diff --git a/gcs/src/components/missions/fenceItemsTableRow.jsx b/gcs/src/components/missions/fenceItemsTableRow.jsx
index 5ba378300..ea5931343 100644
--- a/gcs/src/components/missions/fenceItemsTableRow.jsx
+++ b/gcs/src/components/missions/fenceItemsTableRow.jsx
@@ -11,11 +11,12 @@ import {
 } from "@mantine/core"
 import { IconArrowDown, IconArrowUp, IconTrash } from "@tabler/icons-react"
 import { useEffect, useState } from "react"
-import { coordToInt, intToCoord } from "../../helpers/dataFormatters"
 import {
-  FENCE_ITEM_COMMANDS_LIST,
-  MAV_FRAME_LIST,
-} from "../../helpers/mavlinkConstants"
+  coordToInt,
+  getPositionFrameName,
+  intToCoord,
+} from "../../helpers/dataFormatters"
+import { FENCE_ITEM_COMMANDS_LIST } from "../../helpers/mavlinkConstants"
 
 const coordsFractionDigits = 9
 
@@ -38,16 +39,6 @@ function getAvailableCommands() {
   }))
 }
 
-function getFrameName(frameId) {
-  var frameName = MAV_FRAME_LIST[frameId]
-
-  if (frameName.startsWith("MAV_FRAME_")) {
-    frameName = frameName.replace("MAV_FRAME_", "")
-  }
-
-  return frameName || "UNKNOWN"
-}
-
 export default function FenceItemsTableRow({
   index,
   fenceItem,
@@ -120,7 +111,7 @@ export default function FenceItemsTableRow({
           hideControls
         />
       </TableTd>
-      <TableTd>{getFrameName(fenceItemData.frame)}</TableTd>
+      <TableTd>{getPositionFrameName(fenceItemData.frame)}</TableTd>
       <TableTd className="flex flex-row gap-2">
         <ActionIcon
           onClick={() => updateMissionItemOrder(fenceItemData.id, -1)}
diff --git a/gcs/src/components/missions/missionItemsTableRow.jsx b/gcs/src/components/missions/missionItemsTableRow.jsx
index 6ac80dee7..f8d1feaad 100644
--- a/gcs/src/components/missions/missionItemsTableRow.jsx
+++ b/gcs/src/components/missions/missionItemsTableRow.jsx
@@ -11,10 +11,13 @@ import {
 } from "@mantine/core"
 import { IconArrowDown, IconArrowUp, IconTrash } from "@tabler/icons-react"
 import { useEffect, useState } from "react"
-import { coordToInt, intToCoord } from "../../helpers/dataFormatters"
+import {
+  coordToInt,
+  getPositionFrameName,
+  intToCoord,
+} from "../../helpers/dataFormatters"
 import {
   COPTER_MISSION_ITEM_COMMANDS_LIST,
-  MAV_FRAME_LIST,
   PLANE_MISSION_ITEM_COMMANDS_LIST,
 } from "../../helpers/mavlinkConstants"
 
@@ -60,16 +63,6 @@ export default function MissionItemsTableRow({
     }))
   }
 
-  function getFrameName(frameId) {
-    var frameName = MAV_FRAME_LIST[frameId]
-
-    if (frameName.startsWith("MAV_FRAME_")) {
-      frameName = frameName.replace("MAV_FRAME_", "")
-    }
-
-    return frameName || "UNKNOWN"
-  }
-
   function updateMissionItemData(key, newVal) {
     setMissionItemData({
       ...missionItemData,
@@ -139,7 +132,7 @@ export default function MissionItemsTableRow({
           hideControls
         />
       </TableTd>
-      <TableTd>{getFrameName(missionItemData.frame)}</TableTd>
+      <TableTd>{getPositionFrameName(missionItemData.frame)}</TableTd>
       <TableTd className="flex flex-row gap-2">
         <ActionIcon
           onClick={() => updateMissionItemOrder(missionItemData.id, -1)}
diff --git a/gcs/src/components/missions/rallyItemsTableRow.jsx b/gcs/src/components/missions/rallyItemsTableRow.jsx
index 33afce1b8..e902f9730 100644
--- a/gcs/src/components/missions/rallyItemsTableRow.jsx
+++ b/gcs/src/components/missions/rallyItemsTableRow.jsx
@@ -11,8 +11,11 @@ import {
 } from "@mantine/core"
 import { IconTrash } from "@tabler/icons-react"
 import { useEffect, useState } from "react"
-import { coordToInt, intToCoord } from "../../helpers/dataFormatters"
-import { MAV_FRAME_LIST } from "../../helpers/mavlinkConstants"
+import {
+  coordToInt,
+  getPositionFrameName,
+  intToCoord,
+} from "../../helpers/dataFormatters"
 const coordsFractionDigits = 9
 
 export default function RallyItemsTableRow({
@@ -31,16 +34,6 @@ export default function RallyItemsTableRow({
     updateRallyItem(rallyItemData)
   }, [rallyItemData])
 
-  function getFrameName(frameId) {
-    var frameName = MAV_FRAME_LIST[frameId]
-
-    if (frameName.startsWith("MAV_FRAME_")) {
-      frameName = frameName.replace("MAV_FRAME_", "")
-    }
-
-    return frameName || "UNKNOWN"
-  }
-
   function updateRallyItemData(key, newVal) {
     setRallyItemData({
       ...rallyItemData,
@@ -92,7 +85,7 @@ export default function RallyItemsTableRow({
           hideControls
         />
       </TableTd>
-      <TableTd>{getFrameName(rallyItemData.frame)}</TableTd>
+      <TableTd>{getPositionFrameName(rallyItemData.frame)}</TableTd>
       <TableTd>
         <ActionIcon
           onClick={() => deleteRallyItem(rallyItemData.id)}
diff --git a/gcs/src/helpers/dataFormatters.js b/gcs/src/helpers/dataFormatters.js
index 6fd634e3a..d288829e8 100644
--- a/gcs/src/helpers/dataFormatters.js
+++ b/gcs/src/helpers/dataFormatters.js
@@ -1,3 +1,5 @@
+import { MAV_FRAME_LIST } from "./mavlinkConstants"
+
 function radToDeg(val) {
   return (val * 180) / Math.PI
 }
@@ -16,3 +18,17 @@ export const dataFormatters = {
   "ATTITUDE.roll": radToDeg,
   "ATTITUDE.yaw": radToDeg,
 }
+
+export function getPositionFrameName(frameId) {
+  if (frameId === undefined || frameId === null) {
+    return "UNKNOWN"
+  }
+
+  var frameName = MAV_FRAME_LIST[frameId]
+
+  if (frameName.startsWith("MAV_FRAME_")) {
+    frameName = frameName.replace("MAV_FRAME_", "")
+  }
+
+  return frameName || "UNKNOWN"
+}
diff --git a/gcs/src/missions.jsx b/gcs/src/missions.jsx
index 23dc359fa..c98549406 100644
--- a/gcs/src/missions.jsx
+++ b/gcs/src/missions.jsx
@@ -65,6 +65,9 @@ export default function Missions() {
 
   const [activeTab, setActiveTab] = useState("mission")
 
+  // Need to keep a reference to the active tab to avoid stale closures
+  const activeTabRef = useRef(activeTab)
+
   // Mission data
   const [missionItems, setMissionItems] = useSessionStorage({
     key: "missionItems",
@@ -258,6 +261,10 @@ export default function Missions() {
     }
   }, [importFile])
 
+  useEffect(() => {
+    activeTabRef.current = activeTab
+  }, [activeTab])
+
   function resetMissionProgressModalData() {
     setMissionProgressModalData({
       message: "",
@@ -304,11 +311,15 @@ export default function Missions() {
       z: newMissionItemAltitude,
       frame: parseInt(
         Object.keys(MAV_FRAME_LIST).find(
-          (key) => MAV_FRAME_LIST[key] === "MAV_FRAME_GLOBAL_RELATIVE_ALT",
+          (key) =>
+            MAV_FRAME_LIST[key] ===
+            (activeTabRef.current === "fence"
+              ? "MAV_FRAME_GLOBAL"
+              : "MAV_FRAME_GLOBAL_RELATIVE_ALT"),
         ),
       ),
       command: null,
-      param1: activeTab === "fence" ? 5 : 0,
+      param1: activeTabRef.current === "fence" ? 5 : 0,
       param2: 0,
       param3: 0,
       param4: 0,
@@ -320,19 +331,19 @@ export default function Missions() {
       mavpackettype: "MISSION_ITEM_INT",
     }
 
-    if (activeTab === "mission") {
+    if (activeTabRef.current === "mission") {
       newMissionItem.seq = missionItems.length
       newMissionItem.command = 16 // MAV_CMD_NAV_WAYPOINT
       newMissionItem.mission_type = 0 // Mission type
 
       setMissionItems((prevItems) => [...prevItems, newMissionItem])
-    } else if (activeTab === "fence") {
+    } else if (activeTabRef.current === "fence") {
       newMissionItem.seq = fenceItems.length
       newMissionItem.command = 5004 // MAV_CMD_NAV_FENCE_CIRCLE_EXCLUSION
       newMissionItem.mission_type = 1 // Fence type
 
       setFenceItems((prevItems) => [...prevItems, newMissionItem])
-    } else if (activeTab === "rally") {
+    } else if (activeTabRef.current === "rally") {
       newMissionItem.seq = rallyItems.length
       newMissionItem.command = 5100 // MAV_CMD_NAV_RALLY_POINT
       newMissionItem.mission_type = 2 // Rally type
@@ -368,11 +379,11 @@ export default function Missions() {
       target_component: targetInfo.target_component,
       target_system: targetInfo.target_system,
       mission_type:
-        activeTab === "mission"
+        activeTabRef.current === "mission"
           ? 0
-          : activeTab === "fence"
+          : activeTabRef.current === "fence"
             ? 1
-            : activeTab === "rally"
+            : activeTabRef.current === "rally"
               ? 2
               : 0, // Default to 0 (Mission type) if activeTab is unrecognized,
       mavpackettype: "MISSION_ITEM_INT",
@@ -390,11 +401,11 @@ export default function Missions() {
       )
     }
 
-    if (activeTab === "mission") {
+    if (activeTabRef.current === "mission") {
       setMissionItems((prevItems) => getUpdatedItems(prevItems))
-    } else if (activeTab === "fence") {
+    } else if (activeTabRef.current === "fence") {
       setFenceItems((prevItems) => getUpdatedItems(prevItems))
-    } else if (activeTab === "rally") {
+    } else if (activeTabRef.current === "rally") {
       setRallyItems((prevItems) => getUpdatedItems(prevItems))
     }
   }
@@ -409,11 +420,11 @@ export default function Missions() {
       }))
     }
 
-    if (activeTab === "mission") {
+    if (activeTabRef.current === "mission") {
       setMissionItems((prevItems) => getUpdatedItems(prevItems))
-    } else if (activeTab === "fence") {
+    } else if (activeTabRef.current === "fence") {
       setFenceItems((prevItems) => getUpdatedItems(prevItems))
-    } else if (activeTab === "rally") {
+    } else if (activeTabRef.current === "rally") {
       setRallyItems((prevItems) => getUpdatedItems(prevItems))
     }
   }
@@ -451,39 +462,39 @@ export default function Missions() {
       return updatedItems
     }
 
-    if (activeTab === "mission") {
+    if (activeTabRef.current === "mission") {
       setMissionItems((prevItems) => updateItemOrder(prevItems))
-    } else if (activeTab === "fence") {
+    } else if (activeTabRef.current === "fence") {
       setFenceItems((prevItems) => updateItemOrder(prevItems))
     }
   }
 
   function readMissionFromDrone() {
-    socket.emit("get_current_mission", { type: activeTab })
-    setMissionProgressModalTitle(`Reading ${activeTab} from drone`)
+    socket.emit("get_current_mission", { type: activeTabRef.current })
+    setMissionProgressModalTitle(`Reading ${activeTabRef.current} from drone`)
     resetMissionProgressModalData()
     openMissionProgressModal()
   }
 
   function writeMissionToDrone() {
-    if (activeTab === "mission") {
+    if (activeTabRef.current === "mission") {
       socket.emit("write_current_mission", {
         type: "mission",
         items: missionItems,
       })
-    } else if (activeTab === "fence") {
+    } else if (activeTabRef.current === "fence") {
       socket.emit("write_current_mission", { type: "fence", items: fenceItems })
-    } else if (activeTab === "rally") {
+    } else if (activeTabRef.current === "rally") {
       socket.emit("write_current_mission", { type: "rally", items: rallyItems })
     }
-    setMissionProgressModalTitle(`Writing ${activeTab} to drone`)
+    setMissionProgressModalTitle(`Writing ${activeTabRef.current} to drone`)
     resetMissionProgressModalData()
     openMissionProgressModal()
   }
 
   function importMissionFromFile(filePath) {
     socket.emit("import_mission_from_file", {
-      type: activeTab,
+      type: activeTabRef.current,
       file_path: filePath,
     })
 
@@ -506,9 +517,9 @@ export default function Missions() {
 
     if (!result.canceled) {
       let items = []
-      if (activeTab === "mission") {
+      if (activeTabRef.current === "mission") {
         items = [...missionItems]
-      } else if (activeTab === "fence") {
+      } else if (activeTabRef.current === "fence") {
         items = [...fenceItems]
 
         const newHomeItem = createHomePositionItem()
@@ -521,7 +532,7 @@ export default function Missions() {
           ...item,
           seq: index,
         }))
-      } else if (activeTab === "rally") {
+      } else if (activeTabRef.current === "rally") {
         items = [...rallyItems]
 
         const newHomeItem = createHomePositionItem()
@@ -537,7 +548,7 @@ export default function Missions() {
       }
 
       socket.emit("export_mission_to_file", {
-        type: activeTab,
+        type: activeTabRef.current,
         file_path: result.filePath,
         items: items,
       })
@@ -592,7 +603,7 @@ export default function Missions() {
   }
 
   function clearMissionItems() {
-    if (activeTab === "mission") {
+    if (activeTabRef.current === "mission") {
       // Clear all mission items except the first if the first is a home position
       if (
         missionItems.length > 0 &&
@@ -602,9 +613,9 @@ export default function Missions() {
       } else {
         setMissionItems([])
       }
-    } else if (activeTab === "fence") {
+    } else if (activeTabRef.current === "fence") {
       setFenceItems([])
-    } else if (activeTab === "rally") {
+    } else if (activeTabRef.current === "rally") {
       setRallyItems([])
     }
   }