diff --git a/docs/Controls.md b/docs/Controls.md
index cef8fd3aa1..de5d18b45c 100644
--- a/docs/Controls.md
+++ b/docs/Controls.md
@@ -34,14 +34,13 @@ The stick positions are combined to activate different functions:
 | Trim Acc Forwards             | HIGH     | CENTER  | HIGH   | CENTER |
 | Trim Acc Backwards            | HIGH     | CENTER  | LOW    | CENTER |
 | Save current waypoint mission | LOW      | CENTER  | HIGH   | LOW    |
-| Load/unload current waypoint mission | LOW      | CENTER  | HIGH   | HIGH   |
+| Load current waypoint mission | LOW      | CENTER  | HIGH   | HIGH   |
+| Unload waypoint mission       | LOW      | CENTER  | LOW    | HIGH   |
 | Save setting                  | LOW      | LOW     | LOW    | HIGH   |
 | Enter OSD Menu (CMS)          | CENTER   | LOW     | HIGH   | CENTER |
 
 ![Stick Positions](assets/images/StickPositions.png)
 
-"Load/unload Mission" is a toggle. If no mission is loaded to RAM, the EEPROM mission is loaded; if a mission is in RAM, it is cleared. Successful loading is indicated by the `ACTION_SUCCESS` beep, otherwise the `ACTION_FAIL` beep is played.
-
 ## Yaw control
 
 While arming/disarming with sticks, your yaw stick will be moving to extreme values. In order to prevent your craft from trying to yaw during arming/disarming while on the ground, your yaw input will not cause the craft to yaw when the throttle is LOW (i.e. below the `min_check` setting).
diff --git a/docs/assets/images/StickPositions.png b/docs/assets/images/StickPositions.png
index a08b2c52b3..4f7365952d 100644
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diff --git a/src/main/fc/rc_controls.c b/src/main/fc/rc_controls.c
index 96cae079c5..b5d4648838 100644
--- a/src/main/fc/rc_controls.c
+++ b/src/main/fc/rc_controls.c
@@ -260,9 +260,14 @@ void processRcStickPositions(throttleStatus_e throttleStatus)
 
     // Load waypoint list
     if (rcSticks == THR_LO + YAW_CE + PIT_HI + ROL_HI) {
-        const bool success = loadNonVolatileWaypointList(true);
+        const bool success = loadNonVolatileWaypointList(false);
         beeper(success ? BEEPER_ACTION_SUCCESS : BEEPER_ACTION_FAIL);
     }
+
+    if (rcSticks == THR_LO + YAW_CE + PIT_LO + ROL_HI) {
+        resetWaypointList();
+        beeper(BEEPER_ACTION_FAIL); // The above cannot fail, but traditionally, we play FAIL for not-loading
+    }
 #endif
 
     // Multiple configuration profiles