diff --git a/ChangeLog.md b/ChangeLog.md
index d6c1baded032315e881239e92345adba4d52e31b..9b0a6ebd04e3593c2c0be05ce92f7ab1c2ebc7f6 100644
--- a/ChangeLog.md
+++ b/ChangeLog.md
@@ -15,6 +15,13 @@ Note: This file only contains high level features or important fixes.
 
 ## 3.4
 
+### 3.4.5 - Not yet released
+* Plan GeoFence: Fix loading of fence from intermediate 3.4 code
+* Orbit: Turn off for PX4 since still not supported
+* Structure Scan: Fix loading of structure scan height
+* ArduPilot: Fix location of planned home position when not connected to vehicle. Issue #6840.
+* Fix loading of parameters from multiple components. Would report download complete too early, thus missing all default component params.
+
 ### 3.4.4 - Stable
 * Stable desktop versions now inform user at boot if newer version is available.
 * Multi-Vehicle Start Mission and Pause now work correctly. Issue #6864.
diff --git a/src/FactSystem/ParameterManager.cc b/src/FactSystem/ParameterManager.cc
index 4c088ccd27114e729c3dd5ae969305e75eee5433..26093d6ea5761c669f549fa2b26f5f8ebae161ed 100644
--- a/src/FactSystem/ParameterManager.cc
+++ b/src/FactSystem/ParameterManager.cc
@@ -347,12 +347,12 @@ void ParameterManager::_parameterUpdate(int vehicleId, int componentId, QString
             // Add meta data to default component. We need to do this before we setup the group map since group
             // map requires meta data.
             _addMetaDataToDefaultComponent();
-        }
 
-        // When we are getting the very last component param index, reset the group maps to update for the
-        // new params. By handling this here, we can pick up components which finish up later than the default
-        // component param set.
-        _setupCategoryMap();
+            // When we are getting the very last component param index, reset the group maps to update for the
+            // new params. By handling this here, we can pick up components which finish up later than the default
+            // component param set.
+            _setupCategoryMap();
+        }
     }
 
     // Update param cache. The param cache is only used on PX4 Firmware since ArduPilot and Solo have volatile params
diff --git a/src/FirmwarePlugin/PX4/PX4FirmwarePlugin.cc b/src/FirmwarePlugin/PX4/PX4FirmwarePlugin.cc
index c85bb70db9289980e4e28409cda380907bc1128d..044976c00ace9100962c66ecae77d2a6a31f7232 100644
--- a/src/FirmwarePlugin/PX4/PX4FirmwarePlugin.cc
+++ b/src/FirmwarePlugin/PX4/PX4FirmwarePlugin.cc
@@ -233,7 +233,7 @@ bool PX4FirmwarePlugin::isCapable(const Vehicle *vehicle, FirmwareCapabilities c
 {
     int available = SetFlightModeCapability | PauseVehicleCapability | GuidedModeCapability;
     if (vehicle->multiRotor() || vehicle->vtol()) {
-        available |= TakeoffVehicleCapability | OrbitModeCapability;
+        available |= TakeoffVehicleCapability;
     }
 
     return (capabilities & available) == capabilities;
diff --git a/src/MissionManager/GeoFenceController.cc b/src/MissionManager/GeoFenceController.cc
index 5d3733ea1036d9aea7040711f5dc5548ef815af2..f3e004a117e5b4617af6f776fb8fba26614da4f6 100644
--- a/src/MissionManager/GeoFenceController.cc
+++ b/src/MissionManager/GeoFenceController.cc
@@ -123,8 +123,9 @@ bool GeoFenceController::load(const QJsonObject& json, QString& errorString)
 
     errorString.clear();
 
