diff --git a/src/FirmwarePlugin/FirmwarePlugin.h b/src/FirmwarePlugin/FirmwarePlugin.h
index ea3fb45a45c..236d10d83ef 100644
--- a/src/FirmwarePlugin/FirmwarePlugin.h
+++ b/src/FirmwarePlugin/FirmwarePlugin.h
@@ -122,6 +122,8 @@ class FirmwarePlugin : public QObject
     /// Returns the flight mode to use when the operator wants to take back control from autonomouse flight.
     virtual QString takeControlFlightMode(void) const { return QString(); }
 
+    virtual QString vtolTakeoffFlightMode(void) const { return QString(); }
+
     /// Returns whether the vehicle is in guided mode or not.
     virtual bool isGuidedMode(const Vehicle* vehicle) const;
 
diff --git a/src/FirmwarePlugin/PX4/PX4FirmwarePlugin.h b/src/FirmwarePlugin/PX4/PX4FirmwarePlugin.h
index 4a3d86e3470..17267027a88 100644
--- a/src/FirmwarePlugin/PX4/PX4FirmwarePlugin.h
+++ b/src/FirmwarePlugin/PX4/PX4FirmwarePlugin.h
@@ -42,6 +42,7 @@ class PX4FirmwarePlugin : public FirmwarePlugin
     QString             takeControlFlightMode           (void) const override { return _manualFlightMode; }
     QString             gotoFlightMode                  (void) const override { return _holdFlightMode; }
     QString             followFlightMode                (void) const override { return _followMeFlightMode; };
+    QString             vtolTakeoffFlightMode           (void) const override { return _vtolTakeoffFlightMode; }
     void                pauseVehicle                    (Vehicle* vehicle) override;
     void                guidedModeRTL                   (Vehicle* vehicle, bool smartRTL) override;
     void                guidedModeLand                  (Vehicle* vehicle) override;
diff --git a/src/FlightDisplay/GuidedActionsController.qml b/src/FlightDisplay/GuidedActionsController.qml
index dd1caa4bc9d..f87e6215d7b 100644
--- a/src/FlightDisplay/GuidedActionsController.qml
+++ b/src/FlightDisplay/GuidedActionsController.qml
@@ -173,6 +173,7 @@ Item {
     property var vtolTakeoffLoiterCoordinate: null
 
     signal showVtolTakeoffLoiter
+    signal vtolTakeoffExecuted
     signal actionCancelled
 
     function _outputState() {
@@ -185,7 +186,7 @@ Item {
         // generic defaults
         guidedValueSlider.configureAsLinearSlider()
 
-        if (actionCode === actionTakeoff) {
+        if (actionCode === actionTakeoff || actionCode === actionVtolTakeoff) {
                 guidedValueSlider.setMinVal(_activeVehicle.minimumTakeoffAltitude())
                 guidedValueSlider.setValue(_activeVehicle ? _activeVehicle.minimumTakeoffAltitude() : 0)
                 guidedValueSlider.setDisplayText("Height")
@@ -504,8 +505,7 @@ Item {
             confirmDialog.title = takeoffTitle
             confirmDialog.message = takeoffMessage
             confirmDialog.hideTrigger = Qt.binding(function() { return !showTakeoff })
-            altitudeSlider.setToMinimumTakeoff()
-            altitudeSlider.visible = true
+            guidedValueSlider.visible = true
             showVtolTakeoffLoiter()
             break;
 
@@ -598,7 +598,8 @@ Item {
                 }
             }
         case actionVtolTakeoff:
-            _activeVehicle.guidedModeVtolTakeoff(actionAltitudeChange, vtolTakeoffLoiterCoordinate.latitude, vtolTakeoffLoiterCoordinate.longitude)
+            _activeVehicle.guidedModeVtolTakeoff(sliderOutputValue, vtolTakeoffLoiterCoordinate.latitude, vtolTakeoffLoiterCoordinate.longitude)
+            vtolTakeoffExecuted()
             break
         default:
             console.warn(qsTr("Internal error: unknown actionCode"), actionCode)
diff --git a/src/FlightDisplay/VtolTakeoffPreview.qml b/src/FlightDisplay/VtolTakeoffPreview.qml
index 10ffb805124..4e2b573327c 100644
--- a/src/FlightDisplay/VtolTakeoffPreview.qml
+++ b/src/FlightDisplay/VtolTakeoffPreview.qml
@@ -26,6 +26,17 @@ Item {
 
     property var distHomeToLoiter : activeVehicle ? activeVehicle.loiterRadiusMeters * 3 : 0
 
+    function destroyVisuals()
+    {
+        if ( _loiterComponent) {
+            _loiterComponent.destroy()
+        }
+
+        if (_lineComponent) {
+            _lineComponent.destroy()
+        }
+    }
+
     Component {
         id: lineComponent
 
@@ -141,9 +152,8 @@ Item {
         target: (activeVehicle && activeVehicle.vtol) ? activeVehicle : null
 
         onVtolInFwdFlightChanged: {
-            if (_loiterComponent && activeVehicle.vtolInFwdFlight) {
-                _loiterComponent.destroy()
-                _lineComponent.destroy()
+            if (activeVehicle.vtolInFwdFlight) {
+                destroyVisuals()
             }
         }
 
@@ -152,16 +162,16 @@ Item {
             if (success) {
                 vtLoiterCircle.interactive = false
             } else {
-                if (_loiterComponent) {
-                    _loiterComponent.destroy()
-                }
-
-                if (_lineComponent) {
-                    _lineComponent.destroy()
-                }
+                destroyVisuals()
             }
         }
 
+        onFlightModeChanged: {
+            if (_takeoff_executed && activeVehicle.flightMode !== activeVehicle.vtolTakeoffFlightMode) {
+                // this happens if a user aborts the vtol takeoff by changing flight mode
+                destroyVisuals()
+            }
+        }
     }
 
     Connections {
@@ -179,17 +189,13 @@ Item {
             _takeoff_executed = false
         }
 
+        onVtolTakeoffExecuted: {
+            _takeoff_executed = true
+        }
+
         onActionCancelled: {
             if (!_takeoff_executed) {
-                if (_loiterComponent) {
-                    _loiterComponent.destroy()
-                }
-
-                if (_lineComponent) {
-                    _lineComponent.destroy()
-                }
-
-                _guidedActionsController.vtolTakeoffLoiterCoordinate = QtPositioning.coordinate()
+                destroyVisuals()
             }
         }
     }
diff --git a/src/Vehicle/Vehicle.cc b/src/Vehicle/Vehicle.cc
index 2681f2ae480..41d859d8092 100644
--- a/src/Vehicle/Vehicle.cc
+++ b/src/Vehicle/Vehicle.cc
@@ -3561,6 +3561,11 @@ QString Vehicle::followFlightMode() const
     return _firmwarePlugin->followFlightMode();
 }
 
+QString Vehicle::vtolTakeoffFlightMode() const
+{
+    return _firmwarePlugin->vtolTakeoffFlightMode();
+}
+
 QString Vehicle::vehicleImageOpaque() const
 {
     if(_firmwarePlugin)
diff --git a/src/Vehicle/Vehicle.h b/src/Vehicle/Vehicle.h
index 074b95c86a6..606b72be68d 100644
--- a/src/Vehicle/Vehicle.h
+++ b/src/Vehicle/Vehicle.h
@@ -220,6 +220,7 @@ class Vehicle : public FactGroup
     Q_PROPERTY(QString              landFlightMode              READ landFlightMode                                                 CONSTANT)
     Q_PROPERTY(QString              takeControlFlightMode       READ takeControlFlightMode                                          CONSTANT)
     Q_PROPERTY(QString              followFlightMode            READ followFlightMode                                               CONSTANT)
+    Q_PROPERTY(QString              vtolTakeoffFlightMode       READ vtolTakeoffFlightMode                                          CONSTANT)
     Q_PROPERTY(QString              firmwareTypeString          READ firmwareTypeString                                             NOTIFY firmwareTypeChanged)
     Q_PROPERTY(QString              vehicleTypeString           READ vehicleTypeString                                              NOTIFY vehicleTypeChanged)
     Q_PROPERTY(QString              vehicleImageOpaque          READ vehicleImageOpaque                                             CONSTANT)
@@ -603,6 +604,7 @@ class Vehicle : public FactGroup
     QString         landFlightMode              () const;
     QString         takeControlFlightMode       () const;
     QString         followFlightMode            () const;
+    QString         vtolTakeoffFlightMode       () const;
     double          defaultCruiseSpeed          () const { return _defaultCruiseSpeed; }
     double          defaultHoverSpeed           () const { return _defaultHoverSpeed; }
     QString         firmwareTypeString          () const;