diff --git a/src/MissionManager/MissionController.cc b/src/MissionManager/MissionController.cc
index 11c40c2c59dc0e1ff50c3ac41b31571c2ab4edb8..d5d9c58ae7cea289c4d265197bfadeac9c33ea18 100644
--- a/src/MissionManager/MissionController.cc
+++ b/src/MissionManager/MissionController.cc
@@ -1372,7 +1372,7 @@ void MissionController::_initAllVisualItems(void)
         _settingsItem->setIsCurrentItem(true);
     }
 
-    if (!_editMode && _managerVehicle->homePosition().isValid()) {
+    if (_managerVehicle->homePosition().isValid()) {
         _settingsItem->setCoordinate(_managerVehicle->homePosition());
     }
 
diff --git a/src/MissionManager/SimpleMissionItem.cc b/src/MissionManager/SimpleMissionItem.cc
index d9147bdf4ada1b6b50503ad71ca491d64f669276..d747a4e8bcdc79b28b925b49be3b2815b6c5442b 100644
--- a/src/MissionManager/SimpleMissionItem.cc
+++ b/src/MissionManager/SimpleMissionItem.cc
@@ -460,7 +460,7 @@ void SimpleMissionItem::_rebuildNaNFacts(void)
                 if (!firmwareVehicle) {
                     firmwareVehicle = _vehicle;
                 }
-                bool hideWaypointHeading = (command == MAV_CMD_NAV_WAYPOINT) && (i == 4) && firmwareVehicle->firmwarePlugin()->vehicleYawsToNextWaypointInMission(firmwareVehicle);
+                bool hideWaypointHeading = (command == MAV_CMD_NAV_WAYPOINT || command == MAV_CMD_NAV_TAKEOFF) && (i == 4) && firmwareVehicle->firmwarePlugin()->vehicleYawsToNextWaypointInMission(firmwareVehicle);
                 if (hideWaypointHeading) {
                     continue;
                 }
diff --git a/src/MissionManager/SurveyMissionItem.cc b/src/MissionManager/SurveyMissionItem.cc
index 0b764dd5518a0b5b6232db00b0774638521c9ab8..d26eb0a1fd1fc877a43400e229c64f0b57cb4b41 100644
--- a/src/MissionManager/SurveyMissionItem.cc
+++ b/src/MissionManager/SurveyMissionItem.cc
@@ -14,6 +14,8 @@
 #include "QGCGeo.h"
 #include "QGroundControlQmlGlobal.h"
 #include "QGCQGeoCoordinate.h"
+#include "SettingsManager.h"
+#include "AppSettings.h"
 
 #include <QPolygonF>
 
@@ -117,6 +119,11 @@ SurveyMissionItem::SurveyMissionItem(Vehicle* vehicle, QObject* parent)
         _turnaroundDistFact.setRawValue(5);
     }
 
+    // We override the grid altitude to the mission default
+    if (_manualGridFact.rawValue().toBool() || _fixedValueIsAltitudeFact.rawValue().toBool()) {
+        _gridAltitudeFact.setRawValue(qgcApp()->toolbox()->settingsManager()->appSettings()->defaultMissionItemAltitude()->rawValue());
+    }
+
     connect(&_gridSpacingFact,                  &Fact::valueChanged,                        this, &SurveyMissionItem::_generateGrid);
     connect(&_gridAngleFact,                    &Fact::valueChanged,                        this, &SurveyMissionItem::_generateGrid);
     connect(&_gridEntryLocationFact,            &Fact::valueChanged,                        this, &SurveyMissionItem::_generateGrid);
@@ -1361,6 +1368,7 @@ double SurveyMissionItem::_turnaroundDistance(void) const
 
 void SurveyMissionItem::applyNewAltitude(double newAltitude)
 {
+    _fixedValueIsAltitudeFact.setRawValue(true);
     _gridAltitudeFact.setRawValue(newAltitude);
 }
 
diff --git a/src/PlanView/SimpleItemMapVisual.qml b/src/PlanView/SimpleItemMapVisual.qml
index f78bcb46e9211167cbe0756de533a17d50743f4d..2677f6504bf828e1a8b9b90bf1aee9414c0ea218 100644
--- a/src/PlanView/SimpleItemMapVisual.qml
+++ b/src/PlanView/SimpleItemMapVisual.qml
@@ -121,6 +121,7 @@ Item {
                         z:                      2
                         label:                  object.abbreviation.length === 0 ? object.sequenceNumber : object.abbreviation.charAt(0)
                         checked:                object.isCurrentItem
+                        child:                  true
                         specifiesCoordinate:    false
 
