diff --git a/src/MissionManager/MissionController.cc b/src/MissionManager/MissionController.cc
index 21566d34c4b39b13e64f5f8d2afee68700a3126f..f209c5b093ca5ca0ca0293be0a195434c88b6d10 100644
--- a/src/MissionManager/MissionController.cc
+++ b/src/MissionManager/MissionController.cc
@@ -270,7 +270,7 @@ int MissionController::insertSimpleMissionItem(QGeoCoordinate coordinate, int i)
     newItem->setCommand(MavlinkQmlSingleton::MAV_CMD_NAV_WAYPOINT);
     _initVisualItem(newItem);
     if (_visualItems->count() == 1) {
-        newItem->setCommand(MavlinkQmlSingleton::MAV_CMD_NAV_TAKEOFF);
+        newItem->setCommand(_activeVehicle->vtol() ? MavlinkQmlSingleton::MAV_CMD_NAV_VTOL_TAKEOFF : MavlinkQmlSingleton::MAV_CMD_NAV_TAKEOFF);
     }
     newItem->setDefaultsForCommand();
     if ((MAV_CMD)newItem->command() == MAV_CMD_NAV_WAYPOINT) {