diff --git a/src/MissionManager/MissionController.cc b/src/MissionManager/MissionController.cc
index 66bc1a6bc82..6b0632a2586 100644
--- a/src/MissionManager/MissionController.cc
+++ b/src/MissionManager/MissionController.cc
@@ -643,6 +643,9 @@ bool MissionController::_loadJsonMissionFileV2(const QJsonObject& json, QmlObjec
     }
     MissionSettingsItem* settingsItem = new MissionSettingsItem(_masterController, _flyView);
     settingsItem->setCoordinate(homeCoordinate);
+    if (json.contains(QStringLiteral("waypointRadius"))) {
+        settingsItem->waypointRadius()->setRawValue(json[QStringLiteral("waypointRadius")].toDouble());
+    }
     visualItems->insert(0, settingsItem);
     qCDebug(MissionControllerLog) << "plannedHomePosition" << homeCoordinate;
 
@@ -884,6 +887,7 @@ void MissionController::save(QJsonObject& json)
     json[_jsonCruiseSpeedKey]               = _controllerVehicle->defaultCruiseSpeed();
     json[_jsonHoverSpeedKey]                = _controllerVehicle->defaultHoverSpeed();
     json[_jsonGlobalPlanAltitudeModeKey]    = _globalAltFrame;
+    json[QStringLiteral("waypointRadius")]  = settingsItem->waypointRadius()->rawValue().toDouble();
 
     // Save the visual items
 
diff --git a/src/MissionManager/MissionSettingsItem.cc b/src/MissionManager/MissionSettingsItem.cc
index 5c3dcad418e..48e341ae5a1 100644
--- a/src/MissionManager/MissionSettingsItem.cc
+++ b/src/MissionManager/MissionSettingsItem.cc
@@ -3,6 +3,7 @@
 #include "MissionItem.h"
 #include "QGCMath.h"
 #include "Vehicle.h"
+#include "ParameterManager.h"
 #include "QGCLoggingCategory.h"
 
 #include <QtCore/QJsonArray>
@@ -15,6 +16,7 @@ MissionSettingsItem::MissionSettingsItem(PlanMasterController* masterController,
     : ComplexMissionItem                (masterController, flyView)
     , _managerVehicle                   (masterController->managerVehicle())
     , _plannedHomePositionAltitudeFact  (0, _plannedHomePositionAltitudeName,   FactMetaData::valueTypeDouble)
+    , _waypointRadiusFact               (0, "Waypoint Radius",                  FactMetaData::valueTypeDouble)
     , _cameraSection                    (masterController)
     , _speedSection                     (masterController)
 {
@@ -29,6 +31,19 @@ MissionSettingsItem::MissionSettingsItem(PlanMasterController* masterController,
     _plannedHomePositionAltitudeFact.setRawValue    (_plannedHomePositionAltitudeFact.rawDefaultValue());
     setHomePositionSpecialCase(true);
 
+    FactMetaData* waypointRadiusMetaData = new FactMetaData(FactMetaData::valueTypeDouble, this);
+    waypointRadiusMetaData->setRawUnits("m");
+    waypointRadiusMetaData->setRawIncrement(1);
+    waypointRadiusMetaData->setDecimalPlaces(1);
+    waypointRadiusMetaData->setRawUserMin(1.0);
+    waypointRadiusMetaData->setRawUserMax(32767.0);
+    waypointRadiusMetaData->setRawDefaultValue(50.0);
+    _waypointRadiusFact.setMetaData(waypointRadiusMetaData);
+    _waypointRadiusFact.setRawValue(50.0);
+
+    connect(masterController, &PlanMasterController::managerVehicleChanged, this, &MissionSettingsItem::_syncWaypointRadiusWithVehicle);
+    _syncWaypointRadiusWithVehicle();
+
     _cameraSection.setAvailable(true);
     _speedSection.setAvailable(true);
 
