diff --git a/src/MissionManager/MissionController.cc b/src/MissionManager/MissionController.cc
index 143ed49..1ad193b 100644
--- a/src/MissionManager/MissionController.cc
+++ b/src/MissionManager/MissionController.cc
@@ -1513,11 +1513,11 @@ void MissionController::_recalcMissionFlightStatus()
 
         // Look for specific gimbal changes
         double gimbalYaw = item->specifiedGimbalYaw();
-        if (!qIsNaN(gimbalYaw)) {
+        if (!qIsNaN(gimbalYaw) || _planViewSettings->showGimbalOnlyWhenSet()->rawValue().toBool()) {
             _missionFlightStatus.gimbalYaw = gimbalYaw;
         }
         double gimbalPitch = item->specifiedGimbalPitch();
-        if (!qIsNaN(gimbalPitch)) {
+        if (!qIsNaN(gimbalPitch) || _planViewSettings->showGimbalOnlyWhenSet()->rawValue().toBool()) {
             _missionFlightStatus.gimbalPitch = gimbalPitch;
         }
 
diff --git a/src/Settings/PlanView.SettingsGroup.json b/src/Settings/PlanView.SettingsGroup.json
index 402efd2..d9eec04 100644
--- a/src/Settings/PlanView.SettingsGroup.json
+++ b/src/Settings/PlanView.SettingsGroup.json
@@ -28,10 +28,16 @@
     "defaultValue":     false
 },
 {
-    "name":                 "useConditionGate",
-    "shortDescription":     "Use MAV_CMD_CONDITION_GATE for pattern generation",
-    "type":                 "bool",
-    "defaultValue":         false
+    "name":             "useConditionGate",
+    "shortDescription": "Use MAV_CMD_CONDITION_GATE for pattern generation",
+    "type":             "bool",
+    "defaultValue":     false
+},
+{
+    "name":             "showGimbalOnlyWhenSet",
+    "shortDescription": "Show gimbal yaw visual only when set explicitly for the waypoint",
+    "type":             "bool",
+    "defaultValue":     false
 }
 ]
 }
diff --git a/src/Settings/PlanViewSettings.cc b/src/Settings/PlanViewSettings.cc
index 9af8227..015ce7a 100644
--- a/src/Settings/PlanViewSettings.cc
+++ b/src/Settings/PlanViewSettings.cc
@@ -22,3 +22,4 @@ DECLARE_SETTINGSFACT(PlanViewSettings, aboveTerrainWarning)
 DECLARE_SETTINGSFACT(PlanViewSettings, showMissionItemStatus)
 DECLARE_SETTINGSFACT(PlanViewSettings, useConditionGate)
 DECLARE_SETTINGSFACT(PlanViewSettings, takeoffItemNotRequired)
+DECLARE_SETTINGSFACT(PlanViewSettings, showGimbalOnlyWhenSet)
diff --git a/src/Settings/PlanViewSettings.h b/src/Settings/PlanViewSettings.h
index c9bed13..e00637f 100644
--- a/src/Settings/PlanViewSettings.h
+++ b/src/Settings/PlanViewSettings.h
@@ -25,4 +25,5 @@ public:
     DEFINE_SETTINGFACT(showMissionItemStatus)
     DEFINE_SETTINGFACT(useConditionGate)
     DEFINE_SETTINGFACT(takeoffItemNotRequired)
+    DEFINE_SETTINGFACT(showGimbalOnlyWhenSet)
 };