diff --git a/ChangeLog.md b/ChangeLog.md
index de9e9c84cc44081dc9de41132a42f1edf5ecc74c..4926aee2b08e60ab5e368f90a051e3301ce7cd64 100644
--- a/ChangeLog.md
+++ b/ChangeLog.md
@@ -6,6 +6,9 @@ Note: This file only contains high level features or important fixes.
 
 ### 3.6.0 - Daily Build
 
+* ArduPilot: Support configurable mavlink stream rates. Available from Settings/Mavlink page.
+* Major rewrite and bug fix pass through Structure Scan. Previous version had such bad problems that it can no longer be supported. Plans with Structure Scan will need to be recreated. New QGC will not load old Structure Scan plans.
+
 * Major rewrite and bug fix pass through Structure Scan. Previous version had such bad problems that it can no longer be supported. Plans with Structure Scan will need to be recreated. New QGC will not load old Structure Scan plans.
 
 ### 3.5.1 - Not yet released
diff --git a/qgroundcontrol.pro b/qgroundcontrol.pro
index 0197b2ce9fd8fd17da62f058cbbf91f36dd3b94b..6e79009583e3f314c0f2318eee03d661422e4686 100644
--- a/qgroundcontrol.pro
+++ b/qgroundcontrol.pro
@@ -596,6 +596,7 @@ HEADERS += \
     src/QmlControls/RCChannelMonitorController.h \
     src/QmlControls/ScreenToolsController.h \
     src/QtLocationPlugin/QMLControl/QGCMapEngineManager.h \
+    src/Settings/APMMavlinkStreamRateSettings.h \
     src/Settings/AppSettings.h \
     src/Settings/AutoConnectSettings.h \
     src/Settings/BrandImageSettings.h \
@@ -799,6 +800,7 @@ SOURCES += \
     src/QmlControls/RCChannelMonitorController.cc \
     src/QmlControls/ScreenToolsController.cc \
     src/QtLocationPlugin/QMLControl/QGCMapEngineManager.cc \
+    src/Settings/APMMavlinkStreamRateSettings.cc \
     src/Settings/AppSettings.cc \
     src/Settings/AutoConnectSettings.cc \
     src/Settings/BrandImageSettings.cc \
diff --git a/qgroundcontrol.qrc b/qgroundcontrol.qrc
index e51d4ac77084d4af3bd03de92be6ef60c9696d3d..b811f360d4917c9f150c198e73a2c3c590b6ad3a 100644
--- a/qgroundcontrol.qrc
+++ b/qgroundcontrol.qrc
@@ -210,6 +210,7 @@
         <file alias="VirtualJoystick.qml">src/FlightDisplay/VirtualJoystick.qml</file>
     </qresource>
     <qresource prefix="/json">
+		<file alias="APMMavlinkStreamRate.SettingsGroup.json">src/Settings/APMMavlinkStreamRate.SettingsGroup.json</file>
         <file alias="CameraCalc.FactMetaData.json">src/MissionManager/CameraCalc.FactMetaData.json</file>
         <file alias="CameraSpec.FactMetaData.json">src/MissionManager/CameraSpec.FactMetaData.json</file>
         <file alias="CorridorScan.SettingsGroup.json">src/MissionManager/CorridorScan.SettingsGroup.json</file>
diff --git a/src/FactSystem/FactGroup.cc b/src/FactSystem/FactGroup.cc
index 31913205c3faf63efdba52a4bd722bb636742cbf..c67c02d8f55a2a2ec118db30cf9dd7b46747aa6d 100644
--- a/src/FactSystem/FactGroup.cc
+++ b/src/FactSystem/FactGroup.cc
@@ -37,7 +37,8 @@ FactGroup::FactGroup(int updateRateMsecs, QObject* parent)
 
 void FactGroup::_loadFromJsonArray(const QJsonArray jsonArray)
 {
-    _nameToFactMetaDataMap = FactMetaData::createMapFromJsonArray(jsonArray, this);
+    QMap<QString, QString> defineMap;
+    _nameToFactMetaDataMap = FactMetaData::createMapFromJsonArray(jsonArray, defineMap, this);
 }
 
 void FactGroup::_setupTimer()
diff --git a/src/FactSystem/FactMetaData.cc b/src/FactSystem/FactMetaData.cc
index 4d07e198b64cba2da5b01b702edf799cfd485e83..570149ab994c7aaec2914c825879bbd484d6aaae 100644
--- a/src/FactSystem/FactMetaData.cc
+++ b/src/FactSystem/FactMetaData.cc
@@ -35,6 +35,9 @@ const qreal FactMetaData::UnitConsts_s::inchesToCentimeters =   2.54;
 static const char* kDefaultCategory = QT_TRANSLATE_NOOP("FactMetaData", "Other");
 static const char* kDefaultGroup    = QT_TRANSLATE_NOOP("FactMetaData", "Misc");
 
