diff --git a/src/FlightDisplay/FlightDisplayViewMap.qml b/src/FlightDisplay/FlightDisplayViewMap.qml
index 9e2c630d4a68462a3419b8b35dff8d5bd8f34e1a..2a174f943a667896e366f07cd3eee9444b5681dd 100644
--- a/src/FlightDisplay/FlightDisplayViewMap.qml
+++ b/src/FlightDisplay/FlightDisplayViewMap.qml
@@ -48,6 +48,7 @@ FlightMap {
     property bool   _activeVehicleCoordinateValid:  _activeVehicle ? _activeVehicle.coordinateValid : false
     property var    activeVehicleCoordinate:        _activeVehicle ? _activeVehicle.coordinate : QtPositioning.coordinate()
     property var    _gotoHereCoordinate:            QtPositioning.coordinate()
+    property int    _retaskSequence:                0
 
     Component.onCompleted: {
         QGroundControl.flightMapPosition = center
diff --git a/src/FlightDisplay/FlightDisplayViewWidgets.qml b/src/FlightDisplay/FlightDisplayViewWidgets.qml
index 370c748f7852ea48c4e55ab015760deb07684f20..77a92f818e2e33afc404054d99b73a4c914c57a7 100644
--- a/src/FlightDisplay/FlightDisplayViewWidgets.qml
+++ b/src/FlightDisplay/FlightDisplayViewWidgets.qml
@@ -286,6 +286,7 @@ Item {
         readonly property int confirmEmergencyStop: 6
         readonly property int confirmChangeAlt:     7
         readonly property int confirmGoTo:          8
+        readonly property int confirmRetask:        9
 
         property int    confirmActionCode
         property string confirmText
@@ -322,6 +323,9 @@ Item {
             case confirmGoTo:
                 _activeVehicle.guidedModeGotoLocation(_flightMap._gotoHereCoordinate)
                 break;
+            case confirmRetask:
+                _activeVehicle.setCurrentMissionSequence(_flightMap._retaskSequence)
+                break;
             default:
                 console.warn("Internal error: unknown confirmActionCode", confirmActionCode)
             }
@@ -355,6 +359,9 @@ Item {
             case confirmGoTo:
                 _guidedModeBar.confirmText = "move"
                 break;
+            case confirmRetask:
+                _guidedModeBar.confirmText = "active waypoint change"
+                break;
             }
             guidedModeButtons.visible = false
             guidedModeConfirm.visible = true
diff --git a/src/FlightMap/MapItems/MissionItemView.qml b/src/FlightMap/MapItems/MissionItemView.qml
index 9304953984022c3e1367d08bbc2f3e3107209ccc..b55a07f87a5a266308a3a0293c31f322abc75ad1 100644
--- a/src/FlightMap/MapItems/MissionItemView.qml
+++ b/src/FlightMap/MapItems/MissionItemView.qml
@@ -42,6 +42,10 @@ MapItemView {
         z:              QGroundControl.zOrderMapItems
         missionItem:    object
         sequenceNumber: object.sequenceNumber
+        onClicked: {
+            parent._retaskSequence = object.sequenceNumber
+            parent.flightWidgets.guidedModeBar.confirmAction(parent.flightWidgets.guidedModeBar.confirmRetask)
+        }
 
         // These are the non-coordinate child mission items attached to this item
         Row {
@@ -55,8 +59,6 @@ MapItemView {
                     label:          object.sequenceNumber
                     isCurrentItem:  object.isCurrentItem
                     z:              2
-
-                    onClicked: setCurrentItem(object.sequenceNumber)
                 }
             }
         }
diff --git a/src/Vehicle/Vehicle.cc b/src/Vehicle/Vehicle.cc
index 1bc03457348904b753f75e33139531d7d82b9096..840e6fdf696033b248a2ce9eeba544b099db0cab 100644
--- a/src/Vehicle/Vehicle.cc
+++ b/src/Vehicle/Vehicle.cc
@@ -1490,6 +1490,16 @@ void Vehicle::emergencyStop(void)
     sendMessage(msg);
 }
 
+void Vehicle::setCurrentMissionSequence(int seq)
+{
+    if (!_firmwarePlugin->sendHomePositionToVehicle()) {
+        seq--;
+    }
+    mavlink_message_t msg;
+    mavlink_msg_mission_set_current_pack(_mavlink->getSystemId(), _mavlink->getComponentId(), &msg, id(), _compID, seq);
+    sendMessage(msg);
+}
+
 void Vehicle::doCommandLong(int component, MAV_CMD command, float param1, float param2, float param3, float param4, float param5, float param6, float param7)
 {
     mavlink_message_t       msg;
@@ -1511,6 +1521,7 @@ void Vehicle::doCommandLong(int component, MAV_CMD command, float param1, float
     sendMessage(msg);
 }
 
+
 const char* VehicleGPSFactGroup::_hdopFactName =                "hdop";
 const char* VehicleGPSFactGroup::_vdopFactName =                "vdop";
 const char* VehicleGPSFactGroup::_courseOverGroundFactName =    "courseOverGround";
diff --git a/src/Vehicle/Vehicle.h b/src/Vehicle/Vehicle.h
index 560b4ba9c5b01762337c67c6f66730a305a4b430..6167eb72ab963249bdace9c4bd40a7e375e3d477 100644
--- a/src/Vehicle/Vehicle.h
+++ b/src/Vehicle/Vehicle.h
@@ -356,6 +356,9 @@ public:
     /// Command vehicle to kill all motors no matter what state
     Q_INVOKABLE void emergencyStop(void);
 
+    /// Alter the current mission item on the vehicle
+    Q_INVOKABLE void setCurrentMissionSequence(int seq);
+
     bool guidedModeSupported(void) const;
     bool pauseVehicleSupported(void) const;
 
@@ -430,6 +433,7 @@ public:
     QString flightMode(void) const;
     void setFlightMode(const QString& flightMode);
 
+
     bool hilMode(void);
     void setHilMode(bool hilMode);