diff --git a/src/main/cms/cms_menu_navigation.c b/src/main/cms/cms_menu_navigation.c
index f8cdf92b25..b1fd83af19 100644
--- a/src/main/cms/cms_menu_navigation.c
+++ b/src/main/cms/cms_menu_navigation.c
@@ -195,8 +195,9 @@ static const OSD_Entry cmsx_menuMissionSettingsEntries[] =
     OSD_SETTING_ENTRY("WP LOAD ON BOOT", SETTING_NAV_WP_LOAD_ON_BOOT),
     OSD_SETTING_ENTRY("WP REACHED RADIUS", SETTING_NAV_WP_RADIUS),
     OSD_SETTING_ENTRY("WP SAFE DISTANCE", SETTING_NAV_WP_SAFE_DISTANCE),
+#ifdef USE_MULTI_MISSION
     OSD_SETTING_ENTRY("MULTI MISSION NUMBER", SETTING_NAV_WP_MULTI_MISSION_INDEX),
-
+#endif
     OSD_BACK_AND_END_ENTRY,
  };
 
diff --git a/src/main/fc/cli.c b/src/main/fc/cli.c
index 1ba70ed38f..bb8a12bc4d 100644
--- a/src/main/fc/cli.c
+++ b/src/main/fc/cli.c
@@ -1395,8 +1395,9 @@ static void printWaypoints(uint8_t dumpMask, const navWaypoint_t *navWaypoint, c
 
 static void cliWaypoints(char *cmdline)
 {
+#ifdef USE_MULTI_MISSION
     static int8_t multiMissionWPCounter = 0;
-
+#endif
     if (isEmpty(cmdline)) {
         printWaypoints(DUMP_MASTER, posControl.waypointList, NULL);
     } else if (sl_strcasecmp(cmdline, "reset") == 0) {
@@ -1408,6 +1409,7 @@ static void cliWaypoints(char *cmdline)
         for (int i = 0; i < NAV_MAX_WAYPOINTS; i++) {
             if (!(posControl.waypointList[i].action == NAV_WP_ACTION_WAYPOINT || posControl.waypointList[i].action == NAV_WP_ACTION_JUMP || posControl.waypointList[i].action == NAV_WP_ACTION_RTH || posControl.waypointList[i].action == NAV_WP_ACTION_HOLD_TIME || posControl.waypointList[i].action == NAV_WP_ACTION_LAND || posControl.waypointList[i].action == NAV_WP_ACTION_SET_POI || posControl.waypointList[i].action == NAV_WP_ACTION_SET_HEAD)) break;
             if (posControl.waypointList[i].flag == NAV_WP_FLAG_LAST) {
+#ifdef USE_MULTI_MISSION
                 if (posControl.multiMissionCount == 1) {
                     posControl.waypointCount = i + 1;
                     posControl.waypointListValid = true;
@@ -1417,6 +1419,11 @@ static void cliWaypoints(char *cmdline)
                 } else {
                     posControl.multiMissionCount -= 1;
                 }
+#else
+                posControl.waypointCount = i + 1;
+                posControl.waypointListValid = true;
+                break;
+#endif
             }
         }
         if (posControl.waypointListValid) {
@@ -1431,7 +1438,11 @@ static void cliWaypoints(char *cmdline)
         uint8_t validArgumentCount = 0;
         const char *ptr = cmdline;
         i = fastA2I(ptr);
+#ifdef USE_MULTI_MISSION
         if (i + multiMissionWPCounter >= 0 && i + multiMissionWPCounter < NAV_MAX_WAYPOINTS) {
+#else
+        if (i >= 0 && i < NAV_MAX_WAYPOINTS) {
+#endif
             ptr = nextArg(ptr);
             if (ptr) {
                 action = fastA2I(ptr);
@@ -1484,6 +1495,7 @@ static void cliWaypoints(char *cmdline)
             } else if (!(action == 0 || action == NAV_WP_ACTION_WAYPOINT || action == NAV_WP_ACTION_RTH || action == NAV_WP_ACTION_JUMP || action == NAV_WP_ACTION_HOLD_TIME || action == NAV_WP_ACTION_LAND || action == NAV_WP_ACTION_SET_POI || action == NAV_WP_ACTION_SET_HEAD) || !(flag == 0 || flag == NAV_WP_FLAG_LAST || flag == NAV_WP_FLAG_HOME)) {
                 cliShowParseError();
             } else {
+#ifdef USE_MULTI_MISSION
                 if (i + multiMissionWPCounter == 0) {
                     posControl.multiMissionCount = 0;
                 }
@@ -1503,6 +1515,16 @@ static void cliWaypoints(char *cmdline)
                     multiMissionWPCounter += i + 1;
                     posControl.multiMissionCount += 1;
                 }
+#else
+                posControl.waypointList[i].action = action;
+                posControl.waypointList[i].lat = lat;
+                posControl.waypointList[i].lon = lon;
+                posControl.waypointList[i].alt = alt;
+                posControl.waypointList[i].p1 = p1;
+                posControl.waypointList[i].p2 = p2;
+                posControl.waypointList[i].p3 = p3;
+                posControl.waypointList[i].flag = flag;
+#endif
             }
         } else {
             cliShowArgumentRangeError("wp index", 0, NAV_MAX_WAYPOINTS - 1);
diff --git a/src/main/fc/fc_core.c b/src/main/fc/fc_core.c
index 3e28f41be8..1b3d26e5f9 100755
--- a/src/main/fc/fc_core.c
+++ b/src/main/fc/fc_core.c
@@ -515,8 +515,9 @@ void releaseSharedTelemetryPorts(void) {
 