                         onClicked: _root.clicked(object.sequenceNumber)
diff --git a/src/PlanView/SurveyItemEditor.qml b/src/PlanView/SurveyItemEditor.qml
index 73fcc143e7fbf3df424f9255958e5247d51281af..f570a628947a4c7eb21ffa75d0d6b56e90ac47b9 100644
--- a/src/PlanView/SurveyItemEditor.qml
+++ b/src/PlanView/SurveyItemEditor.qml
@@ -214,6 +214,7 @@ Rectangle {
                 onActivated: {
                     if (index == _gridTypeManual) {
                         missionItem.manualGrid.value = true
+                        missionItem.fixedValueIsAltitude.value = true
                     } else if (index == _gridTypeCustomCamera) {
                         missionItem.manualGrid.value = false
                         missionItem.camera.value = gridTypeCombo.textAt(index)
diff --git a/src/QGCPalette.cc b/src/QGCPalette.cc
index dd55443472eb98cbd33563b329ecc62f80b78aec..ec5ac8fa79e1a44e2e2f4aace3f5d8e01a3840a3 100644
--- a/src/QGCPalette.cc
+++ b/src/QGCPalette.cc
@@ -60,9 +60,11 @@ void QGCPalette::_buildMap(void)
     DECLARE_QGC_COLOR(primaryButton,        "#585858", "#8cb3be", "#585858", "#8cb3be")
     DECLARE_QGC_COLOR(primaryButtonText,    "#2c2c2c", "#000000", "#2c2c2c", "#000000")
     DECLARE_QGC_COLOR(textField,            "#ffffff", "#ffffff", "#585858", "#ffffff")
-    DECLARE_QGC_COLOR(textFieldText,        "#dedede", "#000000", "#2c2c2c", "#000000")
+    DECLARE_QGC_COLOR(textFieldText,        "#808080", "#000000", "#bfbfbf", "#000000")
     DECLARE_QGC_COLOR(mapButton,            "#585858", "#000000", "#585858", "#000000")
     DECLARE_QGC_COLOR(mapButtonHighlight,   "#585858", "#be781c", "#585858", "#be781c")
+    DECLARE_QGC_COLOR(mapIndicator,         "#585858", "#be781c", "#585858", "#be781c")
+    DECLARE_QGC_COLOR(mapIndicatorChild,    "#585858", "#766043", "#585858", "#766043")
     DECLARE_QGC_COLOR(colorGreen,           "#009431", "#009431", "#00e04b", "#00e04b")
     DECLARE_QGC_COLOR(colorOrange,          "#b95604", "#b95604", "#de8500", "#de8500")
     DECLARE_QGC_COLOR(colorRed,             "#ed3939", "#ed3939", "#f32836", "#f32836")
diff --git a/src/QGCPalette.h b/src/QGCPalette.h
index 1c47116b8db1f75186cd827ada587d18b926b84d..03a9f04b301e5a54d055b1f63c198799178c136c 100644
--- a/src/QGCPalette.h
+++ b/src/QGCPalette.h
@@ -89,6 +89,8 @@ public:
     DEFINE_QGC_COLOR(textFieldText,         setTextFieldText)
     DEFINE_QGC_COLOR(mapButton,             setMapButton)
     DEFINE_QGC_COLOR(mapButtonHighlight,    setMapButtonHighlight)
+    DEFINE_QGC_COLOR(mapIndicator,          setMapIndicator)
+    DEFINE_QGC_COLOR(mapIndicatorChild,     setMapIndicatorChild)
     DEFINE_QGC_COLOR(mapWidgetBorderLight,  setMapWidgetBorderLight)
     DEFINE_QGC_COLOR(mapWidgetBorderDark,   setMapWidgetBorderDark)
     DEFINE_QGC_COLOR(brandingPurple,        setBrandingPurple)
diff --git a/src/QmlControls/MissionItemIndexLabel.qml b/src/QmlControls/MissionItemIndexLabel.qml
index 2b226e4be58145799cdf1e15b9471016c6a60e0a..1393a35994a0ea1c8a7883056347256e308cd0d0 100644
--- a/src/QmlControls/MissionItemIndexLabel.qml
+++ b/src/QmlControls/MissionItemIndexLabel.qml
@@ -12,11 +12,12 @@ Canvas {
 
     signal clicked
 
-    property string label                       ///< Label to show to the side of the index indicator
-    property int    index:                  0   ///< Index to show in the indicator, 0 will show single char label instead, -1 first char of label in indicator full label to the side
+    property string label                           ///< Label to show to the side of the index indicator
+    property int    index:                  0       ///< Index to show in the indicator, 0 will show single char label instead, -1 first char of label in indicator full label to the side
     property bool   checked:                false
     property bool   small:                  false
-    property var    color:                  checked ? "green" : qgcPal.mapButtonHighlight
+    property bool   child:                  false
+    property var    color:                  checked ? "green" : (child ? qgcPal.mapIndicatorChild : qgcPal.mapIndicator)
     property real   anchorPointX:           _height / 2
     property real   anchorPointY:           _height / 2
     property bool   specifiesCoordinate:    true