Not staying on when plugged in and charging.

Hi all,
I just switched from a Galaxy Nexus to the S4.  One thing I'm seeing that the screen doesn't remain on when plugged in via the micro-usb cord like on the Nexus.  Handy when I'm driving, and it wouldn't lock after the set time.  With the S4, I'm seeing it just turns right off when plugged in at the chosen turn off time selected.
I have a couple of stay on apps but since I forget things, I'm afraid I will forget to turn them off.
Is it possible to set it so it will stay on when plugged in?  If not, then I'll rely on the toggle to keep the screen on.
Thanks for your help.

Shoot!  I forgot a step ... those options are hidden with the latest update.
settings > more > about phone
scroll down to Build Number and tap it five times
you should get a pop-up that says Developer Options Enabled
Back all the way out, then follow the instructions above.

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