diff --git a/ChangeLog.md b/ChangeLog.md
index 4021b91..d6c1bad 100644
--- a/ChangeLog.md
+++ b/ChangeLog.md
@@ -11,6 +11,7 @@ Note: This file only contains high level features or important fixes.
 * Added Chinese and Turkish localization and partial German localization. 
 * Make Distance to GCS available for display from instrument panel.
 * Make Heading to Home available for display from instrument panel.
+* Edit Position dialog available on polygon vertices.
 
 ## 3.4
 
diff --git a/src/MissionManager/QGCMapPolygon.cc b/src/MissionManager/QGCMapPolygon.cc
index ba3619a..26c298a 100644
--- a/src/MissionManager/QGCMapPolygon.cc
+++ b/src/MissionManager/QGCMapPolygon.cc
@@ -92,11 +92,11 @@ void QGCMapPolygon::clear(void)
 void QGCMapPolygon::adjustVertex(int vertexIndex, const QGeoCoordinate coordinate)
 {
     _polygonPath[vertexIndex] = QVariant::fromValue(coordinate);
+    _polygonModel.value<QGCQGeoCoordinate*>(vertexIndex)->setCoordinate(coordinate);
     if (!_centerDrag) {
         // When dragging center we don't signal path changed until add vertices are updated
         emit pathChanged();
     }
-    _polygonModel.value<QGCQGeoCoordinate*>(vertexIndex)->setCoordinate(coordinate);
     setDirty(true);
 }
 
diff --git a/src/MissionManager/QGCMapPolygon.h b/src/MissionManager/QGCMapPolygon.h
index 5d1d103..005823f 100644
--- a/src/MissionManager/QGCMapPolygon.h
+++ b/src/MissionManager/QGCMapPolygon.h
@@ -64,7 +64,7 @@ public:
     QList<QGeoCoordinate> coordinateList(void) const;
 
     /// Returns the QGeoCoordinate for the vertex specified
-    QGeoCoordinate vertexCoordinate(int vertex) const;
+    Q_INVOKABLE QGeoCoordinate vertexCoordinate(int vertex) const;
 
     /// Saves the polygon to the json object.
     ///     @param json Json object to save to
diff --git a/src/MissionManager/QGCMapPolygonVisuals.qml b/src/MissionManager/QGCMapPolygonVisuals.qml
index d82db1e..f58aa56 100644
--- a/src/MissionManager/QGCMapPolygonVisuals.qml
+++ b/src/MissionManager/QGCMapPolygonVisuals.qml
@@ -189,20 +189,25 @@ Item {
     Menu {
         id: menu
 
-        property int _removeVertexIndex
+        property int _editingVertexIndex: -1
 
-        function popUpWithIndex(curIndex) {
-            _removeVertexIndex = curIndex
-            removeVertexItem.visible = (mapPolygon.count > 3 && _removeVertexIndex >= 0)
+        function popupVertex(curIndex) {
+            menu._editingVertexIndex = curIndex
+            removeVertexItem.visible = (mapPolygon.count > 3 && menu._editingVertexIndex >= 0)
+            menu.popup()
+        }
+
+        function popupCenter() {
             menu.popup()
         }
 
         MenuItem {
             id:             removeVertexItem
+            visible:        !_circle
             text:           qsTr("Remove vertex")
             onTriggered: {
-                if(menu._removeVertexIndex >= 0) {
-                    mapPolygon.removeVertex(menu._removeVertexIndex)
+                if (menu._editingVertexIndex >= 0) {
+                    mapPolygon.removeVertex(menu._editingVertexIndex)
                 }
             }
         }
@@ -229,8 +234,14 @@ Item {
 
         MenuItem {
             text:           qsTr("Edit position..." )
-            enabled:        _circle
-            onTriggered:    qgcView.showDialog(editPositionDialog, qsTr("Edit Position"), qgcView.showDialogDefaultWidth, StandardButton.Close)
+            visible:        _circle
+            onTriggered:    qgcView.showDialog(editCenterPositionDialog, qsTr("Edit Center Position"), qgcView.showDialogDefaultWidth, StandardButton.Close)
+        }
+
+        MenuItem {
+            text:           qsTr("Edit position..." )
+            visible:        !_circle && menu._editingVertexIndex >= 0
+            onTriggered:    qgcView.showDialog(editVertexPositionDialog, qsTr("Edit Vertex Position"), qgcView.showDialogDefaultWidth, StandardButton.Close)
         }
 
         MenuItem {
@@ -345,9 +356,7 @@ Item {
                 }
             }
 
-            onClicked: {
-                menu.popUpWithIndex(polygonVertex)
-            }
+            onClicked: menu.popupVertex(polygonVertex)
         }
     }
 
@@ -436,11 +445,26 @@ Item {
     }
 
     Component {
-        id: editPositionDialog
+        id: editCenterPositionDialog
 
         EditPositionDialog {
             coordinate: mapPolygon.center
-            onCoordinateChanged: mapPolygon.center = coordinate
+            onCoordinateChanged: {
+                // Prevent spamming signals on vertex changes by setting centerDrag = true when changing center position.
+                // This also fixes a bug where Qt gets confused by all the signalling and draws a bad visual.
+                mapPolygon.centerDrag = true
+                mapPolygon.center = coordinate
+                mapPolygon.centerDrag = false
+            }
+        }
+    }
+
+    Component {
+        id: editVertexPositionDialog
+
+        EditPositionDialog {
+            coordinate:             mapPolygon.vertexCoordinate(menu._editingVertexIndex)
+            onCoordinateChanged:    mapPolygon.adjustVertex(menu._editingVertexIndex, coordinate)
         }
     }
 
@@ -454,9 +478,7 @@ Item {
             onDragStart:                mapPolygon.centerDrag = true
             onDragStop:                 mapPolygon.centerDrag = false
 
-            onClicked: {
-                menu.popUpWithIndex(-1)      //-- Don't offer a choice to delete vertex (cur index == -1)
-            }
+            onClicked: menu.popupCenter()
 
             function setRadiusFromDialog() {
                 var radius = QGroundControl.appSettingsDistanceUnitsToMeters(radiusField.text)