 void tryArm(void)
 {
+#ifdef USE_MULTI_MISSION
     setMultiMissionOnArm();
-
+#endif
     updateArmingStatus();
 
 #ifdef USE_DSHOT
diff --git a/src/main/fc/rc_controls.c b/src/main/fc/rc_controls.c
index e75be364a7..cbd995aec9 100644
--- a/src/main/fc/rc_controls.c
+++ b/src/main/fc/rc_controls.c
@@ -263,7 +263,7 @@ void processRcStickPositions(throttleStatus_e throttleStatus)
         const bool success = loadNonVolatileWaypointList(false);
         beeper(success ? BEEPER_ACTION_SUCCESS : BEEPER_ACTION_FAIL);
     }
-
+#ifdef USE_MULTI_MISSION
     // Increment multi mission index up
     if (rcSticks == THR_LO + YAW_CE + PIT_CE + ROL_HI) {
         selectMultiMissionIndex(1);
@@ -277,7 +277,7 @@ void processRcStickPositions(throttleStatus_e throttleStatus)
         rcDelayCommand = 0;
         return;
     }
-
+#endif
     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
diff --git a/src/main/fc/settings.yaml b/src/main/fc/settings.yaml
index 22dd0335b1..2efdc2987b 100644
--- a/src/main/fc/settings.yaml
+++ b/src/main/fc/settings.yaml
@@ -2429,6 +2429,7 @@ groups:
         description: "Index of mission selected from multi mission WP entry loaded in flight controller. 1 is the first useable WP mission in the entry. Limited to a maximum of 9 missions. Set index to 0 to display current active WP count in OSD Mission field."
         default_value: 1
         field: general.waypoint_multi_mission_index
+        condition: USE_MULTI_MISSION
         min: 0
         max: 9
       - name: nav_auto_speed
diff --git a/src/main/io/osd.c b/src/main/io/osd.c
index b489aa1573..cb46c7d713 100644
--- a/src/main/io/osd.c
+++ b/src/main/io/osd.c
@@ -3003,7 +3003,9 @@ static bool osdDrawSingleElement(uint8_t item)
                 tfp_sprintf(buff, "%s>%2uWP", buf, posControl.wpPlannerActiveWPIndex);
             } else if (posControl.wpPlannerActiveWPIndex){
                 tfp_sprintf(buff, "PLAN>%2uWP", posControl.waypointCount);  // mission planner mision active
-            } else {
+            }
+#ifdef USE_MULTI_MISSION
+            else {
                 if (ARMING_FLAG(ARMED)){
                     // Limit field size when Armed, only show selected mission
                     tfp_sprintf(buff, "M%u       ", posControl.loadedMultiMissionIndex);
@@ -3023,6 +3025,7 @@ static bool osdDrawSingleElement(uint8_t item)
                     tfp_sprintf(buff, "WP CNT>%2u", posControl.waypointCount);
                 }
             }
+#endif
             displayWrite(osdDisplayPort, elemPosX, elemPosY, buff);
             return true;
         }
@@ -3877,8 +3880,12 @@ static void osdShowArmed(void)
     }
 #if defined(USE_NAV)
     if (posControl.waypointListValid && posControl.waypointCount > 0) {
+#ifdef USE_MULTI_MISSION
         tfp_sprintf(buf, "MISSION %u/%u (%u WP)", posControl.loadedMultiMissionIndex, posControl.multiMissionCount, posControl.waypointCount);
         displayWrite(osdDisplayPort, 6, y, buf);
+#else
+        displayWrite(osdDisplayPort, 7, y, "*MISSION LOADED*");
+#endif
     }
 #endif
     y += 1;
diff --git a/src/main/navigation/navigation.c b/src/main/navigation/navigation.c
index 22ad2f0c38..644e298b91 100644
--- a/src/main/navigation/navigation.c
+++ b/src/main/navigation/navigation.c
@@ -39,7 +39,9 @@
 #include "fc/rc_controls.h"
 #include "fc/rc_modes.h"
 #include "fc/runtime_config.h"
+#ifdef USE_MULTI_MISSION
 #include "fc/cli.h"
+#endif
 #include "fc/settings.h"
 
