diff --git a/msg/Mission.msg b/msg/Mission.msg
index 3bc66f19fe..c7740d4f7a 100644
--- a/msg/Mission.msg
+++ b/msg/Mission.msg
@@ -4,5 +4,6 @@ uint8 dataman_id	# default 0, there are two offboard storage places in the datam
 uint16 count		# count of the missions stored in the dataman
 int32 current_seq	# default -1, start at the one changed latest
 
+int16 mission_update_counter # indicates updates to the mission, reload from dataman if increased
 int16 geofence_update_counter # indicates updates to the geofence, reload from dataman if increased
 int16 safe_points_update_counter # indicates updates to the safe points, reload from dataman if increased
diff --git a/src/modules/mavlink/mavlink_mission.cpp b/src/modules/mavlink/mavlink_mission.cpp
index 5e59dcbf7e..b0230f792c 100644
--- a/src/modules/mavlink/mavlink_mission.cpp
+++ b/src/modules/mavlink/mavlink_mission.cpp
@@ -62,6 +62,7 @@ uint16_t MavlinkMissionManager::_count[3] = { 0, 0, 0 };
 int32_t MavlinkMissionManager::_current_seq = 0;
 bool MavlinkMissionManager::_transfer_in_progress = false;
 constexpr uint16_t MavlinkMissionManager::MAX_COUNT[];
+uint16_t MavlinkMissionManager::_mission_update_counter = 0;
 uint16_t MavlinkMissionManager::_geofence_update_counter = 0;
 uint16_t MavlinkMissionManager::_safepoint_update_counter = 0;
 
@@ -146,6 +147,7 @@ MavlinkMissionManager::update_active_mission(dm_item_t dataman_id, uint16_t coun
 	mission.dataman_id = dataman_id;
 	mission.count = count;
 	mission.current_seq = seq;
+	mission.mission_update_counter = _mission_update_counter;
 	mission.geofence_update_counter = _geofence_update_counter;
 	mission.safe_points_update_counter = _safepoint_update_counter;
 
@@ -869,6 +871,8 @@ MavlinkMissionManager::handle_mission_count(const mavlink_message_t *msg)
 				switch (_mission_type) {
 				case MAV_MISSION_TYPE_MISSION:
 
+					++_mission_update_counter;
+
 					/* alternate dataman ID anyway to let navigator know about changes */
 
 					if (_dataman_id == DM_KEY_WAYPOINTS_OFFBOARD_0) {
@@ -1155,6 +1159,7 @@ MavlinkMissionManager::handle_mission_item_both(const mavlink_message_t *msg)
 
 			switch (_mission_type) {
 			case MAV_MISSION_TYPE_MISSION:
+				++_mission_update_counter;
 				update_active_mission(_transfer_dataman_id, _transfer_count, _transfer_current_seq);
 				break;
 
@@ -1209,6 +1214,7 @@ MavlinkMissionManager::handle_mission_clear_all(const mavlink_message_t *msg)
 
 			switch (wpca.mission_type) {
 			case MAV_MISSION_TYPE_MISSION:
+				++_mission_update_counter;
 				update_active_mission(_dataman_id == DM_KEY_WAYPOINTS_OFFBOARD_0 ? DM_KEY_WAYPOINTS_OFFBOARD_1 :
 						      DM_KEY_WAYPOINTS_OFFBOARD_0, 0, 0);
 				break;
@@ -1222,6 +1228,7 @@ MavlinkMissionManager::handle_mission_clear_all(const mavlink_message_t *msg)
 				break;
 
 			case MAV_MISSION_TYPE_ALL:
+				++_mission_update_counter;
 				update_active_mission(_dataman_id == DM_KEY_WAYPOINTS_OFFBOARD_0 ? DM_KEY_WAYPOINTS_OFFBOARD_1 :
 						      DM_KEY_WAYPOINTS_OFFBOARD_0, 0, 0);
 				ret = update_geofence_count(0);
diff --git a/src/modules/mavlink/mavlink_mission.h b/src/modules/mavlink/mavlink_mission.h
index ae8407b038..d66eddc524 100644
--- a/src/modules/mavlink/mavlink_mission.h
+++ b/src/modules/mavlink/mavlink_mission.h
@@ -132,6 +132,7 @@ private:
 
 	uORB::Publication<mission_s>	_offboard_mission_pub{ORB_ID(mission)};
 
+	static uint16_t		_mission_update_counter;
 	static uint16_t		_geofence_update_counter;
 	static uint16_t		_safepoint_update_counter;
 
diff --git a/src/modules/navigator/mission.cpp b/src/modules/navigator/mission.cpp
index 5465c65053..d513556922 100644
--- a/src/modules/navigator/mission.cpp
+++ b/src/modules/navigator/mission.cpp
@@ -624,29 +624,31 @@ Mission::update_mission()
 			/* otherwise, just leave it */
 		}
 
-		check_mission_valid(true);
+		if (old_mission.mission_update_counter != _mission.mission_update_counter) {
+			check_mission_valid(true);
 
-		failed = !_navigator->get_mission_result()->valid;
+			failed = !_navigator->get_mission_result()->valid;
 
-		if (!failed) {
-			/* reset mission failure if we have an updated valid mission */
-			_navigator->get_mission_result()->failure = false;
+			if (!failed) {
+				/* reset mission failure if we have an updated valid mission */
+				_navigator->get_mission_result()->failure = false;
 
-			/* reset sequence info as well */
-			_navigator->get_mission_result()->seq_reached = -1;
-			_navigator->get_mission_result()->seq_total = _mission.count;
+				/* reset sequence info as well */
+				_navigator->get_mission_result()->seq_reached = -1;
+				_navigator->get_mission_result()->seq_total = _mission.count;
 
-			/* reset work item if new mission has been accepted */
-			_work_item_type = WORK_ITEM_TYPE_DEFAULT;
-			_mission_changed = true;
-		}
+				/* reset work item if new mission has been accepted */
+				_work_item_type = WORK_ITEM_TYPE_DEFAULT;
+				_mission_changed = true;
+			}
 
-		/* check if the mission waypoints changed while the vehicle is in air
-		 * TODO add a flag to mission_s which actually tracks if the position of the waypoint changed */
-		if (((_mission.count != old_mission.count) ||
-		     (_mission.dataman_id != old_mission.dataman_id)) &&
-		    !_navigator->get_land_detected()->landed) {
-			_mission_waypoints_changed = true;
+			/* check if the mission waypoints changed while the vehicle is in air
+			 * TODO add a flag to mission_s which actually tracks if the position of the waypoint changed */
+			if (((_mission.count != old_mission.count) ||
+			     (_mission.dataman_id != old_mission.dataman_id)) &&
+			    !_navigator->get_land_detected()->landed) {
+				_mission_waypoints_changed = true;
+			}
 		}
 
 	} else {