+const char* FactMetaData::_jsonMetaDataDefinesName =    "QGC.MetaData.Defines";
+const char* FactMetaData::_jsonMetaDataFactsName =      "QGC.MetaData.Facts";
+
 // Built in translations for all Facts
 const FactMetaData::BuiltInTranslation_s FactMetaData::_rgBuiltInTranslations[] = {
     { "centi-degrees",  "deg",  FactMetaData::_centiDegreesToDegrees,                   FactMetaData::_degreesToCentiDegrees },
@@ -1057,7 +1060,7 @@ int FactMetaData::decimalPlaces(void) const
     return actualDecimalPlaces;
 }
 
-FactMetaData* FactMetaData::createFromJsonObject(const QJsonObject& json, QObject* metaDataParent)
+FactMetaData* FactMetaData::createFromJsonObject(const QJsonObject& json, QMap<QString, QString>& defineMap, QObject* metaDataParent)
 {
     QString         errorString;
 
@@ -1098,7 +1101,7 @@ FactMetaData* FactMetaData::createFromJsonObject(const QJsonObject& json, QObjec
     metaData->_name = json[_nameJsonKey].toString();
 
     QStringList enumValues, enumStrings;
-    if (JsonHelper::parseEnum(json, enumStrings, enumValues, errorString, metaData->name())) {
+    if (JsonHelper::parseEnum(json, defineMap, enumStrings, enumValues, errorString, metaData->name())) {
         for (int i=0; i<enumValues.count(); i++) {
             QVariant    enumVariant;
             QString     errorString;
@@ -1204,6 +1207,14 @@ FactMetaData* FactMetaData::createFromJsonObject(const QJsonObject& json, QObjec
     return metaData;
 }
 
+void FactMetaData::_loadJsonDefines(const QJsonObject& jsonDefinesObject, QMap<QString, QString>& defineMap)
+{
+    for (const QString& defineName: jsonDefinesObject.keys()) {
+        QString mapKey = _jsonMetaDataDefinesName + QString(".") + defineName;
+        defineMap[mapKey] = jsonDefinesObject[defineName].toString();
+    }
+}
+
 QMap<QString, FactMetaData*> FactMetaData::createMapFromJsonFile(const QString& jsonFilename, QObject* metaDataParent)
 {
     QMap<QString, FactMetaData*> metaDataMap;
@@ -1223,16 +1234,34 @@ QMap<QString, FactMetaData*> FactMetaData::createMapFromJsonFile(const QString&
         return metaDataMap;
     }
 
-    if (!doc.isArray()) {
-        qWarning() << "json document is not array";
+    QJsonArray factArray;
+    QMap<QString /* define name */, QString /* define value */> defineMap;
+
+    if (doc.isObject()) {
+        // Check for Defines/Facts format
+        QString errorString;
+        QList<JsonHelper::KeyValidateInfo> keyInfoList = {
+            { FactMetaData::_jsonMetaDataDefinesName,   QJsonValue::Object, true },
+            { FactMetaData::_jsonMetaDataFactsName,     QJsonValue::Array, true },
+        };
+        if (!JsonHelper::validateKeys(doc.object(), keyInfoList, errorString)) {
+            qWarning() << "Json document incorrect format:" << errorString;
+            return metaDataMap;
+        }
+
+        _loadJsonDefines(doc.object()[FactMetaData::_jsonMetaDataDefinesName].toObject(), defineMap);
+        factArray = doc.object()[FactMetaData::_jsonMetaDataFactsName].toArray();
+    } else if (doc.isArray()) {
+        factArray = doc.array();
+    } else {
+        qWarning() << "Json document is neither array nor object";
         return metaDataMap;
     }
 
-    QJsonArray jsonArray = doc.array();
-    return createMapFromJsonArray(jsonArray, metaDataParent);
+    return createMapFromJsonArray(factArray, defineMap, metaDataParent);
 }
 
