diff --git a/libraries/AP_Mission/AP_Mission.cpp b/libraries/AP_Mission/AP_Mission.cpp
index 15ca3ab9e1..f88f7dbca6 100644
--- a/libraries/AP_Mission/AP_Mission.cpp
+++ b/libraries/AP_Mission/AP_Mission.cpp
@@ -728,6 +728,7 @@ struct PACKED Packed_Location_Option_Flags {
     uint8_t origin_alt   : 1;           // this altitude is above ekf origin
     uint8_t loiter_xtrack : 1;          // 0 to crosstrack from center of waypoint, 1 to crosstrack from tangent exit location
     uint8_t type_specific_bit_0 : 1;    // each mission item type can use this for storing 1 bit of extra data
+    uint8_t type_specific_bit_1 : 1;    // each mission item type can use this for storing 1 bit of extra data
 };
 
 struct PACKED PackedLocation {
@@ -815,7 +816,10 @@ bool AP_Mission::read_cmd_from_storage(uint16_t index, Mission_Command& cmd) con
         cmd.content.location.lng = packed_content.location.lng;
 
         if (packed_content.location.flags.type_specific_bit_0) {
-            cmd.type_specific_bits = 1U << 0;
+            cmd.type_specific_bits |= 1U << 0;
+        }
+        if (packed_content.location.flags.type_specific_bit_1) {
+            cmd.type_specific_bits |= 1U << 1;
         }
     } else {
         // all other options in Content are assumed to be packed:
@@ -882,7 +886,8 @@ bool AP_Mission::write_cmd_to_storage(uint16_t index, const Mission_Command& cmd
         packed.location.flags.terrain_alt = cmd.content.location.terrain_alt;
         packed.location.flags.origin_alt = cmd.content.location.origin_alt;
         packed.location.flags.loiter_xtrack = cmd.content.location.loiter_xtrack;
-        packed.location.flags.type_specific_bit_0 = cmd.type_specific_bits & (1U<<0);
+        packed.location.flags.type_specific_bit_0 = (cmd.type_specific_bits & (1U<<0)) >> 0;
+        packed.location.flags.type_specific_bit_1 = (cmd.type_specific_bits & (1U<<1)) >> 1;
         packed.location.alt = cmd.content.location.alt;
         packed.location.lat = cmd.content.location.lat;
         packed.location.lng = cmd.content.location.lng;
@@ -1029,18 +1034,25 @@ MAV_MISSION_RESULT AP_Mission::mavlink_int_to_mission_cmd(const mavlink_mission_
         break;
 
     case MAV_CMD_NAV_LOITER_TURNS: {                    // MAV ID: 18
-        // number of turns is stored in the lowest bits.  radii below
-        // 255m are stored in the top 8 bits as an 8-bit integer.
+        // number of turns is stored in the lowest bits. Number of
+        // turns 0 < N < 1 are stored multiplied by 256 and a bit set
+        // in storage so that on retrieval they are divided by 256.
+        // Radii below 255m are stored in the top 8 bits as an 8-bit integer.
         // Radii above 255m are stored divided by 10 and a bit set in
         // storage so that on retrieval they are multiplied by 10
-        cmd.p1 = MIN(255, packet.param1); // store number of times to circle in low p1
+        float param1_stored = packet.param1;
+        if (param1_stored > 0 && param1_stored < 1) {
+            param1_stored *= 256.0;
+            cmd.type_specific_bits |= (1U << 1);
+        }
+        cmd.p1 = MIN(255, param1_stored); // store number of times to circle in low p1
         uint8_t radius_m;
         const float abs_radius = fabsf(packet.param3);
         if (abs_radius <= 255) {
             radius_m = abs_radius;
         } else {
             radius_m = MIN(255, abs_radius * 0.1);
-            cmd.type_specific_bits = 1U << 0;
+            cmd.type_specific_bits |= (1U << 0);
         }
         cmd.p1 |= (radius_m<<8);   // store radius in high byte of p1
         cmd.content.location.loiter_ccw = (packet.param3 < 0);
@@ -1550,6 +1562,9 @@ bool AP_Mission::mission_cmd_to_mavlink_int(const AP_Mission::Mission_Command& c
         if (cmd.type_specific_bits & (1U<<0)) {
             packet.param3 *= 10;
         }
+        if (cmd.type_specific_bits & (1U<<1)) {
+            packet.param1 /= 256.0;
+        }
         packet.param4 = cmd.content.location.loiter_xtrack; // 0 to xtrack from center of waypoint, 1 to xtrack from tangent exit location
         break;
 
diff --git a/libraries/AP_Mission/AP_Mission.h b/libraries/AP_Mission/AP_Mission.h
index b50fa4d982..c7204b315b 100644
--- a/libraries/AP_Mission/AP_Mission.h
+++ b/libraries/AP_Mission/AP_Mission.h
@@ -415,6 +415,19 @@ public:
         // comparison operator (relies on all bytes in the structure even if they may not be used)
         bool operator ==(const Mission_Command &b) const { return (memcmp(this, &b, sizeof(Mission_Command)) == 0); }
         bool operator !=(const Mission_Command &b) const { return !operator==(b); }
+
+        /*
+          return the number of turns for a LOITER_TURNS command
+          this has special handling for loiter turns from cmd.p1 and type_specific_bits
+         */
+        float get_loiter_turns(void) const {
+            float turns = LOWBYTE(p1);
+            if (type_specific_bits & (1U<<1)) {
+                // special storage handling allows for fractional turns
+                turns *= (1.0/256.0);
+            }
+            return turns;
+        }
     };