@@ -243,3 +258,57 @@ void MissionSettingsItem::_updateFlyViewHomePosition(const QGeoCoordinate& homeP
         setCoordinate(homePosition);
     }
 }
+
+Fact* MissionSettingsItem::waypointRadius(void)
+{
+    return &_waypointRadiusFact;
+}
+
+void MissionSettingsItem::_syncWaypointRadiusWithVehicle(void)
+{
+    Vehicle* vehicle = masterController()->controllerVehicle();
+    if (!vehicle || !vehicle->parameterManager()) {
+        return;
+    }
+
+    static Vehicle* lastVehicle = nullptr;
+    if (lastVehicle != vehicle) {
+        if (lastVehicle && lastVehicle->parameterManager()) {
+            disconnect(lastVehicle->parameterManager(), &ParameterManager::parametersReadyChanged, this, &MissionSettingsItem::_syncWaypointRadiusWithVehicle);
+            disconnect(lastVehicle->parameterManager(), &ParameterManager::factAdded, this, &MissionSettingsItem::_syncWaypointRadiusWithVehicle);
+        }
+        lastVehicle = vehicle;
+        _vehicleWaypointRadiusConnected = false;
+        connect(vehicle->parameterManager(), &ParameterManager::parametersReadyChanged, this, &MissionSettingsItem::_syncWaypointRadiusWithVehicle);
+        connect(vehicle->parameterManager(), &ParameterManager::factAdded, this, &MissionSettingsItem::_syncWaypointRadiusWithVehicle);
+    }
+
+    Fact* paramFact = nullptr;
+    if (vehicle->parameterManager()->parameterExists(ParameterManager::defaultComponentId, QStringLiteral("WP_RADIUS"))) {
+        paramFact = vehicle->parameterManager()->getParameter(ParameterManager::defaultComponentId, QStringLiteral("WP_RADIUS"));
+    } else if (vehicle->parameterManager()->parameterExists(ParameterManager::defaultComponentId, QStringLiteral("WPNAV_RADIUS"))) {
+        paramFact = vehicle->parameterManager()->getParameter(ParameterManager::defaultComponentId, QStringLiteral("WPNAV_RADIUS"));
+    } else if (vehicle->parameterManager()->parameterExists(ParameterManager::defaultComponentId, QStringLiteral("NAV_ACC_RAD"))) {
+        paramFact = vehicle->parameterManager()->getParameter(ParameterManager::defaultComponentId, QStringLiteral("NAV_ACC_RAD"));
+    }
+
+    if (paramFact && !_vehicleWaypointRadiusConnected) {
+        _vehicleWaypointRadiusConnected = true;
+        if (_waypointRadiusFact.rawValue().toDouble() != 50.0) {
+            paramFact->setRawValue(_waypointRadiusFact.rawValue());
+        } else if (paramFact->rawValue().toDouble() > 0.0) {
+            _waypointRadiusFact.setRawValue(paramFact->rawValue());
+        }
+
+        connect(&_waypointRadiusFact, &Fact::valueChanged, this, [paramFact](QVariant value){
+            if (paramFact->rawValue() != value) {
+                paramFact->setRawValue(value);
+            }
+        });
+        connect(paramFact, &Fact::valueChanged, this, [this](QVariant value){
+            if (_waypointRadiusFact.rawValue() != value) {
+                _waypointRadiusFact.setRawValue(value);
+            }
+        });
+    }
+}
diff --git a/src/MissionManager/MissionSettingsItem.h b/src/MissionManager/MissionSettingsItem.h
index c0973254528..1b444b47364 100644
--- a/src/MissionManager/MissionSettingsItem.h
+++ b/src/MissionManager/MissionSettingsItem.h
@@ -19,10 +19,12 @@ class MissionSettingsItem : public ComplexMissionItem
     Q_PROPERTY(Fact*    plannedHomePositionAltitude READ plannedHomePositionAltitude                            CONSTANT)
     Q_PROPERTY(QObject* cameraSection               READ cameraSection                                          CONSTANT)
     Q_PROPERTY(QObject* speedSection                READ speedSection                                           CONSTANT)
+    Q_PROPERTY(Fact*    waypointRadius              READ waypointRadius                                         CONSTANT)
 
     Fact*           plannedHomePositionAltitude (void) { return &_plannedHomePositionAltitudeFact; }
     CameraSection*  cameraSection               (void) { return &_cameraSection; }
     SpeedSection*   speedSection                (void) { return &_speedSection; }
+    Fact*           waypointRadius              (void);
 
     /// Scans the loaded items for settings items
     bool scanForMissionSettings(QmlObjectListModel* visualItems, int scanIndex);
@@ -84,11 +86,14 @@ private slots:
     void _updateAltitudeInCoordinate            (QVariant value);
     void _setHomeAltFromTerrain                 (double terrainAltitude);
     void _updateFlyViewHomePosition             (const QGeoCoordinate& homePosition);
+    void _syncWaypointRadiusWithVehicle         (void);
 
 private:
     Vehicle*        _managerVehicle =                   nullptr;
     QGeoCoordinate  _plannedHomePositionCoordinate;     // Does not include altitude
     Fact            _plannedHomePositionAltitudeFact;
+    Fact            _waypointRadiusFact;
+    bool            _vehicleWaypointRadiusConnected =   false;
     int             _sequenceNumber =                   0;
     CameraSection   _cameraSection;
     SpeedSection    _speedSection;
diff --git a/src/MissionManager/PlanMasterController.cc b/src/MissionManager/PlanMasterController.cc
index b5c71754d53..99c81c47851 100644
--- a/src/MissionManager/PlanMasterController.cc
+++ b/src/MissionManager/PlanMasterController.cc
@@ -1,4 +1,6 @@
 #include "PlanMasterController.h"
+#include "MissionSettingsItem.h"
+#include "ParameterManager.h"
 #include "AppMessages.h"
 #include "QGCCorePlugin.h"
 #include "MultiVehicleManager.h"
@@ -322,6 +324,25 @@ void PlanMasterController::sendToVehicle(void)
         qCCritical(PlanMasterControllerLog) << "PlanMasterController::sendToVehicle called while syncInProgress";
     } else {
         qCDebug(PlanMasterControllerLog) << "PlanMasterController::sendToVehicle start mission sendToVehicle";
+
+        if (_missionController.visualItems() && _missionController.visualItems()->count() > 0) {
+            MissionSettingsItem* settingsItem = qobject_cast<MissionSettingsItem*>(_missionController.visualItems()->get(0));
+            if (settingsItem && settingsItem->waypointRadius()) {
+                Fact* paramFact = nullptr;
+                if (_managerVehicle->parameterManager()->parameterExists(ParameterManager::defaultComponentId, QStringLiteral("WP_RADIUS"))) {
+                    paramFact = _managerVehicle->parameterManager()->getParameter(ParameterManager::defaultComponentId, QStringLiteral("WP_RADIUS"));
+                } else if (_managerVehicle->parameterManager()->parameterExists(ParameterManager::defaultComponentId, QStringLiteral("WPNAV_RADIUS"))) {
+                    paramFact = _managerVehicle->parameterManager()->getParameter(ParameterManager::defaultComponentId, QStringLiteral("WPNAV_RADIUS"));
+                } else if (_managerVehicle->parameterManager()->parameterExists(ParameterManager::defaultComponentId, QStringLiteral("NAV_ACC_RAD"))) {
+                    paramFact = _managerVehicle->parameterManager()->getParameter(ParameterManager::defaultComponentId, QStringLiteral("NAV_ACC_RAD"));
+                }
+
+                if (paramFact) {
+                    paramFact->setRawValue(settingsItem->waypointRadius()->rawValue());
+                }
+            }
+        }
+
         _sendGeoFence = true;
         _missionController.sendToVehicle();
     }
diff --git a/src/MissionManager/SimpleMissionItem.cc b/src/MissionManager/SimpleMissionItem.cc
index 296d45e89c8..d0b1adf395f 100644
--- a/src/MissionManager/SimpleMissionItem.cc
+++ b/src/MissionManager/SimpleMissionItem.cc
@@ -1,4 +1,5 @@
 #include "SimpleMissionItem.h"
+#include "MissionSettingsItem.h"
 #include "JsonParsing.h"
 #include "MissionCommandTree.h"
 #include "MissionCommandUIInfo.h"
@@ -11,6 +12,7 @@
 #include "CameraSection.h"
 #include "Vehicle.h"
 #include "QGCMath.h"
+#include "ParameterManager.h"
 
 #include <QtCore/QStringList>
 #include <QtCore/QJsonArray>
@@ -1156,3 +1158,32 @@ void SimpleMissionItem::_possibleRadiusChanged(void)
         emit loiterRadiusChanged(loiterRadius());
     }
 }
+
+bool SimpleMissionItem::showWaypointRadius(void) const
+{
+    Fact* fact = const_cast<SimpleMissionItem*>(this)->waypointRadius();
+    return command() == MAV_CMD_NAV_WAYPOINT && fact && fact->rawValue().toDouble() > 0.0;
+}
+
+Fact* SimpleMissionItem::waypointRadius(void)
+{
+    Fact* fact = nullptr;
+    if (_masterController && _masterController->missionController() && _masterController->missionController()->visualItems()) {
+        QmlObjectListModel* visualItems = _masterController->missionController()->visualItems();
+        if (visualItems->count() > 0) {
+            MissionSettingsItem* settingsItem = qobject_cast<MissionSettingsItem*>(visualItems->get(0));
+            if (settingsItem) {
+                fact = settingsItem->waypointRadius();
+            }
+        }
+    }
+
+    if (fact && !_waypointRadiusConnected) {
+        _waypointRadiusConnected = true;
+        connect(fact, &Fact::valueChanged, this, [this](QVariant value){
+            emit waypointRadiusChanged(value.toDouble());
+            emit showWaypointRadiusChanged();
+        });
+    }
+    return fact;
+}
diff --git a/src/MissionManager/SimpleMissionItem.h b/src/MissionManager/SimpleMissionItem.h
index 25fbed2abf4..4aa4d09d4dc 100644
--- a/src/MissionManager/SimpleMissionItem.h
+++ b/src/MissionManager/SimpleMissionItem.h
@@ -28,6 +28,8 @@ class SimpleMissionItem : public VisualMissionItem
     Q_PROPERTY(Fact*            altitude                READ altitude                                           CONSTANT)                           ///< Altitude as specified by altitudeFrame. Not necessarily true mission item altitude
     Q_PROPERTY(QGroundControlQmlGlobal::AltitudeFrame altitudeFrame READ altitudeFrame WRITE setAltitudeFrame       NOTIFY altitudeFrameChanged)
     Q_PROPERTY(Fact*            amslAltAboveTerrain     READ amslAltAboveTerrain                                CONSTANT)                           ///< Actual AMSL altitude for item if altitudeFrame is AltitudeFrameCalcAboveTerrain or AltitudeFrameTerrain
+    Q_PROPERTY(Fact*            waypointRadius          READ waypointRadius                                     CONSTANT)
+    Q_PROPERTY(bool             showWaypointRadius      READ showWaypointRadius                                 NOTIFY showWaypointRadiusChanged)
     Q_PROPERTY(int              command                 READ command                WRITE setCommand            NOTIFY commandChanged)
     Q_PROPERTY(bool             isLoiterItem            READ isLoiterItem                                       NOTIFY isLoiterItemChanged)
     Q_PROPERTY(bool             showLoiterRadius        READ showLoiterRadius                                   NOTIFY showLoiterRadiusChanged)
@@ -68,6 +70,8 @@ class SimpleMissionItem : public VisualMissionItem
     QGroundControlQmlGlobal::AltitudeFrame altitudeFrame(void) const { return _altitudeFrame; }
     Fact*           altitude            (void) { return &_altitudeFact; }
     Fact*           amslAltAboveTerrain (void) { return &_amslAltAboveTerrainFact; }
+    Fact*           waypointRadius      (void);
+    bool            showWaypointRadius  (void) const;
     bool            isLoiterItem        (void) const;
     bool            showLoiterRadius    (void) const;
     double          loiterRadius        (void) const;
@@ -147,6 +151,8 @@ class SimpleMissionItem : public VisualMissionItem
     void isLoiterItemChanged        (void);
     void showLoiterRadiusChanged    (void);
     void loiterRadiusChanged        (double loiterRadius);
+    void waypointRadiusChanged      (double waypointRadius);
+    void showWaypointRadiusChanged  (void);
 
 private slots:
     void _setDirty                              (void);
@@ -177,6 +183,7 @@ private slots:
     bool            _rawEdit =                  false;
     bool            _dirty =                    false;
     bool            _ignoreDirtyChangeSignals = false;
+    bool            _waypointRadiusConnected =  false;
     QGeoCoordinate  _mapCenterHint;
     SpeedSection*   _speedSection =             nullptr;
     CameraSection*  _cameraSection =             nullptr;
diff --git a/src/PlanView/MissionDefaultsEditor.qml b/src/PlanView/MissionDefaultsEditor.qml
index e5841ca47e6..5282077e032 100644
--- a/src/PlanView/MissionDefaultsEditor.qml
+++ b/src/PlanView/MissionDefaultsEditor.qml
@@ -89,6 +89,13 @@ Rectangle {
             fact: QGroundControl.settingsManager.appSettings.defaultMissionItemAltitude
         }
 
+        FactTextFieldSlider {
+            Layout.fillWidth: true
+            label: qsTr("Waypoint Radius")
+            fact: _root._settingsItem ? _root._settingsItem.waypointRadius : null
+            visible: fact !== null
+        }
+
         FactTextFieldSlider {
             Layout.fillWidth: true
             label: qsTr("Flight Speed")
diff --git a/src/PlanView/MissionSettingsEditor.qml b/src/PlanView/MissionSettingsEditor.qml
index 9e17406a38b..8ac26d86dc9 100644
--- a/src/PlanView/MissionSettingsEditor.qml
+++ b/src/PlanView/MissionSettingsEditor.qml
@@ -61,5 +61,12 @@ Rectangle {
                 visible: _showCameraSection && cameraSection.checked
             }
         }
+
+        FactTextFieldSlider {
+            Layout.fillWidth: true
+            label: qsTr("Waypoint Radius")
+            fact: root.missionItem.waypointRadius
+            visible: fact !== null
+        }
     }
 }
diff --git a/src/PlanView/SimpleItemMapVisual.qml b/src/PlanView/SimpleItemMapVisual.qml
index c441e75cb18..ca47361665f 100644
--- a/src/PlanView/SimpleItemMapVisual.qml
+++ b/src/PlanView/SimpleItemMapVisual.qml
@@ -17,6 +17,7 @@ MissionItemMapVisualBase {
         if (_itemVisualShowing) {
             _hideItemVisuals()
             loiterVisualLoader.active = false
+            waypointRadiusVisualLoader.active = false
         }
     }
 
@@ -24,6 +25,7 @@ MissionItemMapVisualBase {
         if (!_itemVisualShowing) {
             _showItemVisuals()
             loiterVisualLoader.active = true
+            waypointRadiusVisualLoader.active = true
         }
     }
 
@@ -36,10 +38,25 @@ MissionItemMapVisualBase {
             }
         }
 
+        function onWaypointRadiusChanged(waypointRadius) {
+            if (waypointRadiusVisualLoader.item) {
+                waypointRadiusVisualLoader.item.handleWaypointRadiusChange()
+            }
+        }
+
+        function onShowWaypointRadiusChanged() {
+            if (waypointRadiusVisualLoader.item) {
+                waypointRadiusVisualLoader.item.handleWaypointRadiusChange()
+            }
+        }
+
         function onCoordinateChanged(coordinate) {
             if (loiterVisualLoader.item) {
                 loiterVisualLoader.item.handleCoordinateChange()
             }
+            if (waypointRadiusVisualLoader.item) {
+                waypointRadiusVisualLoader.item.handleCoordinateChange()
+            }
         }
     }
 
@@ -59,6 +76,22 @@ MissionItemMapVisualBase {
         }
     }
 
+    Loader {
+        id: waypointRadiusVisualLoader
+
+        asynchronous: true
+        active: false
+
+        sourceComponent: waypointRadiusComponent
+
+        onLoaded: {
+            if (item) {
+                item.parent = map
+                map.addMapItem(item)
+            }
+        }
+    }
+
     Component {
         id: indicatorComponent
 
