diff --git a/src/FlightDisplay/GuidedActionsController.qml b/src/FlightDisplay/GuidedActionsController.qml
index c344287e27ad37359650925a32b470c7b9131d8f..5aafc3633e56f7c1f11ceac62f699264ed5f56cc 100644
--- a/src/FlightDisplay/GuidedActionsController.qml
+++ b/src/FlightDisplay/GuidedActionsController.qml
@@ -90,7 +90,7 @@ Item {
     property bool showLand:             _activeVehicle && _activeVehicle.guidedModeSupported && _vehicleArmed && !_activeVehicle.fixedWing && !_vehicleInLandMode
     property bool showStartMission:     _activeVehicle && _missionAvailable && !_missionActive && !_vehicleFlying
     property bool showContinueMission:  _activeVehicle && _missionAvailable && !_missionActive && _vehicleFlying && (_currentMissionIndex < missionController.visualItems.count - 1)
-    property bool showResumeMission:    _activeVehicle && !_vehicleFlying && _missionAvailable && _resumeMissionIndex > 0 && (_resumeMissionIndex < missionController.visualItems.count - 2)
+    property bool showResumeMission:    _activeVehicle && !_vehicleArmed && _vehicleWasFlying && _missionAvailable && _resumeMissionIndex > 0 && (_resumeMissionIndex < missionController.visualItems.count - 2)
     property bool showPause:            _activeVehicle && _vehicleArmed && _activeVehicle.pauseVehicleSupported && _vehicleFlying && !_vehiclePaused
     property bool showChangeAlt:        (_activeVehicle && _vehicleFlying) && _activeVehicle.guidedModeSupported && _vehicleArmed && !_missionActive
     property bool showOrbit:            !_hideOrbit && _activeVehicle && _vehicleFlying && _activeVehicle.orbitModeSupported && _vehicleArmed && !_missionActive
@@ -114,6 +114,7 @@ Item {
     property int    _resumeMissionIndex:    missionController.resumeMissionIndex
     property bool   _hideEmergenyStop:      !QGroundControl.corePlugin.options.guidedBarShowEmergencyStop
     property bool   _hideOrbit:             !QGroundControl.corePlugin.options.guidedBarShowOrbit
+    property bool   _vehicleWasFlying:      false
 
     // This is a temporary hack to debug a problem with RTL and Pause being disabled at the wrong time
 
@@ -128,7 +129,6 @@ Item {
     Component.onCompleted: _outputState()
     on_ActiveVehicleChanged: _outputState()
     on_VehicleArmedChanged: _outputState()
-    on_VehicleFlyingChanged: _outputState()
     on_VehicleInRTLModeChanged: _outputState()
     on_VehiclePausedChanged: _outputState()
     on__FlightModeChanged: _outputState()
@@ -137,6 +137,15 @@ Item {
 
     // End of hack
 
+    on_VehicleFlyingChanged: {
+        _outputState()
+        if (!_vehicleFlying) {
+            // We use _vehicleWasFLying to help trigger Resume Mission only if the vehicle actually flew and came back down.
+            // Otherwise it may trigger during the Start Mission sequence due to signal ordering or armed and resume mission index.
+            _vehicleWasFlying = true
+        }
+    }
+
     property var    _actionData
 
     on_CurrentMissionIndexChanged: console.log("_currentMissionIndex", _currentMissionIndex)
@@ -265,6 +274,7 @@ Item {
             missionController.resumeMission(missionController.resumeMissionIndex)
             break
         case actionResumeMissionReady:
+            _vehicleWasFlying = false
             _activeVehicle.startMission()
             break
         case actionStartMission: