diff --git a/src/modules/mavlink/mavlink_mission.cpp b/src/modules/mavlink/mavlink_mission.cpp
index b4b2ab0b73b9..5e5e5c3f38c8 100644
--- a/src/modules/mavlink/mavlink_mission.cpp
+++ b/src/modules/mavlink/mavlink_mission.cpp
@@ -1389,8 +1389,8 @@ MavlinkMissionManager::parse_mavlink_mission_item(const mavlink_mission_item_t *
 
 		case MAV_CMD_NAV_TAKEOFF:
 			mission_item->nav_cmd = NAV_CMD_TAKEOFF;
+			mission_item->params[0] = mavlink_mission_item->param1;  // Pitch
 			mission_item->yaw = wrap_2pi(math::radians(mavlink_mission_item->param4));
-
 			break;
 
 		case MAV_CMD_NAV_LOITER_TO_ALT:
@@ -1426,6 +1426,7 @@ MavlinkMissionManager::parse_mavlink_mission_item(const mavlink_mission_item_t *
 		case MAV_CMD_NAV_VTOL_TAKEOFF:
 		case MAV_CMD_NAV_VTOL_LAND:
 			mission_item->nav_cmd = (NAV_CMD)mavlink_mission_item->command;
+			mission_item->params[1] = mavlink_mission_item->param2;  // Transition heading
 			mission_item->yaw = wrap_2pi(math::radians(mavlink_mission_item->param4));
 			break;