diff --git a/src/FirmwarePlugin/APM/ArduCopterFirmwarePlugin.cc b/src/FirmwarePlugin/APM/ArduCopterFirmwarePlugin.cc
index 57094a7..8622132 100644
--- a/src/FirmwarePlugin/APM/ArduCopterFirmwarePlugin.cc
+++ b/src/FirmwarePlugin/APM/ArduCopterFirmwarePlugin.cc
@@ -237,9 +237,13 @@ QString ArduCopterFirmwarePlugin::geoFenceRadiusParam(Vehicle* vehicle)
 
 bool ArduCopterFirmwarePlugin::vehicleYawsToNextWaypointInMission(const Vehicle* vehicle) const
 {
-    if (!vehicle->isOfflineEditingVehicle() && vehicle->parameterManager()->parameterExists(FactSystem::defaultComponentId, QStringLiteral("WP_YAW_BEHAVIOR"))) {
-        Fact* yawMode = vehicle->parameterManager()->getParameter(FactSystem::defaultComponentId, QStringLiteral("WP_YAW_BEHAVIOR"));
-        return yawMode && yawMode->rawValue().toInt() != 0;
+    if (vehicle->isOfflineEditingVehicle()) {
+        return FirmwarePlugin::vehicleYawsToNextWaypointInMission(vehicle);
+    } else {
+        if (vehicle->multiRotor() && vehicle->parameterManager()->parameterExists(FactSystem::defaultComponentId, QStringLiteral("WP_YAW_BEHAVIOR"))) {
+            Fact* yawMode = vehicle->parameterManager()->getParameter(FactSystem::defaultComponentId, QStringLiteral("WP_YAW_BEHAVIOR"));
+            return yawMode && yawMode->rawValue().toInt() != 0;
+        }
     }
     return true;
 }
diff --git a/src/FirmwarePlugin/PX4/PX4FirmwarePlugin.cc b/src/FirmwarePlugin/PX4/PX4FirmwarePlugin.cc
index ce62235..65aa0ff 100644
--- a/src/FirmwarePlugin/PX4/PX4FirmwarePlugin.cc
+++ b/src/FirmwarePlugin/PX4/PX4FirmwarePlugin.cc
@@ -518,9 +518,13 @@ void PX4FirmwarePlugin::_handleAutopilotVersion(Vehicle* vehicle, mavlink_messag
 
 bool PX4FirmwarePlugin::vehicleYawsToNextWaypointInMission(const Vehicle* vehicle) const
 {
-    if (!vehicle->isOfflineEditingVehicle() && vehicle->parameterManager()->parameterExists(FactSystem::defaultComponentId, QStringLiteral("MIS_YAWMODE"))) {
-        Fact* yawMode = vehicle->parameterManager()->getParameter(FactSystem::defaultComponentId, QStringLiteral("MIS_YAWMODE"));
-        return yawMode && yawMode->rawValue().toInt() == 1;
+    if (vehicle->isOfflineEditingVehicle()) {
+        return FirmwarePlugin::vehicleYawsToNextWaypointInMission(vehicle);
+    } else {
+        if (vehicle->multiRotor() && vehicle->parameterManager()->parameterExists(FactSystem::defaultComponentId, QStringLiteral("MIS_YAWMODE"))) {
+            Fact* yawMode = vehicle->parameterManager()->getParameter(FactSystem::defaultComponentId, QStringLiteral("MIS_YAWMODE"));
+            return yawMode && yawMode->rawValue().toInt() == 1;
+        }
     }
     return true;
 }
diff --git a/src/MissionManager/SimpleMissionItem.cc b/src/MissionManager/SimpleMissionItem.cc
index bc982fa..4c4877e 100644
--- a/src/MissionManager/SimpleMissionItem.cc
+++ b/src/MissionManager/SimpleMissionItem.cc
@@ -445,7 +445,15 @@ void SimpleMissionItem::_rebuildNaNFacts(void)
         for (int i=1; i<=7; i++) {
             const MissionCmdParamInfo* paramInfo = uiInfo->getParamInfo(i);
 
-            if (paramInfo && paramInfo->nanUnchanged()) {
+            // Show hide Heading field on waypoint based on vehicle yaw to next waypoint setting. This needs to come from the actual vehicle if it exists
+            // and not _vehicle which is always offline.
+            Vehicle* firmwareVehicle = qgcApp()->toolbox()->multiVehicleManager()->activeVehicle();
+            if (!firmwareVehicle) {
+                firmwareVehicle = _vehicle;
+            }
+            bool hideWaypointHeading = command == MAV_CMD_NAV_WAYPOINT && firmwareVehicle->firmwarePlugin()->vehicleYawsToNextWaypointInMission(firmwareVehicle);
+
+            if (paramInfo && paramInfo->nanUnchanged() && !hideWaypointHeading) {
                 Fact*               paramFact =     rgParamFacts[i-1];
                 FactMetaData*       paramMetaData = rgParamMetaData[i-1];