diff --git a/src/modules/mavlink/mavlink_mission.cpp b/src/modules/mavlink/mavlink_mission.cpp
index 746689dd52..073c5afcfc 100644
--- a/src/modules/mavlink/mavlink_mission.cpp
+++ b/src/modules/mavlink/mavlink_mission.cpp
@@ -780,6 +780,13 @@ MavlinkMissionManager::parse_mavlink_mission_item(const mavlink_mission_item_t *
 
 	case MAV_FRAME_MISSION:
 		// This is a mission item with no coordinate
+		mission_item->params[0] = mavlink_mission_item->param1;
+		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;
+		mission_item->params[6] = mavlink_mission_item->z;
 		break;
 			
 	default:
diff --git a/src/modules/navigator/mission_block.cpp b/src/modules/navigator/mission_block.cpp
index a58bcebfce..64512d3d3d 100644
--- a/src/modules/navigator/mission_block.cpp
+++ b/src/modules/navigator/mission_block.cpp
@@ -236,15 +236,15 @@ MissionBlock::reset_mission_item_reached()
 void
 MissionBlock::mission_item_to_vehicle_command(const struct mission_item_s *item, struct vehicle_command_s *cmd)
 {
-	// Assignment based on MAVLink spec for param enumeration:
-	// http://mavlink.org/messages/common#MAV_CMD_NAV_WAYPOINT
-	cmd->param1 = item->time_inside;
-	cmd->param2 = item->acceptance_radius;
-	cmd->param3 = item->loiter_radius;
-	cmd->param4 = item->yaw;
-	cmd->param5 = item->lat;
-	cmd->param6 = item->lon;
-	cmd->param7 = item->altitude;
+	// we're expecting a mission command item here so assign the "raw" inputs to the command
+	// (MAV_FRAME_MISSION mission item)
+	cmd->param1 = item->params[0];
+	cmd->param2 = item->params[1];
+	cmd->param3 = item->params[2];
+	cmd->param4 = item->params[3];
+	cmd->param5 = item->params[4];
+	cmd->param6 = item->params[5];
+	cmd->param7 = item->params[6];
 
 	cmd->target_system = _navigator->get_vstatus()->system_id;
 	cmd->target_component = _navigator->get_vstatus()->component_id;
diff --git a/src/modules/navigator/navigation.h b/src/modules/navigator/navigation.h
index 89f77b4752..b768de5ac5 100644
--- a/src/modules/navigator/navigation.h
+++ b/src/modules/navigator/navigation.h
@@ -103,6 +103,7 @@ struct mission_item_s {
 	unsigned do_jump_current_count;	/**< count how many times the jump has been done	*/
 	int actuator_num;               /**< actuator number to be set 0..5 ( corresponds to AUX outputs 1..6    */
 	int actuator_value;             /**< new value for selected actuator in ms 900...2000         */
+	float params[7];		/**< array to store mission command values for MAV_FRAME_MISSION ***/
 };
 #pragma pack(pop)
 #include <uORB/topics/mission.h>