-QMap<QString, FactMetaData*> FactMetaData::createMapFromJsonArray(const QJsonArray jsonArray, QObject* metaDataParent)
+QMap<QString, FactMetaData*> FactMetaData::createMapFromJsonArray(const QJsonArray jsonArray, QMap<QString, QString>& defineMap, QObject* metaDataParent)
 {
     QMap<QString, FactMetaData*> metaDataMap;
     for (int i=0; i<jsonArray.count(); i++) {
@@ -1242,7 +1271,7 @@ QMap<QString, FactMetaData*> FactMetaData::createMapFromJsonArray(const QJsonArr
             continue;
         }
         QJsonObject jsonObject = jsonValue.toObject();
-        FactMetaData* metaData = createFromJsonObject(jsonObject, metaDataParent);
+        FactMetaData* metaData = createFromJsonObject(jsonObject, defineMap, metaDataParent);
         if (metaDataMap.contains(metaData->name())) {
             qWarning() << QStringLiteral("Duplicate fact name:") << metaData->name();
             delete metaData;
diff --git a/src/FactSystem/FactMetaData.h b/src/FactSystem/FactMetaData.h
index 8b02c9930b57a6ee229b42544bd9c1b446f69191..04a7837f102b54c911b5435cf67126065b939931 100644
--- a/src/FactSystem/FactMetaData.h
+++ b/src/FactSystem/FactMetaData.h
@@ -54,9 +54,9 @@ public:
     FactMetaData(const FactMetaData& other, QObject* parent = nullptr);
 
     static QMap<QString, FactMetaData*> createMapFromJsonFile(const QString& jsonFilename, QObject* metaDataParent);
-    static QMap<QString, FactMetaData*> createMapFromJsonArray(const QJsonArray jsonArray, QObject* metaDataParent);
+    static QMap<QString, FactMetaData*> createMapFromJsonArray(const QJsonArray jsonArray, QMap<QString, QString>& defineMap, QObject* metaDataParent);
 
-    static FactMetaData* createFromJsonObject(const QJsonObject& json, QObject* metaDataParent);
+    static FactMetaData* createFromJsonObject(const QJsonObject& json, QMap<QString, QString>& defineMap, QObject* metaDataParent);
 
     const FactMetaData& operator=(const FactMetaData& other);
 
@@ -229,6 +229,8 @@ private:
     static const AppSettingsTranslation_s* _findAppSettingsDistanceUnitsTranslation(const QString& rawUnits);
     static const AppSettingsTranslation_s* _findAppSettingsAreaUnitsTranslation(const QString& rawUnits);
 
+    static void _loadJsonDefines(const QJsonObject& jsonDefinesObject, QMap<QString, QString>& defineMap);
+
     ValueType_t     _type;                  // must be first for correct constructor init
     int             _decimalPlaces;
     QVariant        _rawDefaultValue;
@@ -292,6 +294,9 @@ private:
     static const char* _incrementJsonKey;
     static const char* _hasControlJsonKey;
     static const char* _qgcRebootRequiredJsonKey;
+
+    static const char* _jsonMetaDataDefinesName;
+    static const char* _jsonMetaDataFactsName;
 };
 
 #endif
diff --git a/src/FirmwarePlugin/APM/APMFirmwarePlugin.cc b/src/FirmwarePlugin/APM/APMFirmwarePlugin.cc
index 68119e7ffcf0ba468f1dff1e788b441d3f50428e..c9b52dc2ba2f042c44a51fea0907b83d70a5ebd6 100644
--- a/src/FirmwarePlugin/APM/APMFirmwarePlugin.cc
+++ b/src/FirmwarePlugin/APM/APMFirmwarePlugin.cc
@@ -19,6 +19,7 @@
 #include "QGCFileDownload.h"
 #include "SettingsManager.h"
 #include "AppSettings.h"
+#include "APMMavlinkStreamRateSettings.h"
 
 #include <QTcpSocket>
 
@@ -614,13 +615,30 @@ void APMFirmwarePlugin::_adjustCalibrationMessageSeverity(mavlink_message_t* mes
 
 void APMFirmwarePlugin::initializeStreamRates(Vehicle* vehicle)
 {
-    vehicle->requestDataStream(MAV_DATA_STREAM_RAW_SENSORS,     2);
-    vehicle->requestDataStream(MAV_DATA_STREAM_EXTENDED_STATUS, 2);
-    vehicle->requestDataStream(MAV_DATA_STREAM_RC_CHANNELS,     2);
-    vehicle->requestDataStream(MAV_DATA_STREAM_POSITION,        3);
-    vehicle->requestDataStream(MAV_DATA_STREAM_EXTRA1,          10);
-    vehicle->requestDataStream(MAV_DATA_STREAM_EXTRA2,          10);
-    vehicle->requestDataStream(MAV_DATA_STREAM_EXTRA3,          3);
+    APMMavlinkStreamRateSettings* streamRates = qgcApp()->toolbox()->settingsManager()->apmMavlinkStreamRateSettings();
+
+    struct StreamInfo_s {
+        MAV_DATA_STREAM mavStream;
+        int             streamRate;
+    };
+
+    StreamInfo_s rgStreamInfo[] = {
+        { MAV_DATA_STREAM_RAW_SENSORS,      streamRates->streamRateRawSensors()->rawValue().toInt() },
+        { MAV_DATA_STREAM_EXTENDED_STATUS,  streamRates->streamRateExtendedStatus()->rawValue().toInt() },
+        { MAV_DATA_STREAM_RC_CHANNELS,      streamRates->streamRateRCChannels()->rawValue().toInt() },
+        { MAV_DATA_STREAM_POSITION,         streamRates->streamRatePosition()->rawValue().toInt() },
+        { MAV_DATA_STREAM_EXTRA1,           streamRates->streamRateExtra1()->rawValue().toInt() },
+        { MAV_DATA_STREAM_EXTRA2,           streamRates->streamRateExtra2()->rawValue().toInt() },
+        { MAV_DATA_STREAM_EXTRA3,           streamRates->streamRateExtra3()->rawValue().toInt() },
+    };
+
+    for (size_t i=0; i<sizeof(rgStreamInfo)/sizeof(rgStreamInfo[0]); i++) {
+        const StreamInfo_s& streamInfo = rgStreamInfo[i];
+
+        if (streamInfo.streamRate >= 0) {
+            vehicle->requestDataStream(streamInfo.mavStream, static_cast<uint16_t>(streamInfo.streamRate));
+        }
+    }
 }
 
