4", "7f00ff00");
+    _docEle.appendChild(style);
+}
+
+void Kml::createLookAt(QDomElement& placemark, const QStringList &lookAtList)
+{
+    QDomElement lookAt = _domDocument.createElement("LookAt");
+    placemark.appendChild(lookAt);
+    createTextElement(lookAt, "longitude", lookAtList[0]);
+    createTextElement(lookAt, "latitude", lookAtList[1]);
+    createTextElement(lookAt, "altitude", lookAtList[2]);
+    createTextElement(lookAt, "heading", lookAtList[3]);
+    createTextElement(lookAt, "tilt", lookAtList[4]);
+    createTextElement(lookAt, "range", lookAtList[5]);
+}
+
+void Kml::createTextElement(QDomElement& domEle, const QString& elementName, const QString& textElement)
+{
+    // <elementName>textElement</elementName>
+    auto element = _domDocument.createElement(elementName);
+    element.appendChild(_domDocument.createTextNode(textElement));
+    domEle.appendChild(element);
+}
+
+void Kml::createStyleLine(QDomElement& domEle, const QString& lineColor, const QString& lineWidth, const QString& polyColor)
+{
+    /*
+    <LineStyle>
+        <color>7f00ffff</color>
+        <width>4</width>
+    </LineStyle>
+    <PolyStyle>
+        <color>7f00ff00</color>
+    </PolyStyle>
+    */
+    auto lineStyle = _domDocument.createElement("LineStyle");
+    auto polyStyle = _domDocument.createElement("PolyStyle");
+    domEle.appendChild(lineStyle);
+    domEle.appendChild(polyStyle);
+    createTextElement(lineStyle, "color", lineColor);
+    createTextElement(lineStyle, "width", lineWidth);
+    createTextElement(polyStyle, "color", polyColor);
+}
+
+Kml::~Kml()
+{
+}
diff --git a/src/MissionManager/KML.h b/src/MissionManager/KML.h
new file mode 100644
index 0000000000000000000000000000000000000000..15d62455471d2ec55ba6c4d9c912075d53f27972
--- /dev/null
+++ b/src/MissionManager/KML.h
@@ -0,0 +1,42 @@
+/****************************************************************************
+ *
+ *   (c) 2009-2016 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
+ *
+ * QGroundControl is licensed according to the terms in the file
+ * COPYING.md in the root of the source code directory.
+ *
+ ****************************************************************************/
+
+#ifndef KML_H
+#define KML_H
+
+#include <QDomDocument>
+#include <QDomElement>
+
+class Kml
+{
+
+public:
+    Kml();
+    ~Kml();
+
+    void points(const QStringList& points);
+    void polygon(const QStringList& points);
+    void save(QDomDocument& document);
+
+private:
+    void createHeader();
+    void createLookAt(QDomElement& placemark, const QStringList &lookAtList);
+    void createStyles();
+    void createStyleLine(QDomElement& domEle, const QString& lineColor, const QString& lineWidth, const QString& polyColor);
+    void createTextElement(QDomElement& domEle, const QString& elementName, const QString& textElement);
+
+    QDomDocument _domDocument;
+    QDomElement _docEle;
+    static const QString _encoding;
+    static const QString _opengis;
+    static const QString _qgckml;
+    static const QString _version;
+};
+
+#endif
diff --git a/src/MissionManager/PlanMasterController.h b/src/MissionManager/PlanMasterController.h
index 82c6e3ded452c8dd14a785608ec8b45217f2a8fc..6e388a4eccf723daee73887e21f9dc61344d0107 100644
--- a/src/MissionManager/PlanMasterController.h
+++ b/src/MissionManager/PlanMasterController.h
@@ -39,6 +39,8 @@ public:
     Q_PROPERTY(bool         syncInProgress      READ syncInProgress                     NOTIFY syncInProgressChanged)   ///< true: Information is currently being saved/sent, false: no active save/send in progress
     Q_PROPERTY(bool         dirty               READ dirty              WRITE setDirty  NOTIFY dirtyChanged)            ///< true: Unsaved/sent changes are present, false: no changes since last save/send
     Q_PROPERTY(QString      fileExtension       READ fileExtension                      CONSTANT)                       ///< File extension for missions
+    Q_PROPERTY(QString      kmlFileExtension    READ kmlFileExtension                   CONSTANT)
+    ///< kml file extension for missions
     Q_PROPERTY(QStringList  loadNameFilters     READ loadNameFilters                    CONSTANT)                       ///< File filter list loading plan files
     Q_PROPERTY(QStringList  saveNameFilters     READ saveNameFilters                    CONSTANT)                       ///< File filter list saving plan files