diff --git a/gcs/src/components/mapComponents/contextMenuSpecificCommandItems.jsx b/gcs/src/components/mapComponents/contextMenuSpecificCommandItems.jsx
new file mode 100644
index 000000000..36844c71e
--- /dev/null
+++ b/gcs/src/components/mapComponents/contextMenuSpecificCommandItems.jsx
@@ -0,0 +1,91 @@
+import { useDispatch, useSelector } from "react-redux"
+import { coordToInt } from "../../helpers/dataFormatters"
+import { COPTER_MISSION_ITEM_COMMANDS_LIST } from "../../helpers/mavlinkConstants"
+import {
+  createNewSpecificMissionItem,
+  selectActiveTab,
+  selectContextMenu,
+} from "../../redux/slices/missionSlice"
+import ContextMenuItem from "./contextMenuItem"
+
+function getMissionCommandIdByName(name) {
+  const key = Object.keys(COPTER_MISSION_ITEM_COMMANDS_LIST).find(
+    (k) => COPTER_MISSION_ITEM_COMMANDS_LIST[k] === name,
+  )
+  if (key === undefined) {
+    // Command name not found; return null to indicate error
+    return null
+  }
+  return parseInt(key)
+}
+
+const defaultCommandAltitude = 30 // TODO: make this user configurable
+
+export default function ContextMenuSpecificCommandItems() {
+  const dispatch = useDispatch()
+  const activeTab = useSelector(selectActiveTab)
+  const contextMenuState = useSelector(selectContextMenu)
+
+  function addSpecificMissionItem(commandData) {
+    dispatch(createNewSpecificMissionItem(commandData))
+  }
+
+  // TODO: Add support for loiter commands in sub-menu, as well as modal input for parameters e.g. takeoff altitude
+
+  if (activeTab === "mission") {
+    return (
+      <>
+        <ContextMenuItem
+          onClick={() =>
+            addSpecificMissionItem({
+              command: getMissionCommandIdByName("MAV_CMD_NAV_WAYPOINT"),
+              x: coordToInt(contextMenuState.gpsCoords.lat),
+              y: coordToInt(contextMenuState.gpsCoords.lng),
+              z: defaultCommandAltitude,
+            })
+          }
+        >
+          <p>Add waypoint</p>
+        </ContextMenuItem>
+        <ContextMenuItem
+          onClick={() =>
+            addSpecificMissionItem({
+              command: getMissionCommandIdByName("MAV_CMD_NAV_TAKEOFF"),
+              x: 0,
+              y: 0,
+              z: defaultCommandAltitude,
+            })
+          }
+        >
+          <p>Add takeoff</p>
+        </ContextMenuItem>
+        <ContextMenuItem
+          onClick={() =>
+            addSpecificMissionItem({
+              command: getMissionCommandIdByName("MAV_CMD_NAV_LAND"),
+              x: coordToInt(contextMenuState.gpsCoords.lat),
+              y: coordToInt(contextMenuState.gpsCoords.lng),
+              z: 1,
+            })
+          }
+        >
+          <p>Add land</p>
+        </ContextMenuItem>
+        <ContextMenuItem
+          onClick={() =>
+            addSpecificMissionItem({
+              command: getMissionCommandIdByName(
+                "MAV_CMD_NAV_RETURN_TO_LAUNCH",
+              ),
+              x: 0,
+              y: 0,
+              z: 0,
+            })
+          }
+        >
+          <p>Add RTL</p>
+        </ContextMenuItem>
+      </>
+    )
+  }
+}
diff --git a/gcs/src/components/missions/missionsMap.jsx b/gcs/src/components/missions/missionsMap.jsx
index 7aa661322..c4c13edd5 100644
--- a/gcs/src/components/missions/missionsMap.jsx
+++ b/gcs/src/components/missions/missionsMap.jsx
@@ -51,7 +51,7 @@ import {
 import {
   clearDrawingItems,
   createFencePolygon,
-  createNewDrawingItem,
+  createNewDefaultDrawingItem,
   getFrameKey,
   removeDrawingItem,
   selectActiveTab,
@@ -61,6 +61,7 @@ import {
   setPlannedHomePositionToDronesHomePositionThunk,
   updateContextMenuState,
 } from "../../redux/slices/missionSlice"
+import ContextMenuSpecificCommandItems from "../mapComponents/contextMenuSpecificCommandItems"
 
 const tailwindColors = resolveConfig(tailwindConfig).theme.colors
 
@@ -321,7 +322,7 @@ function MapSectionNonMemo({
             addNewPolygonVertex(lat, lon)
           } else {
             dispatch(
-              createNewDrawingItem({ x: coordToInt(lat), y: coordToInt(lon) }),
+              createNewDefaultDrawingItem({ x: coordToInt(lat), y: coordToInt(lon) }),
             )
           }
         }}
@@ -446,6 +447,7 @@ function MapSectionNonMemo({
                   </ContextMenuItem>
                 </>
               )}
+            <ContextMenuSpecificCommandItems />
             <Divider />
             <ContextMenuItem onClick={zoomToDrone}>
               <p>Zoom to drone</p>
diff --git a/gcs/src/redux/slices/missionSlice.js b/gcs/src/redux/slices/missionSlice.js
index 7e060555b..1973582fe 100644
--- a/gcs/src/redux/slices/missionSlice.js
+++ b/gcs/src/redux/slices/missionSlice.js
@@ -213,7 +213,7 @@ const missionInfoSlice = createSlice({
         [state.activeTab]: true,
       }
     },
-    createNewDrawingItem: (state, action) => {
+    createNewDefaultDrawingItem: (state, action) => {
       const { x, y } = action.payload
       const drawingItem = newMissionItem(x, y, state.targetInfo)
 
@@ -238,6 +238,38 @@ const missionInfoSlice = createSlice({
         [state.activeTab]: true,
       }
     },
+    createNewSpecificMissionItem: (state, action) => {
+      const { x, y, z, command } = action.payload
+
+      if (!command) {
+        console.error("Invalid command for new mission item:", action.payload)
+        return
+      }
+
+      const drawingItem = newMissionItem(x, y, state.targetInfo)
+      const _type = `${state.activeTab}Items`
+
+      drawingItem.seq = state.drawingItems[_type].length
+      drawingItem.z = z
+      drawingItem.command = command
+      drawingItem.mission_type = { mission: 0, fence: 1, rally: 2 }[
+        state.activeTab
+      ]
+      if (action.payload.frame) {
+        drawingItem.frame = getFrameKey(action.payload.frame)
+      }
+      if (action.payload.params) {
+        Object.keys(action.payload.params).forEach((key) => {
+          drawingItem[key] = action.payload.params[key]
+        })
+      }
+
+      state.drawingItems[_type].push(drawingItem)
+      state.unwrittenChanges = {
+        ...state.unwrittenChanges,
+        [state.activeTab]: true,
+      }
+    },
     clearDrawingItems: (state) => {
       const _type = `${state.activeTab}Items`
 
@@ -514,7 +546,8 @@ export const {
   updateDrawingItem,
   removeDrawingItem,
   reorderDrawingItem,
-  createNewDrawingItem,
+  createNewDefaultDrawingItem,
+  createNewSpecificMissionItem,
   clearDrawingItems,
   createFencePolygon,
   setDrawingMissionItems,