diff --git a/src/modules/mavlink/mavlink_mission.cpp b/src/modules/mavlink/mavlink_mission.cpp
index 4acaac90a6..40bee8e291 100644
--- a/src/modules/mavlink/mavlink_mission.cpp
+++ b/src/modules/mavlink/mavlink_mission.cpp
@@ -1427,8 +1427,21 @@ MavlinkMissionManager::parse_mavlink_mission_item(const mavlink_mission_item_t *
 		mission_item->params[1] = mavlink_mission_item->param2;
 		mission_item->params[2] = mavlink_mission_item->param3;
 		mission_item->params[3] = mavlink_mission_item->param4;
-		mission_item->params[4] = mavlink_mission_item->x;
-		mission_item->params[5] = mavlink_mission_item->y;
+
+		if (_int_mode) {
+			/* The argument is actually a mavlink_mission_item_int_t in int_mode.
+			 * mavlink_mission_item_t and mavlink_mission_item_int_t have the same
+			 * alignment, so we can just swap float for int32_t. */
+			const mavlink_mission_item_int_t *item_int
+				= reinterpret_cast<const mavlink_mission_item_int_t *>(mavlink_mission_item);
+			mission_item->params[4] = ((double)item_int->x);
+			mission_item->params[5] = ((double)item_int->y);
+
+		} else {
+			mission_item->params[4] = (double)mavlink_mission_item->x;
+			mission_item->params[5] = (double)mavlink_mission_item->y;
+		}
+
 		mission_item->params[6] = mavlink_mission_item->z;
 
 		switch (mavlink_mission_item->command) {
@@ -1519,8 +1532,25 @@ MavlinkMissionManager::format_mavlink_mission_item(const struct mission_item_s *
 		mavlink_mission_item->param2 = mission_item->params[1];
 		mavlink_mission_item->param3 = mission_item->params[2];
 		mavlink_mission_item->param4 = mission_item->params[3];
+
 		mavlink_mission_item->x = mission_item->params[4];
 		mavlink_mission_item->y = mission_item->params[5];
+
+		if (_int_mode) {
+			// This function actually receives a mavlink_mission_item_int_t in _int_mode
+			// which has the same alignment as mavlink_mission_item_t and the only
+			// difference is int32_t vs. float for x and y.
+			mavlink_mission_item_int_t *item_int =
+				reinterpret_cast<mavlink_mission_item_int_t *>(mavlink_mission_item);
+
+			item_int->x = round(mission_item->params[4]);
+			item_int->y = round(mission_item->params[5]);
+
+		} else {
+			mavlink_mission_item->x = (float)mission_item->params[4];
+			mavlink_mission_item->y = (float)mission_item->params[5];
+		}
+
 		mavlink_mission_item->z = mission_item->params[6];
 
 		switch (mavlink_mission_item->command) {