diff --git a/src/FlightDisplay/FlightDisplayView.qml b/src/FlightDisplay/FlightDisplayView.qml
index cc54bc7e661c1ad2d724b31f4eff236bc5bd3364..19c027e4e37a22106b88923403cad1bb52af6947 100644
--- a/src/FlightDisplay/FlightDisplayView.qml
+++ b/src/FlightDisplay/FlightDisplayView.qml
@@ -144,33 +144,31 @@ Item {
         }
     }
 
-    // The following code is used to track vehicle states such that we prompt to remove mission from vehicle when mission completes
-
-    property bool vehicleArmed:                 activeVehicle ? activeVehicle.armed : true // true here prevents pop up from showing during shutdown
-    property bool vehicleWasArmed:              false
-    property bool vehicleInMissionFlightMode:   activeVehicle ? (activeVehicle.flightMode === activeVehicle.missionFlightMode) : false
-    property bool promptForMissionRemove:       false
+    // The following code is used to track vehicle states for showing the mission complete dialog
+    property bool vehicleArmed:                     activeVehicle ? activeVehicle.armed : true // true here prevents pop up from showing during shutdown
+    property bool vehicleWasArmed:                  false
+    property bool vehicleInMissionFlightMode:       activeVehicle ? (activeVehicle.flightMode === activeVehicle.missionFlightMode) : false
+    property bool vehicleWasInMissionFlightMode:    false
+    property bool showMissionCompleteDialog:        vehicleWasArmed && vehicleWasInMissionFlightMode &&
+                                                        (_missionController.containsItems || _geoFenceController.containsItems || _rallyPointController.containsItems ||
+                                                        (activeVehicle ? activeVehicle.cameraTriggerPoints.count !== 0 : false))
 
     onVehicleArmedChanged: {
         if (vehicleArmed) {
-            if (!promptForMissionRemove) {
-                promptForMissionRemove = vehicleInMissionFlightMode
-                vehicleWasArmed = true
-            }
+            vehicleWasArmed = true
+            vehicleWasInMissionFlightMode = vehicleInMissionFlightMode
         } else {
-            if (promptForMissionRemove && (_missionController.containsItems || _geoFenceController.containsItems || _rallyPointController.containsItems)) {
-                // ArduPilot has a strange bug which prevents mission clear from working at certain times, so we can't show this dialog
-                if (!activeVehicle.apmFirmware) {
-                    mainWindow.showComponentDialog(missionCompleteDialogComponent, qsTr("Flight Plan complete"), mainWindow.showDialogDefaultWidth, StandardButton.Close)
-                }
+            if (showMissionCompleteDialog) {
+                mainWindow.showComponentDialog(missionCompleteDialogComponent, qsTr("Flight Plan complete"), mainWindow.showDialogDefaultWidth, StandardButton.Close)
             }
-            promptForMissionRemove = false
+            vehicleWasArmed = false
+            vehicleWasInMissionFlightMode = false
         }
     }
 
     onVehicleInMissionFlightModeChanged: {
-        if (!promptForMissionRemove && vehicleArmed) {
-            promptForMissionRemove = true
+        if (vehicleInMissionFlightMode && vehicleArmed) {
+            vehicleWasInMissionFlightMode = true
         }
     }
 
@@ -193,46 +191,47 @@ Item {
                     anchors.margins:    _margins
                     anchors.left:       parent.left
                     anchors.right:      parent.right
+                    spacing:            ScreenTools.defaultFontPixelHeight
 
-                    ColumnLayout {
-                        Layout.fillWidth:   true
-                        spacing:            ScreenTools.defaultFontPixelHeight
-                        visible:            !activeVehicle.connectionLost || !_guidedController.showResumeMission
+                    QGCLabel {
+                        Layout.fillWidth:       true
+                        text:                   qsTr("%1 Images Taken").arg(activeVehicle.cameraTriggerPoints.count)
+                        horizontalAlignment:    Text.AlignHCenter
+                        visible:                activeVehicle.cameraTriggerPoints.count !== 0
+                    }
 
-                        QGCLabel {
-                            Layout.fillWidth:       true
-                            text:                   qsTr("%1 Images Taken").arg(activeVehicle.cameraTriggerPoints.count)
-                            horizontalAlignment:    Text.AlignHCenter
-                            visible:                activeVehicle.cameraTriggerPoints.count !== 0
+                    QGCButton {
+                        Layout.fillWidth:   true
+                        text:               qsTr("Remove plan from vehicle")
+                        visible:            !activeVehicle.connectionLost// && !activeVehicle.apmFirmware  // ArduPilot has a bug somewhere with mission clear
+                        onClicked: {
+                            _planController.removeAllFromVehicle()
+                            hideDialog()
                         }
+                    }
 
