diff --git a/src/VehicleSetup/FirmwareUpgrade.qml b/src/VehicleSetup/FirmwareUpgrade.qml
index 178380924e179f71471dc129b4a4d998399b3a23..094b30b2fb39060ff6d8fa8f6d720bee69342745 100644
--- a/src/VehicleSetup/FirmwareUpgrade.qml
+++ b/src/VehicleSetup/FirmwareUpgrade.qml
@@ -383,8 +383,7 @@ SetupPage {
                                 anchors.right:  parent.right
                                 visible:        !px4Flow && apmFlightStack.checked && !controller.downloadingFirmwareList && controller.apmFirmwareNames.length !== 0
                                 model:          controller.apmFirmwareNames
-
-                                onModelChanged: console.log("model", model)
+                                onModelChanged: currentIndex = controller.apmFirmwareNamesBestIndex
                             }
 
                             QGCLabel {
diff --git a/src/VehicleSetup/FirmwareUpgradeController.cc b/src/VehicleSetup/FirmwareUpgradeController.cc
index ae5ec5d012b428f06f4ff4bbad76e4399c67a5b0..e04fad68cb43ef7b6a185322eb1383d5291136cb 100644
--- a/src/VehicleSetup/FirmwareUpgradeController.cc
+++ b/src/VehicleSetup/FirmwareUpgradeController.cc
@@ -730,52 +730,47 @@ void FirmwareUpgradeController::_buildAPMFirmwareNames(void)
     QString                 boardDescription =  _foundBoardInfo.description();
     quint16                 boardVID =          _foundBoardInfo.vendorIdentifier();
     quint16                 boardPID =          _foundBoardInfo.productIdentifier();
-
-#if 0
-    // This is left in for debugging manifest problems
-    boardDescription = "KakuteF7";
-    boardVID = 1155;
-    boardPID = 22336;
-#endif
+    uint32_t                rawBoardId =        _bootloaderBoardID == Bootloader::boardIDPX4FMUV3 ? Bootloader::boardIDPX4FMUV2 : _bootloaderBoardID;
 
     qCDebug(FirmwareUpgradeLog) << QStringLiteral("_buildAPMFirmwareNames description(%1) vid(%2/0x%3) pid(%4/0x%5)").arg(boardDescription).arg(boardVID).arg(boardVID, 1, 16).arg(boardPID).arg(boardPID, 1, 16);
 
     _apmFirmwareNames.clear();
+    _apmFirmwareNamesBestIndex = -1;
     _apmFirmwareUrls.clear();
 
     QString apmDescriptionSuffix("-BL");
+    QString boardDescriptionPrefix;
     bool    bootloaderMatch = boardDescription.endsWith(apmDescriptionSuffix);
 
+    int currentIndex = 0;
     for (const ManifestFirmwareInfo_t& firmwareInfo: _rgManifestFirmwareInfo) {
         bool match = false;
-        if (firmwareInfo.firmwareBuildType == _selectedFirmwareBuildType && firmwareInfo.chibios == chibios && firmwareInfo.vehicleType == vehicleType) {
-            if (bootloaderMatch) {
-                if (firmwareInfo.rgBootloaderPortString.contains(boardDescription)) {
-                    qCDebug(FirmwareUpgradeLog) << "Bootloader match:" << firmwareInfo.friendlyName << boardDescription << firmwareInfo.rgBootloaderPortString << firmwareInfo.url << firmwareInfo.vehicleType;
-                    match = true;
-                }
+        if (firmwareInfo.firmwareBuildType == _selectedFirmwareBuildType && firmwareInfo.chibios == chibios && firmwareInfo.vehicleType == vehicleType && firmwareInfo.boardId == rawBoardId) {
+            if (firmwareInfo.fmuv2 && _bootloaderBoardID == Bootloader::boardIDPX4FMUV3) {
+                qCDebug(FirmwareUpgradeLog) << "Skipping fmuv2 manifest entry for fmuv3 board:" << firmwareInfo.friendlyName << boardDescription << firmwareInfo.rgBootloaderPortString << firmwareInfo.url << firmwareInfo.vehicleType;
             } else {
-                if (firmwareInfo.rgVID.contains(boardVID) && firmwareInfo.rgPID.contains(boardPID)) {
-                    qCDebug(FirmwareUpgradeLog) << "VID/PID match:" << firmwareInfo.friendlyName << boardVID << boardPID << _bootloaderBoardID << firmwareInfo.url << firmwareInfo.vehicleType;
-                    match = true;
+                qCDebug(FirmwareUpgradeLog) << "Board id match:" << firmwareInfo.friendlyName << boardDescription << firmwareInfo.rgBootloaderPortString << firmwareInfo.url << firmwareInfo.vehicleType;
+                match = true;
+                if (bootloaderMatch && _apmFirmwareNamesBestIndex == -1 && firmwareInfo.rgBootloaderPortString.contains(boardDescription)) {
+                    _apmFirmwareNamesBestIndex = currentIndex;
+                    qCDebug(FirmwareUpgradeLog) << "Bootloader best match:" << firmwareInfo.friendlyName << boardDescription << firmwareInfo.rgBootloaderPortString << firmwareInfo.url << firmwareInfo.vehicleType;
                 }
             }
         }
 
-        // Do a final filter on fmuv2/fmuv3
-        if (match && _bootloaderBoardID == Bootloader::boardIDPX4FMUV3) {
-            match = !firmwareInfo.fmuv2;
-        }
-
         if (match) {
             _apmFirmwareNames.append(firmwareInfo.friendlyName);
             _apmFirmwareUrls.append(firmwareInfo.url);
+            currentIndex++;
         }
     }
 
-    if (_apmFirmwareNames.count() > 1) {
-        _apmFirmwareNames.prepend(tr("Choose board type"));
-        _apmFirmwareUrls.prepend(QString());
+    if (_apmFirmwareNamesBestIndex == -1) {
+        _apmFirmwareNamesBestIndex++;
+        if (_apmFirmwareNames.count() > 1) {
+            _apmFirmwareNames.prepend(tr("Choose board type"));
+            _apmFirmwareUrls.prepend(QString());
+        }
     }
 
     emit apmFirmwareNamesChanged();
diff --git a/src/VehicleSetup/FirmwareUpgradeController.h b/src/VehicleSetup/FirmwareUpgradeController.h
index 5a375a9ae4a8b10bfd1374863a9009638bab64dc..88f20f00af6b25dfa6c76167da346d7a2e396c91 100644
--- a/src/VehicleSetup/FirmwareUpgradeController.h
+++ b/src/VehicleSetup/FirmwareUpgradeController.h
@@ -94,6 +94,7 @@ public:
     Q_PROPERTY(bool                 px4FlowBoard                READ px4FlowBoard                                                   NOTIFY boardFound)
     Q_PROPERTY(FirmwareBuildType_t  selectedFirmwareBuildType   READ selectedFirmwareBuildType  WRITE setSelectedFirmwareBuildType  NOTIFY selectedFirmwareBuildTypeChanged)
     Q_PROPERTY(QStringList          apmFirmwareNames            MEMBER _apmFirmwareNames                                            NOTIFY apmFirmwareNamesChanged)
+    Q_PROPERTY(int                  apmFirmwareNamesBestIndex   MEMBER _apmFirmwareNamesBestIndex                                   NOTIFY apmFirmwareNamesChanged)
     Q_PROPERTY(QStringList          apmFirmwareUrls             MEMBER _apmFirmwareUrls                                             NOTIFY apmFirmwareNamesChanged)
     Q_PROPERTY(QString              px4StableVersion            READ px4StableVersion                                               NOTIFY px4StableVersionChanged)
     Q_PROPERTY(QString              px4BetaVersion              READ px4BetaVersion                                                 NOTIFY px4BetaVersionChanged)
@@ -308,6 +309,7 @@ private:
     QMap<QString, FirmwareBuildType_t>      _manifestMavFirmwareVersionTypeToFirmwareBuildTypeMap;
     QMap<QString, FirmwareVehicleType_t>    _manifestMavTypeToFirmwareVehicleTypeMap;
     QStringList                             _apmFirmwareNames;
+    int                                     _apmFirmwareNamesBestIndex = 0;
     QStringList                             _apmFirmwareUrls;
     Fact*                                   _apmChibiOSSetting;
     Fact*                                   _apmVehicleTypeSetting;