-    if (json.contains(JsonHelper::jsonVersionKey) && json[JsonHelper::jsonVersionKey].toInt() == 1) {
-        // We just ignore old version 1 data
+    if (!json.contains(JsonHelper::jsonVersionKey) ||
+            (json.contains(JsonHelper::jsonVersionKey) && json[JsonHelper::jsonVersionKey].toInt() == 1)) {
+        // We just ignore old version 1 or prior data
         return true;
     }
 
diff --git a/src/MissionManager/MissionController.cc b/src/MissionManager/MissionController.cc
index 6f26b67c8566d98c65307b4a705670e654df6f59..e259c05b4663502a3b5003effeaa1225a0d0b351 100644
--- a/src/MissionManager/MissionController.cc
+++ b/src/MissionManager/MissionController.cc
@@ -375,7 +375,9 @@ int MissionController::insertSimpleMissionItem(QGeoCoordinate coordinate, int i)
     newItem->setMissionFlightStatus(_missionFlightStatus);
     _visualItems->insert(i, newItem);
 
-    _recalcAll();
+    // We send the click coordinate through here to be able to set the planned home position from the user click location if needed
+    _recalcAllWithClickCoordinate(coordinate);
+
     return newItem->sequenceNumber();
 }
 
@@ -1526,8 +1528,10 @@ void MissionController::_recalcChildItems(void)
     }
 }
 
-void MissionController::_setPlannedHomePositionFromFirstCoordinate(void)
+void MissionController::_setPlannedHomePositionFromFirstCoordinate(const QGeoCoordinate& clickCoordinate)
 {
+    QGeoCoordinate firstCoordinate;
+
     if (_settingsItem->coordinate().isValid()) {
         return;
     }
@@ -1537,18 +1541,28 @@ void MissionController::_setPlannedHomePositionFromFirstCoordinate(void)
         VisualMissionItem* item = _visualItems->value<VisualMissionItem*>(i);
 
         if (item->specifiesCoordinate()) {
-            QGeoCoordinate plannedHomeCoord = item->coordinate().atDistanceAndAzimuth(30, 0);
-            plannedHomeCoord.setAltitude(0);
-            _settingsItem->setCoordinate(plannedHomeCoord);
+            firstCoordinate = item->coordinate();
+            break;
         }
     }
-}
 
+    // No item specifying a coordinate was found, in this case it we have a clickCoordinate use that
+    if (!firstCoordinate.isValid()) {
+        firstCoordinate = clickCoordinate;
+    }
 
-void MissionController::_recalcAll(void)
+    if (firstCoordinate.isValid()) {
+        QGeoCoordinate plannedHomeCoord = firstCoordinate.atDistanceAndAzimuth(30, 0);
+        plannedHomeCoord.setAltitude(0);
+        _settingsItem->setCoordinate(plannedHomeCoord);
+    }
+}
+
+/// @param clickCoordinate The location of the user click when inserting a new item
+void MissionController::_recalcAllWithClickCoordinate(QGeoCoordinate& clickCoordinate)
 {
     if (!_flyView) {
-        _setPlannedHomePositionFromFirstCoordinate();
+        _setPlannedHomePositionFromFirstCoordinate(clickCoordinate);
     }
     _recalcSequence();
     _recalcChildItems();
@@ -1556,6 +1570,12 @@ void MissionController::_recalcAll(void)
     _updateTimer.start(UPDATE_TIMEOUT);
 }
 
+void MissionController::_recalcAll(void)
+{
+    QGeoCoordinate emptyCoord;
+    _recalcAllWithClickCoordinate(emptyCoord);
+}
+
 /// Initializes a new set of mission items
 void MissionController::_initAllVisualItems(void)
 {
diff --git a/src/MissionManager/MissionController.h b/src/MissionManager/MissionController.h
index 293807f6ffd390c9fa01187c69dd529eeeff33e4..127d1ed1a7e989bc3e2adecf374187251044fa75 100644
--- a/src/MissionManager/MissionController.h
+++ b/src/MissionManager/MissionController.h
@@ -234,12 +234,13 @@ private slots:
     void _managerRemoveAllComplete(bool error);
     void _updateTimeout();
     void _complexBoundingBoxChanged();
+    void _recalcAll(void);
 
 private:
     void _init(void);
     void _recalcSequence(void);
     void _recalcChildItems(void);
-    void _recalcAll(void);
+    void _recalcAllWithClickCoordinate(QGeoCoordinate& clickCoordinate);
     void _initAllVisualItems(void);
     void _deinitAllVisualItems(void);
     void _initVisualItem(VisualMissionItem* item);
@@ -258,7 +259,7 @@ private:
     int _nextSequenceNumber(void);
     void _scanForAdditionalSettings(QmlObjectListModel* visualItems, Vehicle* vehicle);
     static bool _convertToMissionItems(QmlObjectListModel* visualMissionItems, QList<MissionItem*>& rgMissionItems, QObject* missionItemParent);
-    void _setPlannedHomePositionFromFirstCoordinate(void);
+    void _setPlannedHomePositionFromFirstCoordinate(const QGeoCoordinate& clickCoordinate);
     void _resetMissionFlightStatus(void);
     void _addHoverTime(double hoverTime, double hoverDistance, int waypointIndex);
     void _addCruiseTime(double cruiseTime, double cruiseDistance, int wayPointIndex);
diff --git a/src/MissionManager/MissionControllerTest.cc b/src/MissionManager/MissionControllerTest.cc
index de06cccfff75035fcf8242e981923bc65f236883..b6b4793c986c890b73e172f3929b61459b9d0609 100644
--- a/src/MissionManager/MissionControllerTest.cc
+++ b/src/MissionManager/MissionControllerTest.cc
@@ -135,9 +135,8 @@ void MissionControllerTest::_testAddWaypointWorker(MAV_AUTOPILOT firmwareType)
     QCOMPARE((MAV_CMD)simpleItem->command(), MAV_CMD_NAV_TAKEOFF);
     QCOMPARE(simpleItem->childItems()->count(), 0);
 
-    // If the first item added specifies a coordinate, then planned home position will be set
-    bool plannedHomePositionValue = firmwareType == MAV_AUTOPILOT_ARDUPILOTMEGA ? false : true;
-    QCOMPARE(settingsItem->coordinate().isValid(), plannedHomePositionValue);
+    // Planned home position should always be set after first item
+    QVERIFY(settingsItem->coordinate().isValid());
 
     // ArduPilot takeoff command has no coordinate, so should be child item
     QCOMPARE(settingsItem->childItems()->count(), firmwareType == MAV_AUTOPILOT_ARDUPILOTMEGA ? 1 : 0);
diff --git a/src/MissionManager/StructureScan.SettingsGroup.json b/src/MissionManager/StructureScan.SettingsGroup.json
index 15ff6ce55fd8fe534e820ee0bc713a30465a4cfe..ac79f33887cf79cc1673019757be80449c2ba943 100644
--- a/src/MissionManager/StructureScan.SettingsGroup.json
+++ b/src/MissionManager/StructureScan.SettingsGroup.json
@@ -28,6 +28,7 @@
     "name":             "StructureHeight",
     "shortDescription": "Height of structure being scanned.",
     "type":             "double",
+    "decimalPlaces":    2,
     "units":            "m",
     "min":              1,
     "defaultValue":     100
diff --git a/src/MissionManager/StructureScanComplexItem.cc b/src/MissionManager/StructureScanComplexItem.cc
index b84a1d23215e07dde15a9e1cd34dd7f88d231484..3928afc46c45a72222a48831d9e4a87c5082aca0 100644
--- a/src/MissionManager/StructureScanComplexItem.cc
+++ b/src/MissionManager/StructureScanComplexItem.cc
@@ -215,9 +215,11 @@ bool StructureScanComplexItem::load(const QJsonObject& complexObject, int sequen
         return false;
     }
 
-    _altitudeFact.setRawValue   (complexObject[altitudeName].toDouble());
-    _layersFact.setRawValue     (complexObject[layersName].toDouble());
-    _altitudeRelative =         complexObject[_jsonAltitudeRelativeKey].toBool(true);
+    _altitudeFact.setRawValue       (complexObject[altitudeName].toDouble());
+    _layersFact.setRawValue         (complexObject[layersName].toDouble());
+    _structureHeightFact.setRawValue(complexObject[structureHeightName].toDouble());
+
+    _altitudeRelative = complexObject[_jsonAltitudeRelativeKey].toBool(true);
 
     double gimbalPitchValue = 0;
     if (complexObject.contains(gimbalPitchName)) {