-                        QGCButton {
-                            Layout.fillWidth:   true
-                            text:               qsTr("Remove plan from vehicle")
-                            onClicked: {
-                                _planController.removeAllFromVehicle()
-                                hideDialog()
-                            }
-                        }
+                    QGCButton {
+                        Layout.fillWidth:   true
+                        Layout.alignment:   Qt.AlignHCenter
+                        text:               qsTr("Leave plan on vehicle")
+                        onClicked:          hideDialog()
+                    }
 
-                        QGCButton {
-                            Layout.fillWidth:   true
-                            Layout.alignment:   Qt.AlignHCenter
-                            text:               qsTr("Leave plan on vehicle")
-                            onClicked:          hideDialog()
-                        }
+                    Rectangle {
+                        Layout.fillWidth:   true
+                        color:              qgcPal.text
+                        height:             1
+                    }
 
-                        Rectangle {
-                            Layout.fillWidth:   true
-                            color:              qgcPal.text
-                            height:             1
-                        }
+                    ColumnLayout {
+                        Layout.fillWidth:   true
+                        spacing:            ScreenTools.defaultFontPixelHeight
+                        visible:            !activeVehicle.connectionLost && _guidedController.showResumeMission
 
                         QGCButton {
                             Layout.fillWidth:   true
                             Layout.alignment:   Qt.AlignHCenter
                             text:               qsTr("Resume Mission From Waypoint %1").arg(_guidedController._resumeMissionIndex)
-                            visible:            _guidedController.showResumeMission
 
                             onClicked: {
                                 guidedController.executeAction(_guidedController.actionResumeMission, null, null)
@@ -244,29 +243,15 @@ Item {
                             Layout.fillWidth:   true
                             wrapMode:           Text.WordWrap
                             text:               qsTr("Resume Mission will rebuild the current mission from the last flown waypoint and upload it to the vehicle for the next flight.")
-                            visible:            _guidedController.showResumeMission
-                        }
-
-                        QGCLabel {
-                            Layout.fillWidth:   true
-                            wrapMode:           Text.WordWrap
-                            color:              qgcPal.warningText
-                            text:               qsTr("If you are changing batteries for Resume Mission do not disconnect from the vehicle when communication is lost.")
-                            visible:            _guidedController.showResumeMission
                         }
                     }
 
-                    ColumnLayout {
+                    QGCLabel {
                         Layout.fillWidth:   true
-                        spacing:            ScreenTools.defaultFontPixelHeight
-                        visible:            activeVehicle.connectionLost && _guidedController.showResumeMission
-
-                        QGCLabel {
-                            Layout.fillWidth:   true
-                            wrapMode:           Text.WordWrap
-                            color:              qgcPal.warningText
-                            text:               qsTr("If you are changing batteries for Resume Mission do not disconnect from the vehicle.")
-                        }
+                        wrapMode:           Text.WordWrap
+                        color:              qgcPal.warningText
+                        text:               qsTr("If you are changing batteries for Resume Mission do not disconnect from the vehicle.")
+                        visible:            _guidedController.showResumeMission
                     }
                 }
             }
diff --git a/src/FlightDisplay/FlightDisplayViewWidgets.qml b/src/FlightDisplay/FlightDisplayViewWidgets.qml
index 13b7d54db63604217045809733e7c50a82fc6a47..305d41943b36b352778a102e4d848f708a28d76b 100644
--- a/src/FlightDisplay/FlightDisplayViewWidgets.qml
+++ b/src/FlightDisplay/FlightDisplayViewWidgets.qml
@@ -134,7 +134,7 @@ Item {
         spacing:                    ScreenTools.defaultFontPixelHeight
 
         property bool noGPSLockVisible:     activeVehicle && !activeVehicle.coordinate.isValid && mainIsMap
-        property bool prearmErrorVisible:   activeVehicle && activeVehicle.prearmError
+        property bool prearmErrorVisible:   activeVehicle && !activeVehicle.armed && activeVehicle.prearmError
 
         QGCLabel {
             anchors.horizontalCenter:   parent.horizontalCenter