 #include "flight/imu.h"
@@ -125,7 +127,9 @@ PG_RESET_TEMPLATE(navConfig_t, navConfig,
         .pos_failure_timeout = SETTING_NAV_POSITION_TIMEOUT_DEFAULT,                            // 5 sec
         .waypoint_radius = SETTING_NAV_WP_RADIUS_DEFAULT,                                       // 2m diameter
         .waypoint_safe_distance = SETTING_NAV_WP_SAFE_DISTANCE_DEFAULT,                         // centimeters - first waypoint should be closer than this
+#ifdef USE_MULTI_MISSION
         .waypoint_multi_mission_index = SETTING_NAV_WP_MULTI_MISSION_INDEX_DEFAULT,             // mission index selected from multi mission WP entry
+#endif
         .waypoint_load_on_boot = SETTING_NAV_WP_LOAD_ON_BOOT_DEFAULT,                           // load waypoints automatically during boot
         .auto_speed = SETTING_NAV_AUTO_SPEED_DEFAULT,                                           // speed in autonomous modes (3 m/s = 10.8 km/h)
         .max_auto_speed = SETTING_NAV_MAX_AUTO_SPEED_DEFAULT,                                   // max allowed speed autonomous modes
@@ -2882,9 +2886,11 @@ void resetWaypointList(void)
         posControl.waypointCount = 0;
         posControl.waypointListValid = false;
         posControl.geoWaypointCount = 0;
+#ifdef USE_MULTI_MISSION
         posControl.loadedMultiMissionIndex = 0;
         posControl.loadedMultiMissionStartWP = 0;
         posControl.loadedMultiMissionWPCount = 0;
+#endif
     }
 }
 
@@ -2897,7 +2903,7 @@ int getWaypointCount(void)
 {
     return posControl.waypointCount;
 }
-
+#ifdef USE_MULTI_MISSION
 void selectMultiMissionIndex(int8_t increment)
 {
     if (posControl.multiMissionCount > 1) {     // stick selection only active when multi mission loaded
@@ -2934,13 +2940,17 @@ bool checkMissionCount(int8_t waypoint)
     }
     return false;
 }
-
+#endif  // multi mission
 #ifdef NAV_NON_VOLATILE_WAYPOINT_STORAGE
 bool loadNonVolatileWaypointList(bool clearIfLoaded)
 {
+#ifdef USE_MULTI_MISSION
     /* multi_mission_index 0 only used for non NVM missions - don't load.
      * Don't load if mission planner WP count > 0 */
     if (ARMING_FLAG(ARMED) || !navConfig()->general.waypoint_multi_mission_index || posControl.wpPlannerActiveWPIndex) {
+#else
+    if (ARMING_FLAG(ARMED) || posControl.wpPlannerActiveWPIndex) {
+#endif
         return false;
     }
 
