diff --git a/src/FirmwarePlugin/PX4/PX4FirmwarePlugin.cc b/src/FirmwarePlugin/PX4/PX4FirmwarePlugin.cc
index c5cffe94656544fb704a4e8e2a3101047a5ef6b4..419561db40dcc03399b1f72854777a5d0f5cf027 100644
--- a/src/FirmwarePlugin/PX4/PX4FirmwarePlugin.cc
+++ b/src/FirmwarePlugin/PX4/PX4FirmwarePlugin.cc
@@ -23,6 +23,8 @@
 #include "RadioComponentController.h"
 #include "QGCCameraManager.h"
 #include "QGCFileDownload.h"
+#include "SettingsManager.h"
+#include "PlanViewSettings.h"
 
 #include <QDebug>
 
@@ -279,7 +281,7 @@ void PX4FirmwarePlugin::getParameterMetaDataVersionInfo(const QString& metaDataF
 
 QList<MAV_CMD> PX4FirmwarePlugin::supportedMissionCommands(void)
 {
-    return {
+    QList<MAV_CMD> cmds = {
         MAV_CMD_NAV_WAYPOINT,
         MAV_CMD_NAV_LOITER_UNLIM, MAV_CMD_NAV_LOITER_TIME, MAV_CMD_NAV_LOITER_TO_ALT,
         MAV_CMD_NAV_LAND, MAV_CMD_NAV_TAKEOFF, MAV_CMD_NAV_RETURN_TO_LAUNCH,
@@ -298,6 +300,12 @@ QList<MAV_CMD> PX4FirmwarePlugin::supportedMissionCommands(void)
         MAV_CMD_NAV_DELAY,
         MAV_CMD_CONDITION_YAW,
     };
+
+    if (qgcApp()->toolbox()->settingsManager()->planViewSettings()->useConditionGate()->rawValue().toBool()) {
+        cmds.append(MAV_CMD_CONDITION_GATE);
+    }
+
+    return cmds;
 }
 
 QString PX4FirmwarePlugin::missionCommandOverrides(MAV_TYPE vehicleType) const
diff --git a/src/Settings/PlanView.SettingsGroup.json b/src/Settings/PlanView.SettingsGroup.json
index eb1921d9d94c202513305533517669f02b0250eb..38a63492c720542939922789cc398fc57ce1fbd0 100644
--- a/src/Settings/PlanView.SettingsGroup.json
+++ b/src/Settings/PlanView.SettingsGroup.json
@@ -16,5 +16,11 @@
     "shortDescription": "Show/Hide the mission item status display",
     "type":             "bool",
     "defaultValue":     false
+},
+{
+    "name":                 "useConditionGate",
+    "shortDescription":     "Use MAV_CMD_CONDITION_GATE for pattern generation",
+    "type":                 "bool",
+    "defaultValue":         false
 }
 ]
diff --git a/src/Settings/PlanViewSettings.cc b/src/Settings/PlanViewSettings.cc
index 8f82dc044f3aedd9453277162ef7aeab58e8e128..b6ea71fac50fe05607063b82d4fc7437af9b8bfd 100644
--- a/src/Settings/PlanViewSettings.cc
+++ b/src/Settings/PlanViewSettings.cc
@@ -20,3 +20,4 @@ DECLARE_SETTINGGROUP(PlanView, "PlanView")
 DECLARE_SETTINGSFACT(PlanViewSettings, displayPresetsTabFirst)
 DECLARE_SETTINGSFACT(PlanViewSettings, aboveTerrainWarning)
 DECLARE_SETTINGSFACT(PlanViewSettings, showMissionItemStatus)
+DECLARE_SETTINGSFACT(PlanViewSettings, useConditionGate)
diff --git a/src/Settings/PlanViewSettings.h b/src/Settings/PlanViewSettings.h
index 2fbc3bdc03fa0d37be8f96f4d2f8e6ed915ddb2a..c1a6d0c04daf8c8d95d2ce4d3d8f6daeb933a8cb 100644
--- a/src/Settings/PlanViewSettings.h
+++ b/src/Settings/PlanViewSettings.h
@@ -23,4 +23,5 @@ public:
     DEFINE_SETTINGFACT(displayPresetsTabFirst)
     DEFINE_SETTINGFACT(aboveTerrainWarning)
     DEFINE_SETTINGFACT(showMissionItemStatus)
+    DEFINE_SETTINGFACT(useConditionGate)
 };
diff --git a/src/ui/preferences/GeneralSettings.qml b/src/ui/preferences/GeneralSettings.qml
index 3897dc61a7196323bb6f69588240b01b5463ce31..c698d44af44b1e811df4f994d099107984a3fab8 100644
--- a/src/ui/preferences/GeneralSettings.qml
+++ b/src/ui/preferences/GeneralSettings.qml
@@ -621,6 +621,11 @@ Rectangle {
                                     fact:                   QGroundControl.settingsManager.appSettings.defaultMissionItemAltitude
                                 }
                             }
+
+                            FactCheckBox {
+                                text:   qsTr("Use MAV_CMD_CONDITION_GATE for pattern generation")
+                                fact:   QGroundControl.settingsManager.planViewSettings.useConditionGate
+                            }
                         }
                     }