diff --git a/src/FirmwarePlugin/APM/MavCmdInfoCommon.json b/src/FirmwarePlugin/APM/MavCmdInfoCommon.json
index 77a8d80304d9720f6c282cabc0802eef05cc281a..8e6320dce8e4c07323540aecbe5553183700d927 100644
--- a/src/FirmwarePlugin/APM/MavCmdInfoCommon.json
+++ b/src/FirmwarePlugin/APM/MavCmdInfoCommon.json
@@ -2,5 +2,20 @@
     "version": 1,
 
     "mavCmdInfo": [
+        {
+            "id":                   22,
+            "rawName":              "MAV_CMD_NAV_TAKEOFF",
+            "friendlyName":         "Takeoff",
+            "description":          "Take off from the ground.",
+            "specifiesCoordinate":  false,
+            "friendlyEdit":         true,
+            "category":             "Basic",
+            "param1": {
+                "label":            "Pitch:",
+                "units":            "radians",
+                "default":          0.26179939,
+                "decimalPlaces":    2
+            }
+        }
     ]
 }
diff --git a/src/FirmwarePlugin/APM/MavCmdInfoFixedWing.json b/src/FirmwarePlugin/APM/MavCmdInfoFixedWing.json
index 8e6320dce8e4c07323540aecbe5553183700d927..77a8d80304d9720f6c282cabc0802eef05cc281a 100644
--- a/src/FirmwarePlugin/APM/MavCmdInfoFixedWing.json
+++ b/src/FirmwarePlugin/APM/MavCmdInfoFixedWing.json
@@ -2,20 +2,5 @@
     "version": 1,
 
     "mavCmdInfo": [
-        {
-            "id":                   22,
-            "rawName":              "MAV_CMD_NAV_TAKEOFF",
-            "friendlyName":         "Takeoff",
-            "description":          "Take off from the ground.",
-            "specifiesCoordinate":  false,
-            "friendlyEdit":         true,
-            "category":             "Basic",
-            "param1": {
-                "label":            "Pitch:",
-                "units":            "radians",
-                "default":          0.26179939,
-                "decimalPlaces":    2
-            }
-        }
     ]
 }
diff --git a/src/MissionManager/MissionCommands.cc b/src/MissionManager/MissionCommands.cc
index e16831c461bc65109bf534cd634c64bba5930055..2266372f7dc156d637004237c73e68d821f6618d 100644
--- a/src/MissionManager/MissionCommands.cc
+++ b/src/MissionManager/MissionCommands.cc
@@ -153,13 +153,13 @@ MavCmdInfo* MissionCommands::getMavCmdInfo(MAV_CMD command, Vehicle* vehicle) co
             if (_autopilotToMultiRotorMissionCommands[firmwareType]->contains(command)) {
                 mavCmdInfo = _autopilotToMultiRotorMissionCommands[firmwareType]->getMavCmdInfo(command);
             }
-        } else {
-            if (_autopilotToCommonMissionCommands[firmwareType]->contains(command)) {
-                mavCmdInfo = _autopilotToCommonMissionCommands[firmwareType]->getMavCmdInfo(command);
-            }
         }
     }
 
+    if (!mavCmdInfo && _autopilotToCommonMissionCommands[firmwareType]->contains(command)) {
+        mavCmdInfo = _autopilotToCommonMissionCommands[firmwareType]->getMavCmdInfo(command);
+    }
+
     if (!mavCmdInfo) {
         mavCmdInfo = _commonMissionCommands.getMavCmdInfo(command);
     }
diff --git a/src/MissionManager/MissionItem.cc b/src/MissionManager/MissionItem.cc
index 3d3dd6382c463596bd6342a17d7f4a4e459b8f93..938ae79a6936a962baef28296e28a354750fc12f 100644
--- a/src/MissionManager/MissionItem.cc
+++ b/src/MissionManager/MissionItem.cc
@@ -813,7 +813,8 @@ void MissionItem::setDefaultsForCommand(void)
 
     MAV_CMD command = (MAV_CMD)this->command();
     if (_missionCommands->contains(command)) {
-        foreach (const MavCmdParamInfo* paramInfo, _missionCommands->getMavCmdInfo(command, _vehicle)->paramInfoMap()) {
+        MavCmdInfo* mavCmdInfo = _missionCommands->getMavCmdInfo(command, _vehicle);
+        foreach (const MavCmdParamInfo* paramInfo, mavCmdInfo->paramInfoMap()) {
             Fact* rgParamFacts[7] = { &_param1Fact, &_param2Fact, &_param3Fact, &_param4Fact, &_param5Fact, &_param6Fact, &_param7Fact };
 
             rgParamFacts[paramInfo->param()-1]->setRawValue(paramInfo->defaultValue());