diff --git a/src/modules/mavlink/mavlink_mission.cpp b/src/modules/mavlink/mavlink_mission.cpp
index 4453b7ab00..d8dea330c8 100644
--- a/src/modules/mavlink/mavlink_mission.cpp
+++ b/src/modules/mavlink/mavlink_mission.cpp
@@ -503,6 +503,8 @@ MavlinkMissionManager::send()
 	if (_mission_result_sub.update()) {
 		const mission_result_s &mission_result = _mission_result_sub.get();
 
+		bool send_current = false;
+
 		if (_current_seq != mission_result.seq_current) {
 
 			_current_seq = mission_result.seq_current;
@@ -511,7 +513,7 @@ MavlinkMissionManager::send()
 
 			if (mission_result.seq_total > 0) {
 				if (mission_result.seq_current < mission_result.seq_total) {
-					send_mission_current(_current_seq);
+					send_current = true;
 
 				} else {
 					_mavlink.send_statustext_critical("ERROR: wp index out of bounds\t");
@@ -521,6 +523,16 @@ MavlinkMissionManager::send()
 			}
 		}
 
+		// Send MISSION_CURRENT when finished state changes (to notify MISSION_STATE_COMPLETE)
+		if (_last_finished != mission_result.finished) {
+			_last_finished = mission_result.finished;
+			send_current = true;
+		}
+
+		if (send_current) {
+			send_mission_current(_current_seq);
+		}
+
 		if (_last_reached != mission_result.seq_reached) {
 
 			_last_reached = mission_result.seq_reached;
diff --git a/src/modules/mavlink/mavlink_mission.h b/src/modules/mavlink/mavlink_mission.h
index e35c668c91..192dcaafca 100644
--- a/src/modules/mavlink/mavlink_mission.h
+++ b/src/modules/mavlink/mavlink_mission.h
@@ -132,6 +132,7 @@ private:
 	static int32_t		_current_seq;				///< Current item sequence in active mission
 
 	int32_t			_last_reached{-1};			///< Last reached waypoint in active mission (-1 means nothing reached)
+	bool			_last_finished{false};			///< Last mission finished state
 
 	dm_item_t		_transfer_dataman_id{DM_KEY_WAYPOINTS_OFFBOARD_1};	///< Dataman storage ID for current transmission