diff --git a/src/FirmwarePlugin/PX4/PX4FirmwarePlugin.cc b/src/FirmwarePlugin/PX4/PX4FirmwarePlugin.cc
index 014ffb2048f87d531791f432ae37ee03fd462c3e..116a875c3a9e2cb5e4c45405d9fcfcbdfdd21fb2 100644
--- a/src/FirmwarePlugin/PX4/PX4FirmwarePlugin.cc
+++ b/src/FirmwarePlugin/PX4/PX4FirmwarePlugin.cc
@@ -174,7 +174,7 @@ bool PX4FirmwarePlugin::setFlightMode(const QString& flightMode, uint8_t* base_m
 
 int PX4FirmwarePlugin::manualControlReservedButtonCount(void)
 {
-    return 8;   // 8 buttons reserved for rc switch simulation
+    return 0;   // 0 buttons reserved for rc switch simulation
 }
 
 void PX4FirmwarePlugin::adjustMavlinkMessage(mavlink_message_t* message)
diff --git a/src/Joystick/Joystick.cc b/src/Joystick/Joystick.cc
index 7c417a996723009b6ce858efcfdd347370a516de..37d6140f24f0cbc518f81cef3ce2d36d30976cbb 100644
--- a/src/Joystick/Joystick.cc
+++ b/src/Joystick/Joystick.cc
@@ -461,6 +461,10 @@ QStringList Joystick::actions(void)
     QStringList list;
 
     list << "Arm" << "Disarm";
+
+    if (_activeVehicle) {
+        list << _activeVehicle->flightModes();
+    }
     
     return list;
 }
@@ -558,6 +562,8 @@ void Joystick::_buttonAction(const QString& action)
         _activeVehicle->setArmed(true);
     } else if (action == "Disarm") {
         _activeVehicle->setArmed(false);
+    } else if (_activeVehicle->flightModes().contains(action)) {
+        _activeVehicle->setFlightMode(action);
     } else {
         qCDebug(JoystickLog) << "_buttonAction unknown action:" << action;
     }