@@ -2949,7 +2959,7 @@ bool loadNonVolatileWaypointList(bool clearIfLoaded)
         resetWaypointList();
         return false;
     }
-
+#ifdef USE_MULTI_MISSION
     /* Reset multi mission index to 1 if exceeds number of available missions */
     if (navConfig()->general.waypoint_multi_mission_index > posControl.multiMissionCount) {
         navConfigMutable()->general.waypoint_multi_mission_index = 1;
@@ -2957,10 +2967,10 @@ bool loadNonVolatileWaypointList(bool clearIfLoaded)
     posControl.multiMissionCount = 0;
     posControl.loadedMultiMissionWPCount = 0;
     int8_t loadedMultiMissionGeoWPCount;
-
+#endif
     for (int i = 0; i < NAV_MAX_WAYPOINTS; i++) {
         setWaypoint(i + 1, nonVolatileWaypointList(i));
-
+#ifdef USE_MULTI_MISSION
         /* store details of selected mission */
         if ((posControl.multiMissionCount + 1 == navConfig()->general.waypoint_multi_mission_index)) {
             // mission start WP
@@ -2988,6 +2998,14 @@ bool loadNonVolatileWaypointList(bool clearIfLoaded)
     /* Mission sanity check failed - reset the list
      * Also reset if no selected mission loaded (shouldn't happen) */
     if (!posControl.waypointListValid || !posControl.loadedMultiMissionWPCount) {
+#else
+        // check this is the last waypoint
+        if (nonVolatileWaypointList(i)->flag == NAV_WP_FLAG_LAST) {
+            break;
+        }
+    // Mission sanity check failed - reset the list
+    if (!posControl.waypointListValid) {
+#endif
         resetWaypointList();
     }
 
@@ -3002,8 +3020,9 @@ bool saveNonVolatileWaypointList(void)
     for (int i = 0; i < NAV_MAX_WAYPOINTS; i++) {
         getWaypoint(i + 1, nonVolatileWaypointListMutable(i));
     }
-
+#ifdef USE_MULTI_MISSION
     navConfigMutable()->general.waypoint_multi_mission_index = 1;    // reset selected mission to 1 when new entries saved
+#endif
     saveConfigAndNotify();
 
     return true;
@@ -3472,7 +3491,11 @@ bool navigationTerrainFollowingEnabled(void)
 uint32_t distanceToFirstWP(void)
 {
     fpVector3_t startingWaypointPos;
+#ifdef USE_MULTI_MISSION
     mapWaypointToLocalPosition(&startingWaypointPos, &posControl.waypointList[posControl.loadedMultiMissionStartWP], GEO_ALT_RELATIVE);
+#else
+    mapWaypointToLocalPosition(&startingWaypointPos, &posControl.waypointList[0], GEO_ALT_RELATIVE);
+#endif
     return calculateDistanceToDestination(&startingWaypointPos);
 }
 
@@ -3520,9 +3543,13 @@ navArmingBlocker_e navigationIsBlockingArming(bool *usedBypass)
          * Can't jump beyond WP list
          * Only jump to geo-referenced WP types
          *
+#ifdef USE_MULTI_MISSION
          * Only perform check when mission loaded at start of posControl.waypointList
          */
     if (posControl.waypointCount && !posControl.loadedMultiMissionStartWP) {
+#else
+    if (posControl.waypointCount) {
+#endif
         for (uint8_t wp = 0; wp < posControl.waypointCount; wp++){
             if (posControl.waypointList[wp].action == NAV_WP_ACTION_JUMP){
                 if((wp == 0) || ((posControl.waypointList[wp].p1 > (wp-2)) && (posControl.waypointList[wp].p1 < (wp+2)) ) || (posControl.waypointList[wp].p1 >=  posControl.waypointCount) || (posControl.waypointList[wp].p2 < -1)) {
@@ -3779,9 +3806,10 @@ void navigationInit(void)
     posControl.waypointListValid = false;
     posControl.wpPlannerActiveWPIndex = 0;
     posControl.flags.wpMissionPlannerActive = false;
+#ifdef USE_MULTI_MISSION
     posControl.multiMissionCount = 0;
     posControl.loadedMultiMissionStartWP = 0;
-
+#endif
     /* Set initial surface invalid */
     posControl.actualState.surfaceMin = -1.0f;
 
@@ -3802,6 +3830,7 @@ void navigationInit(void)
     }
 #if defined(NAV_NON_VOLATILE_WAYPOINT_STORAGE)
     /* configure WP missions at boot */
+#ifdef USE_MULTI_MISSION
     for (int8_t i = 0; i < NAV_MAX_WAYPOINTS; i++) {    // check number missions in NVM
         if (checkMissionCount(i)) {
             break;
@@ -3811,6 +3840,7 @@ void navigationInit(void)
     if (navConfig()->general.waypoint_multi_mission_index > posControl.multiMissionCount) {
         navConfigMutable()->general.waypoint_multi_mission_index = 1;
     }
+#endif
     /* load mission on boot */
     if (navConfig()->general.waypoint_load_on_boot) {
         loadNonVolatileWaypointList(false);
diff --git a/src/main/navigation/navigation.h b/src/main/navigation/navigation.h
index 2894b22b53..9a2154e21b 100644
--- a/src/main/navigation/navigation.h
+++ b/src/main/navigation/navigation.h
@@ -229,7 +229,9 @@ typedef struct navConfig_s {
         uint8_t  pos_failure_timeout;               // Time to wait before switching to emergency landing (0 - disable)
         uint16_t waypoint_radius;                   // if we are within this distance to a waypoint then we consider it reached (distance is in cm)
         uint16_t waypoint_safe_distance;            // Waypoint mission sanity check distance
+#ifdef USE_MULTI_MISSION
         uint8_t  waypoint_multi_mission_index;      // Index of mission to be loaded in multi mission entry
+#endif
         bool     waypoint_load_on_boot;             // load waypoints automatically during boot
         uint16_t auto_speed;                        // autonomous navigation speed cm/sec
         uint16_t max_auto_speed;                    // maximum allowed autonomous navigation speed cm/sec
@@ -492,9 +494,10 @@ void setWaypoint(uint8_t wpNumber, const navWaypoint_t * wpData);
 void resetWaypointList(void);
 bool loadNonVolatileWaypointList(bool clearIfLoaded);
 bool saveNonVolatileWaypointList(void);
+#ifdef USE_MULTI_MISSION
 void selectMultiMissionIndex(int8_t increment);
 void setMultiMissionOnArm(void);
-
+#endif
 float getFinalRTHAltitude(void);
 int16_t fixedWingPitchToThrottleCorrection(int16_t pitch, timeUs_t currentTimeUs);
 
diff --git a/src/main/navigation/navigation_private.h b/src/main/navigation/navigation_private.h
index c20b0fbef6..23e61927c2 100644
--- a/src/main/navigation/navigation_private.h
+++ b/src/main/navigation/navigation_private.h
@@ -366,13 +366,13 @@ typedef struct {
     /* WP Mission planner */
     int8_t                      wpMissionPlannerStatus;     // WP save status for setting in flight WP mission planner
     int8_t                      wpPlannerActiveWPIndex;
-
+#ifdef USE_MULTI_MISSION
     /* Multi Missions */
     int8_t                      multiMissionCount;          // number of missions in multi mission entry
     int8_t                      loadedMultiMissionIndex;    // index of selected multi mission
     int8_t                      loadedMultiMissionStartWP;  // selected multi mission start WP
     int8_t                      loadedMultiMissionWPCount;  // number of WPs in selected multi mission
-
+#endif
     navWaypointPosition_t       activeWaypoint;     // Local position and initial bearing, filled on waypoint activation
     int8_t                      activeWaypointIndex;
     float                       wpInitialAltitude;  // Altitude at start of WP
diff --git a/src/main/target/common.h b/src/main/target/common.h
index 6817ec7e37..a2b9dbaefd 100755
--- a/src/main/target/common.h
+++ b/src/main/target/common.h
@@ -191,6 +191,7 @@
 #define USE_SERIAL_PASSTHROUGH
 #define NAV_MAX_WAYPOINTS       120
 #define USE_RCDEVICE
+#define USE_MULTI_MISSION
 
 //Enable VTX control
 #define USE_VTX_CONTROL