diff --git a/src/modules/mavlink/waypoints.c b/src/modules/mavlink/waypoints.c
index 45e8914343..741ea8aa45 100644
--- a/src/modules/mavlink/waypoints.c
+++ b/src/modules/mavlink/waypoints.c
@@ -105,10 +105,10 @@ int map_mavlink_mission_item_to_mission_item(const mavlink_mission_item_t *mavli
 
 	switch (mavlink_mission_item->command) {
 		case MAV_CMD_NAV_TAKEOFF:
-			mission_item->pitch_min = mavlink_mission_item->param1;
+			mission_item->pitch_min = mavlink_mission_item->param2;
 			break;
 		default:
-			mission_item->radius = mavlink_mission_item->param1;
+			mission_item->radius = mavlink_mission_item->param2;
 			break;
 	}
 
@@ -117,7 +117,7 @@ int map_mavlink_mission_item_to_mission_item(const mavlink_mission_item_t *mavli
 	mission_item->loiter_direction = (mavlink_mission_item->param3 > 0) ? 1 : -1; /* 1 if positive CW, -1 if negative CCW */
 	mission_item->nav_cmd = mavlink_mission_item->command;
 
-	mission_item->time_inside = mavlink_mission_item->param2 / 1e3f; /* from milliseconds to seconds */
+	mission_item->time_inside = mavlink_mission_item->param1 / 1e3f; /* from milliseconds to seconds */
 	mission_item->autocontinue = mavlink_mission_item->autocontinue;
 	mission_item->index = mavlink_mission_item->seq;
 	mission_item->origin = ORIGIN_MAVLINK;
@@ -135,10 +135,10 @@ int map_mission_item_to_mavlink_mission_item(const struct mission_item_s *missio
 	
 	switch (mission_item->nav_cmd) {
 		case NAV_CMD_TAKEOFF:
-			mavlink_mission_item->param1 = mission_item->pitch_min;
+			mavlink_mission_item->param2 = mission_item->pitch_min;
 			break;
 		default:
-			mavlink_mission_item->param1 = mission_item->radius;
+			mavlink_mission_item->param2 = mission_item->radius;
 			break;
 	}
 
@@ -149,7 +149,7 @@ int map_mission_item_to_mavlink_mission_item(const struct mission_item_s *missio
 	mavlink_mission_item->param4 = mission_item->yaw*M_RAD_TO_DEG_F;
 	mavlink_mission_item->param3 = mission_item->loiter_radius*(float)mission_item->loiter_direction;
 	mavlink_mission_item->command = mission_item->nav_cmd;
-	mavlink_mission_item->param2 = mission_item->time_inside * 1e3f; /* from seconds to milliseconds */
+	mavlink_mission_item->param1 = mission_item->time_inside * 1e3f; /* from seconds to milliseconds */
 	mavlink_mission_item->autocontinue = mission_item->autocontinue;
 	mavlink_mission_item->seq = mission_item->index;