diff --git a/src/AutoPilotPlugins/PX4/PX4AutoPilotPlugin.cc b/src/AutoPilotPlugins/PX4/PX4AutoPilotPlugin.cc
index ca98155a1c91e99a7d95c688349c16aea71a3de9..adfe990e19d024a6616be66a1ea87ddb5aa960c1 100644
--- a/src/AutoPilotPlugins/PX4/PX4AutoPilotPlugin.cc
+++ b/src/AutoPilotPlugins/PX4/PX4AutoPilotPlugin.cc
@@ -134,14 +134,10 @@ void PX4AutoPilotPlugin::parametersReadyPreChecks(void)
     // Base class must be called
     AutoPilotPlugin::parametersReadyPreChecks();
 
-    // Check for older parameter version set
-    // FIXME: Firmware is moving to version stamp parameter set. Once that is complete the version stamp
-    // should be used instead.
-    if (_vehicle->parameterManager()->parameterExists(FactSystem::defaultComponentId, "SENS_GYRO_XOFF") ||
-            _vehicle->parameterManager()->parameterExists(FactSystem::defaultComponentId, "COM_DL_LOSS_EN")) {
-        _incorrectParameterVersion = true;
-        qgcApp()->showMessage(tr("This version of GroundControl can only perform vehicle setup on a newer version of firmware. "
-                              "Please perform a Firmware Upgrade if you wish to use Vehicle Setup."));
+    QString hitlParam("SYS_HITL");
+    if (_vehicle->parameterManager()->parameterExists(FactSystem::defaultComponentId, hitlParam) &&
+            _vehicle->parameterManager()->getParameter(FactSystem::defaultComponentId, hitlParam)->rawValue().toBool()) {
+        qgcApp()->showMessage(tr("Warning: Hardware In The Loop (HITL) simulation is enabled for this vehicle."));
     }
 }
 
diff --git a/src/AutoPilotPlugins/PX4/SafetyComponent.qml b/src/AutoPilotPlugins/PX4/SafetyComponent.qml
index 4b9e00dca7d2753cbce925dd1066d3e58c61dc9c..a654239aac47ab7d7741e652ad3c48e03fc88e20 100644
--- a/src/AutoPilotPlugins/PX4/SafetyComponent.qml
+++ b/src/AutoPilotPlugins/PX4/SafetyComponent.qml
@@ -29,13 +29,15 @@ SetupPage {
 
         Item {
             width:  Math.max(availableWidth, outerGrid.width)
-            height: lastRect.y + lastRect.height
+            height: _hitlAvailable ? (lastRect.y + lastRect.height) : (otherLastRect.y + otherLastRect.height)
 
             FactPanelController {
                 id:         controller
                 factPanel:  safetyPage.viewPanel
             }
 
+            readonly property string hitlParam: "SYS_HITL"
+
             property real _margins:         ScreenTools.defaultFontPixelHeight
             property real _editFieldWidth:  ScreenTools.defaultFontPixelWidth * 20
             property real _imageWidth:      ScreenTools.defaultFontPixelWidth * 15
@@ -50,18 +52,11 @@ SetupPage {
             property Fact _dlLossAction:    controller.getParameterFact(-1, "NAV_DLL_ACT")
             property Fact _disarmLandDelay: controller.getParameterFact(-1, "COM_DISARM_LAND")
             property Fact _landSpeedMC:     controller.getParameterFact(-1, "MPC_LAND_SPEED", false)
-            property Fact _hitlEnabled:     controller.getParameterFact(-1, "SYS_HITL", false)
+            property bool _hitlAvailable:   controller.parameterExists(-1, hitlParam)
+            property Fact _hitlEnabled:     controller.getParameterFact(-1, hitlParam, false)
 
             ExclusiveGroup { id: homeLoiterGroup }
 
-            Rectangle {
-                x:      hitlGrid.x + outerGrid.x - _margins
-                y:      hitlGrid.y + outerGrid.y - _margins
-                width:  hitlGrid.width + (_margins * 2)
-                height: hitlGrid.height + (_margins * 2)
-                color:  qgcPal.windowShade
-            }
-
             Rectangle {
                 x:      lowBattGrid.x + outerGrid.x - _margins
                 y:      lowBattGrid.y + outerGrid.y - _margins
@@ -103,7 +98,7 @@ SetupPage {
             }
 
             Rectangle {
-                id:     lastRect
+                id:     otherLastRect
                 x:      landModeGrid.x + outerGrid.x - _margins
                 y:      landModeGrid.y + outerGrid.y - _margins
                 width:  landModeGrid.width + (_margins * 2)
@@ -111,48 +106,21 @@ SetupPage {
                 color:  qgcPal.windowShade
             }
 
+            Rectangle {
+                id:         lastRect
+                x:          hitlGrid.x + outerGrid.x - _margins
+                y:          hitlGrid.y + outerGrid.y - _margins
+                width:      hitlGrid.width + (_margins * 2)
+                height:     hitlGrid.height + (_margins * 2)
+                color:      qgcPal.windowShade
+                visible:    _hitlAvailable
+            }
+
             GridLayout {
                 id:         outerGrid
                 columns:    3
                 anchors.horizontalCenter:   parent.horizontalCenter
 
-                QGCLabel {
-                    text:               qsTr("Hardware in the Loop Simulation")
-                    Layout.columnSpan:  3
-                }
-
-                Item { width: 1; height: _margins; Layout.columnSpan: 3 }
-
-                Item { width: _margins; height: 1 }
-
-                GridLayout {
-                    id:         hitlGrid
-                    columns:    3
-
-                    Image {
-                        mipmap:             true
-                        fillMode:           Image.PreserveAspectFit
-                        source:             qgcPal.globalTheme === qgcPal.Light ? "/qmlimages/VehicleSummaryIcon.png" : "/qmlimages/VehicleSummaryIcon.png"
-                        Layout.rowSpan:     3
-                        Layout.maximumWidth:    _imageWidth
-                        Layout.maximumHeight:   _imageHeight
-                        width:                  _imageWidth
-                        height:                 _imageHeight
-                    }
-
-                    QGCLabel {
-                        text:               qsTr("HITL Enabled:")
-                        Layout.fillWidth:   true
-                    }
-                    FactComboBox {
-                        fact:                   _hitlEnabled
-                        indexModel:             false
-                        Layout.minimumWidth:    _editFieldWidth
-                    }
-                }
-
-                Item { width: 1; height: _margins; Layout.columnSpan: 3 }
-
                 QGCLabel {
                     text:               qsTr("Low Battery Failsafe Trigger")
                     Layout.columnSpan:  3
@@ -517,6 +485,45 @@ SetupPage {
                         Layout.minimumWidth:    _editFieldWidth
                     }
                 }
+
+                Item { width: 1; height: _margins; Layout.columnSpan: 3; visible: _hitlAvailable }
+
+                QGCLabel {
+                    text:               qsTr("Hardware in the Loop Simulation")
+                    Layout.columnSpan:  3
+                    visible:            _hitlAvailable
+                }
+
+                Item { width: 1; height: _margins; Layout.columnSpan: 3; visible: _hitlAvailable }
+
+                Item { width: _margins; height: 1; visible: _hitlAvailable }
+
+                GridLayout {
+                    id:         hitlGrid
+                    columns:    3
+                    visible:    _hitlAvailable
+
+                    Image {
+                        mipmap:             true
+                        fillMode:           Image.PreserveAspectFit
+                        source:             qgcPal.globalTheme === qgcPal.Light ? "/qmlimages/VehicleSummaryIcon.png" : "/qmlimages/VehicleSummaryIcon.png"
+                        Layout.rowSpan:     3
+                        Layout.maximumWidth:    _imageWidth
+                        Layout.maximumHeight:   _imageHeight
+                        width:                  _imageWidth
+                        height:                 _imageHeight
+                    }
+
+                    QGCLabel {
+                        text:               qsTr("HITL Enabled:")
+                        Layout.fillWidth:   true
+                    }
+                    FactComboBox {
+                        fact:                   _hitlEnabled
+                        indexModel:             false
+                        Layout.minimumWidth:    _editFieldWidth
+                    }
+                }
             }
         }
     }
diff --git a/src/Joystick/JoystickManager.cc b/src/Joystick/JoystickManager.cc
index 1cac13960e590b2b8424914a6e0a0b3d713a5f44..4bac8564b20423a520b9db14d2fdbfa10555d53d 100644
--- a/src/Joystick/JoystickManager.cc
+++ b/src/Joystick/JoystickManager.cc
@@ -37,7 +37,7 @@ JoystickManager::JoystickManager(QGCApplication* app, QGCToolbox* toolbox)
 JoystickManager::~JoystickManager() {
     QMap<QString, Joystick*>::iterator i;
     for (i = _name2JoystickMap.begin(); i != _name2JoystickMap.end(); ++i) {
-        qDebug() << "Releasing joystick:" << i.key();
+        qCDebug(JoystickManagerLog) << "Releasing joystick:" << i.key();
         delete i.value();
     }
     qDebug() << "Done";