diff --git a/libraries/GCS_MAVLink/GCS_Common.cpp b/libraries/GCS_MAVLink/GCS_Common.cpp
index dc6a3cf907..737e3e069d 100644
--- a/libraries/GCS_MAVLink/GCS_Common.cpp
+++ b/libraries/GCS_MAVLink/GCS_Common.cpp
@@ -14,6 +14,8 @@
    You should have received a copy of the GNU General Public License
    along with this program.  If not, see <http://www.gnu.org/licenses/>.
  */
+#include "GCS.h"
+
 #include <AP_AHRS/AP_AHRS.h>
 #include <AP_HAL/AP_HAL.h>
 #include <AP_Arming/AP_Arming.h>
@@ -36,8 +38,6 @@
 #include <AP_OpticalFlow/OpticalFlow.h>
 #include <AP_Baro/AP_Baro.h>
 
-#include "GCS.h"
-
 #include <stdio.h>
 
 #if HAL_RCINPUT_WITH_AP_RADIO
diff --git a/libraries/GCS_MAVLink/MissionItemProtocol.cpp b/libraries/GCS_MAVLink/MissionItemProtocol.cpp
index ea2bd8fe1f..52ee0a5a00 100644
--- a/libraries/GCS_MAVLink/MissionItemProtocol.cpp
+++ b/libraries/GCS_MAVLink/MissionItemProtocol.cpp
@@ -74,8 +74,8 @@ void MissionItemProtocol::handle_mission_count(
 
     if (packet.count == 0) {
         // no requests to send...
-        send_mission_ack(_link, msg, MAV_MISSION_ACCEPTED);
-        complete(_link);
+        const MAV_MISSION_RESULT result = complete(_link);
+        send_mission_ack(_link, msg, result);
         return;
     }
 
@@ -233,6 +233,8 @@ void MissionItemProtocol::handle_mission_item(const mavlink_message_t &msg, cons
     }
     if (result != MAV_MISSION_ACCEPTED) {
         send_mission_ack(msg, result);
+        receiving = false;
+        link = nullptr;
         return;
     }
 
@@ -241,8 +243,8 @@ void MissionItemProtocol::handle_mission_item(const mavlink_message_t &msg, cons
     request_i++;
 
     if (request_i > request_last) {
-        send_mission_ack(msg, MAV_MISSION_ACCEPTED);
-        complete(*link);
+        const MAV_MISSION_RESULT complete_result = complete(*link);
+        send_mission_ack(msg, complete_result);
         receiving = false;
         link = nullptr;
         return;
diff --git a/libraries/GCS_MAVLink/MissionItemProtocol.h b/libraries/GCS_MAVLink/MissionItemProtocol.h
index a7e6480bda..8a3e7b1455 100644
--- a/libraries/GCS_MAVLink/MissionItemProtocol.h
+++ b/libraries/GCS_MAVLink/MissionItemProtocol.h
@@ -106,7 +106,9 @@ private:
     virtual MAV_MISSION_RESULT replace_item(const mavlink_mission_item_int_t &mission_item_int) = 0;
     virtual MAV_MISSION_RESULT append_item(const mavlink_mission_item_int_t &mission_item_int) = 0;
 
-    virtual void complete(const GCS_MAVLINK &_link) {};
+    virtual MAV_MISSION_RESULT complete(const GCS_MAVLINK &_link) {
+        return MAV_MISSION_ACCEPTED;
+    };
     virtual void timeout() {};
 
     bool mavlink2_requirement_met(const GCS_MAVLINK &_link, const mavlink_message_t &msg) const;
diff --git a/libraries/GCS_MAVLink/MissionItemProtocol_Rally.cpp b/libraries/GCS_MAVLink/MissionItemProtocol_Rally.cpp
index b1f642f80a..b9e91b1941 100644
--- a/libraries/GCS_MAVLink/MissionItemProtocol_Rally.cpp
+++ b/libraries/GCS_MAVLink/MissionItemProtocol_Rally.cpp
@@ -36,10 +36,11 @@ MAV_MISSION_RESULT MissionItemProtocol_Rally::append_item(const mavlink_mission_
     return MAV_MISSION_ACCEPTED;
 }
 
-void MissionItemProtocol_Rally::complete(const GCS_MAVLINK &_link)
+MAV_MISSION_RESULT MissionItemProtocol_Rally::complete(const GCS_MAVLINK &_link)
 {
     _link.send_text(MAV_SEVERITY_INFO, "Rally points received");
     AP::logger().Write_Rally();
+    return MAV_MISSION_ACCEPTED;
 }
 
 bool MissionItemProtocol_Rally::clear_all_items()
diff --git a/libraries/GCS_MAVLink/MissionItemProtocol_Rally.h b/libraries/GCS_MAVLink/MissionItemProtocol_Rally.h
index f1d5de514b..379bcdcebc 100644
--- a/libraries/GCS_MAVLink/MissionItemProtocol_Rally.h
+++ b/libraries/GCS_MAVLink/MissionItemProtocol_Rally.h
@@ -9,7 +9,7 @@ public:
     void truncate(const mavlink_mission_count_t &packet) override;
     MAV_MISSION_TYPE mission_type() const override { return MAV_MISSION_TYPE_RALLY; }
 
-    void complete(const GCS_MAVLINK &_link) override;
+    MAV_MISSION_RESULT complete(const GCS_MAVLINK &_link) override;
     void timeout() override;
 
 protected:
diff --git a/libraries/GCS_MAVLink/MissionItemProtocol_Waypoints.cpp b/libraries/GCS_MAVLink/MissionItemProtocol_Waypoints.cpp
index 72999d202b..b69ac5ead3 100644
--- a/libraries/GCS_MAVLink/MissionItemProtocol_Waypoints.cpp
+++ b/libraries/GCS_MAVLink/MissionItemProtocol_Waypoints.cpp
@@ -50,10 +50,11 @@ bool MissionItemProtocol_Waypoints::clear_all_items()
     return mission.clear();
 }
 
-void MissionItemProtocol_Waypoints::complete(const GCS_MAVLINK &_link)
+MAV_MISSION_RESULT MissionItemProtocol_Waypoints::complete(const GCS_MAVLINK &_link)
 {
     _link.send_text(MAV_SEVERITY_INFO, "Flight plan received");
     AP::logger().Write_EntireMission();
+    return MAV_MISSION_ACCEPTED;
 }
 
 MAV_MISSION_RESULT MissionItemProtocol_Waypoints::get_item(const GCS_MAVLINK &_link,
diff --git a/libraries/GCS_MAVLink/MissionItemProtocol_Waypoints.h b/libraries/GCS_MAVLink/MissionItemProtocol_Waypoints.h
index f30c9cfcdf..5a7ee4e86e 100644
--- a/libraries/GCS_MAVLink/MissionItemProtocol_Waypoints.h
+++ b/libraries/GCS_MAVLink/MissionItemProtocol_Waypoints.h
@@ -16,7 +16,7 @@ public:
     // complete() is called by the base class after all waypoints have
     // been received.  _link is the link which the last item was
     // transfered on.
-    void complete(const GCS_MAVLINK &_link) override;
+    MAV_MISSION_RESULT complete(const GCS_MAVLINK &_link) override;
     // timeout() is called by the base class in the case that the GCS
     // does not transfer all waypoints to the vehicle.
     void timeout() override;