@@ -133,4 +166,62 @@ MissionItemMapVisualBase {
             }
         }
     }
+
+    Component  {
+        id: waypointRadiusComponent
+
+        MapQuickItem {
+            id:                               waypointRadiusMapQuickItem
+            coordinate:                       _root._missionItem.coordinate
+            visible:                          _root.interactive && _missionItem.isSimpleItem && _missionItem.showWaypointRadius
+
+            property alias blockSignals:      waypointRadiusMapCircleVisuals.blockSignals
+            property alias radius:            _mapCircle.radius
+
+            function handleWaypointRadiusChange() {
+                blockSignals = true
+                radius.rawValue = _missionItem.waypointRadius.rawValue
+                blockSignals = false
+            }
+
+            function handleCoordinateChange() {
+                coordinate = _missionItem.coordinate
+            }
+
+            onCoordinateChanged:              _mapCircle.center = coordinate
+
+            sourceItem: QGCMapCircleVisuals {
+                id:                      waypointRadiusMapCircleVisuals
+                mapControl:              _root.map
+                mapCircle:               _mapCircle
+                centerDragHandleVisible: false
+                borderColor:             _missionItem.terrainCollision ? "red" : QGroundControl.globalPalette.mapMissionTrajectory
+
+                property bool blockSignals: false
+
+                function updateMissionItem() {
+                    _missionItem.waypointRadius.rawValue = _mapCircle.radius.rawValue
+                }
+
+                QGCMapCircle {
+                    id:                         _mapCircle
+                    center:                     waypointRadiusMapQuickItem.coordinate
+                    interactive:                _root.interactive && _missionItem.isCurrentItem && map.planView
+                    showRotation:               false
+                }
+
+                Connections {
+                    target:            _mapCircle.radius
+                    function onRawValueChanged() {
+                        if (!blockSignals) waypointRadiusMapCircleVisuals.updateMissionItem()
+                    }
+                }
+            }
+
+            Component.onCompleted: {
+                handleWaypointRadiusChange()
+                handleCoordinateChange()
+            }
+        }
+    }
 }
diff --git a/test/MissionManager/SimpleMissionItemTest.cc b/test/MissionManager/SimpleMissionItemTest.cc
index 1a734747f30..2d0e0fc26df 100644
--- a/test/MissionManager/SimpleMissionItemTest.cc
+++ b/test/MissionManager/SimpleMissionItemTest.cc
@@ -12,6 +12,7 @@
 #include "PlanMasterController.h"
 #include "SettingsManager.h"
 #include "SimpleMissionItem.h"
+#include "MissionSettingsItem.h"
 #include "SpeedSection.h"
 #include "UnitTest.h"
 #include "Vehicle.h"
@@ -25,6 +26,8 @@ void SimpleMissionItemTest::init()
                             20.1234567, 30.1234567, 40.1234567, 50.1234567, 60.1234567, 70.1234567,
                             true,        // autoContinue
                             false);      // isCurrentItem
+    MissionSettingsItem* settingsItem = new MissionSettingsItem(planController(), false /* flyView */);
+    planController()->missionController()->visualItems()->append(settingsItem);
     _simpleItem = new SimpleMissionItem(planController(), false /* flyView */, missionItem);
     // It's important to check that the right signals are emitted at the right time since that drives ui change.
     // It's also important to check that things are not being over-signalled when they should not be.
@@ -328,6 +331,18 @@ void SimpleMissionItemTest::_testAltitudePropogation()
     QCOMPARE(_simpleItem->missionItem().frame(), MAV_FRAME_GLOBAL);
 }
 
+void SimpleMissionItemTest::_testWaypointRadiusPropogation()
+{
+    Fact* fact = _simpleItem->waypointRadius();
+    QVERIFY(fact != nullptr);
+    QCOMPARE(fact->name(), QStringLiteral("Waypoint Radius"));
+
+    double originalVal = fact->rawValue().toDouble();
+    fact->setRawValue(12.34);
+    QCOMPARE(fact->rawValue().toDouble(), 12.34);
+    fact->setRawValue(originalVal);
+}
+
 void SimpleMissionItemTest::_testCalcAboveTerrainSaveLoad()
 {
     // Regression test for https://github.com/mavlink/qgroundcontrol/issues/13513
diff --git a/test/MissionManager/SimpleMissionItemTest.h b/test/MissionManager/SimpleMissionItemTest.h
index d7d79301c06..464cda2ce01 100644
--- a/test/MissionManager/SimpleMissionItemTest.h
+++ b/test/MissionManager/SimpleMissionItemTest.h
@@ -28,6 +28,7 @@ private slots:
     void _testCameraSection();
     void _testSpeedSection();
     void _testAltitudePropogation();
+    void _testWaypointRadiusPropogation();
     void _testCalcAboveTerrainSaveLoad();
 
 private: