diff --git a/src/VehicleSetup/FirmwareImage.cc b/src/VehicleSetup/FirmwareImage.cc
index 93042815ccef3b89b7d8f6d275a52a89e965202b..0bc3c928801e68c07f669a45b9a816a39810a1a7 100644
--- a/src/VehicleSetup/FirmwareImage.cc
+++ b/src/VehicleSetup/FirmwareImage.cc
@@ -194,6 +194,24 @@ bool FirmwareImage::_ihxLoad(const QString& ihxFilename)
     return true;
 }
 
+bool FirmwareImage::isCompatible(uint32_t boardId, uint32_t firmwareId) {
+    bool result = false;
+    if (boardId == firmwareId ) {
+        result = true;
+    }
+    switch(boardId) {
+    case Bootloader::boardIDAUAVX2_1: // AUAVX2.1 is compatible with px4-v2/v3
+        if (firmwareId == 9) result = true;
+        break;
+    case Bootloader::boardIDPX4FMUV3:
+        if (firmwareId == 9) result = true;
+        break;
+    default:
+        break;
+    }
+    return result;
+}
+
 bool FirmwareImage::_px4Load(const QString& imageFilename)
 {
     _imageSize = 0;
@@ -237,8 +255,7 @@ bool FirmwareImage::_px4Load(const QString& imageFilename)
     }
 
     uint32_t firmwareBoardId = (uint32_t)px4Json.value(_jsonBoardIdKey).toInt();
-    uint32_t actualBoardId = _boardId == Bootloader::boardIDPX4FMUV3 ? Bootloader::boardIDPX4FMUV2 : _boardId;;
-    if (!isCompatible(actualBoardId, firmwareBoardId)) {
+    if (!isCompatible(_boardId, firmwareBoardId)) {
         emit statusMessage(QString("Downloaded firmware board id does not match hardware board id: %1 != %2").arg(firmwareBoardId).arg(_boardId));
         return false;
     }
diff --git a/src/VehicleSetup/FirmwareImage.h b/src/VehicleSetup/FirmwareImage.h
index 757bf6a7afb90d492611fa39ed5eee5f31ae5b2f..5a9935dda0625c901e88567a8f48a7a73cba6e74 100644
--- a/src/VehicleSetup/FirmwareImage.h
+++ b/src/VehicleSetup/FirmwareImage.h
@@ -57,20 +57,7 @@ public:
     bool ihxGetBlock(uint16_t index, uint16_t& address, QByteArray& bytes) const;
     
     /// @return true: actual boardId is compatible with firmware boardId
-    bool isCompatible(uint32_t boardId, uint32_t firmwareId) {
-        bool result = false;
-        if (boardId == firmwareId ) {
-            result = true;
-        }
-        switch(boardId) {
-        case 33: // AUAVX2.1 is compatible with px4-v2/v3
-            if (firmwareId == 9) result = true;
-            break;
-        default:
-            break;
-        }
-        return result;
-    }
+    bool isCompatible(uint32_t boardId, uint32_t firmwareId);
 
 signals:
     void errorMessage(const QString& errorString);