diff --git a/src/MissionManager/MissionManager.cc b/src/MissionManager/MissionManager.cc
index ab54a7da11981d3f0d41bf89c6ebe1e1c2722bbd..c61eb2c2ab2620eb204158a35ceff6049073f44b 100644
--- a/src/MissionManager/MissionManager.cc
+++ b/src/MissionManager/MissionManager.cc
@@ -40,6 +40,8 @@ void MissionManager::writeArduPilotGuidedMissionItem(const QGeoCoordinate& gotoC
 
     _transactionInProgress = TransactionWrite;
 
+    _connectToMavlink();
+
     mavlink_message_t       messageOut;
     mavlink_mission_item_t  missionItem;
 
diff --git a/src/MissionManager/PlanManager.cc b/src/MissionManager/PlanManager.cc
index 4cbe7b2a02c60cd2872051fefba3177c779cb07f..b132c5228e97d0e3eb89fac46901374177edec89 100644
--- a/src/MissionManager/PlanManager.cc
+++ b/src/MissionManager/PlanManager.cc
@@ -38,7 +38,6 @@ PlanManager::PlanManager(Vehicle* vehicle, MAV_MISSION_TYPE planType)
     _ackTimeoutTimer->setInterval(_ackTimeoutMilliseconds);
     
     connect(_ackTimeoutTimer, &QTimer::timeout, this, &PlanManager::_ackTimeout);
-    connect(_vehicle, &Vehicle::mavlinkMessageReceived, this, &PlanManager::_mavlinkMessageReceived);
 }
 
 PlanManager::~PlanManager()
@@ -63,6 +62,7 @@ void PlanManager::_writeMissionItemsWorker(void)
     _transactionInProgress = TransactionWrite;
     _retryCount = 0;
     emit inProgressChanged(true);
+    _connectToMavlink();
     _writeMissionCount();
 }
 
@@ -139,6 +139,7 @@ void PlanManager::loadFromVehicle(void)
     _retryCount = 0;
     _transactionInProgress = TransactionRead;
     emit inProgressChanged(true);
+    _connectToMavlink();
     _requestList();
 }
 
@@ -802,6 +803,7 @@ QString PlanManager::_missionResultToString(MAV_MISSION_RESULT result)
 void PlanManager::_finishTransaction(bool success)
 {
     emit progressPct(1);
+    _disconnectFromMavlink();
 
     _itemIndicesToRead.clear();
     _itemIndicesToWrite.clear();
@@ -890,6 +892,7 @@ void PlanManager::_removeAllWorker(void)
 
     emit progressPct(0);
 
+    _connectToMavlink();
     _dedicatedLink = _vehicle->priorityLink();
     mavlink_msg_mission_clear_all_pack_chan(qgcApp()->toolbox()->mavlinkProtocol()->getSystemId(),
                                             qgcApp()->toolbox()->mavlinkProtocol()->getComponentId(),
@@ -941,6 +944,16 @@ void PlanManager::_clearAndDeleteWriteMissionItems(void)
     _writeMissionItems.clear();
 }
 
+void PlanManager::_connectToMavlink(void)
+{
+    connect(_vehicle, &Vehicle::mavlinkMessageReceived, this, &PlanManager::_mavlinkMessageReceived);
+}
+
+void PlanManager::_disconnectFromMavlink(void)
+{
+    disconnect(_vehicle, &Vehicle::mavlinkMessageReceived, this, &PlanManager::_mavlinkMessageReceived);
+}
+
 QString PlanManager::_planTypeString(void)
 {
     switch (_planType) {
diff --git a/src/MissionManager/PlanManager.h b/src/MissionManager/PlanManager.h
index 8633588e92d6649503cdb39b913cb4b9b0dc0a54..43f696c14ed9f7f6a8d5834c5cb311070a89e747 100644
--- a/src/MissionManager/PlanManager.h
+++ b/src/MissionManager/PlanManager.h
@@ -126,6 +126,8 @@ protected:
     void _clearAndDeleteWriteMissionItems(void);
     QString _lastMissionReqestString(MAV_MISSION_RESULT result);
     void _removeAllWorker(void);
+    void _connectToMavlink(void);
+    void _disconnectFromMavlink(void);
     QString _planTypeString(void);
 
 protected: