diff --git a/src/MissionManager/MissionController.cc b/src/MissionManager/MissionController.cc
index d8c28a8f23049ab86dae0828108a1aa5b855708d..4d96c86a5891b1dadf38b36ee405d3a45b77b317 100644
--- a/src/MissionManager/MissionController.cc
+++ b/src/MissionManager/MissionController.cc
@@ -340,7 +340,10 @@ int MissionController::insertSimpleMissionItem(QGeoCoordinate coordinate, int i)
     newItem->setCommand(MavlinkQmlSingleton::MAV_CMD_NAV_WAYPOINT);
     _initVisualItem(newItem);
     if (_visualItems->count() == 1) {
-        newItem->setCommand(_controllerVehicle->vtol() ? MavlinkQmlSingleton::MAV_CMD_NAV_VTOL_TAKEOFF : MavlinkQmlSingleton::MAV_CMD_NAV_TAKEOFF);
+        MavlinkQmlSingleton::Qml_MAV_CMD takeoffCmd = _controllerVehicle->vtol() ? MavlinkQmlSingleton::MAV_CMD_NAV_VTOL_TAKEOFF : MavlinkQmlSingleton::MAV_CMD_NAV_TAKEOFF;
+        if (_controllerVehicle->firmwarePlugin()->supportedMissionCommands().contains((MAV_CMD)takeoffCmd)) {
+            newItem->setCommand(takeoffCmd);
+        }
     }
     newItem->setDefaultsForCommand();
     if ((MAV_CMD)newItem->command() == MAV_CMD_NAV_WAYPOINT) {
@@ -1033,8 +1036,9 @@ void MissionController::_recalcWaypointLines(void)
         // If we still haven't found the first coordinate item and we hit a takeoff command, link back to home
         if (firstCoordinateItem &&
                 item->isSimpleItem() &&
-                (qobject_cast<SimpleMissionItem*>(item)->command() == MavlinkQmlSingleton::MAV_CMD_NAV_TAKEOFF ||
-                 qobject_cast<SimpleMissionItem*>(item)->command() == MavlinkQmlSingleton::MAV_CMD_NAV_VTOL_TAKEOFF)) {
+                (!_controllerVehicle->firmwarePlugin()->supportedMissionCommands().contains(MAV_CMD_NAV_TAKEOFF) ||
+                    qobject_cast<SimpleMissionItem*>(item)->command() == MavlinkQmlSingleton::MAV_CMD_NAV_TAKEOFF ||
+                    qobject_cast<SimpleMissionItem*>(item)->command() == MavlinkQmlSingleton::MAV_CMD_NAV_VTOL_TAKEOFF)) {
             linkStartToHome = true;
         }