diff --git a/src/modules/mavlink/mavlink_mission.cpp b/src/modules/mavlink/mavlink_mission.cpp
index 40bee8e291..09c7e1d724 100644
--- a/src/modules/mavlink/mavlink_mission.cpp
+++ b/src/modules/mavlink/mavlink_mission.cpp
@@ -1329,6 +1329,7 @@ MavlinkMissionManager::parse_mavlink_mission_item(const mavlink_mission_item_t *
 		case MAV_CMD_NAV_LOITER_TIME:
 			mission_item->nav_cmd = NAV_CMD_LOITER_TIME_LIMIT;
 			mission_item->time_inside = mavlink_mission_item->param1;
+			mission_item->force_heading = (mavlink_mission_item->param2 > 0);
 			mission_item->loiter_radius = mavlink_mission_item->param3;
 			mission_item->loiter_exit_xtrack = (mavlink_mission_item->param4 > 0);
 			// Yaw is only valid for multicopter but we set it always because