 
@@ -733,22 +751,16 @@ QString APMFirmwarePlugin::missionCommandOverrides(MAV_TYPE vehicleType) const
     switch (vehicleType) {
     case MAV_TYPE_GENERIC:
         return QStringLiteral(":/json/APM/MavCmdInfoCommon.json");
-        break;
     case MAV_TYPE_FIXED_WING:
         return QStringLiteral(":/json/APM/MavCmdInfoFixedWing.json");
-        break;
     case MAV_TYPE_QUADROTOR:
         return QStringLiteral(":/json/APM/MavCmdInfoMultiRotor.json");
-        break;
     case MAV_TYPE_VTOL_QUADROTOR:
         return QStringLiteral(":/json/APM/MavCmdInfoVTOL.json");
-        break;
     case MAV_TYPE_SUBMARINE:
         return QStringLiteral(":/json/APM/MavCmdInfoSub.json");
-        break;
     case MAV_TYPE_GROUND_ROVER:
         return QStringLiteral(":/json/APM/MavCmdInfoRover.json");
-        break;
     default:
         qWarning() << "APMFirmwarePlugin::missionCommandOverrides called with bad MAV_TYPE:" << vehicleType;
         return QString();
diff --git a/src/JsonHelper.cc b/src/JsonHelper.cc
index 6ef592720734dc5d4bc1a70ccbcc4b0ac1fd11aa..2470251159c8682b0ac818ed58c3da20a670eb03 100644
--- a/src/JsonHelper.cc
+++ b/src/JsonHelper.cc
@@ -152,7 +152,7 @@ bool JsonHelper::validateKeyTypes(const QJsonObject& jsonObject, const QStringLi
     return true;
 }
 
-bool JsonHelper::parseEnum(const QJsonObject& jsonObject, QStringList& enumStrings, QStringList& enumValues, QString& errorString, QString valueName)
+bool JsonHelper::_parseEnumWorker(const QJsonObject& jsonObject, QMap<QString, QString>& defineMap, QStringList& enumStrings, QStringList& enumValues, QString& errorString, QString valueName)
 {
     if(jsonObject.value(_enumStringsJsonKey).isArray()) {
         // "enumStrings": ["Auto" , "Manual", "Shutter Priority", "Aperture Priority"],
@@ -162,7 +162,8 @@ bool JsonHelper::parseEnum(const QJsonObject& jsonObject, QStringList& enumStrin
         }
     } else {
         // "enumStrings": "Auto,Manual,Shutter Priority,Aperture Priority",
-        enumStrings = jsonObject.value(_enumStringsJsonKey).toString().split(",", QString::SkipEmptyParts);
+        QString value = jsonObject.value(_enumStringsJsonKey).toString();
+        enumStrings = defineMap.value(value, value).split(",", QString::SkipEmptyParts);
     }
 
     if(jsonObject.value(_enumValuesJsonKey).isArray()) {
@@ -177,7 +178,8 @@ bool JsonHelper::parseEnum(const QJsonObject& jsonObject, QStringList& enumStrin
         }
     } else {
         // "enumValues": "0,1,2,3,4,5",
-        enumValues = jsonObject.value(_enumValuesJsonKey).toString().split(",", QString::SkipEmptyParts);
+        QString value = jsonObject.value(_enumValuesJsonKey).toString();
+        enumValues = defineMap.value(value, value).split(",", QString::SkipEmptyParts);
     }
 
     if (enumStrings.count() != enumValues.count()) {
@@ -188,6 +190,17 @@ bool JsonHelper::parseEnum(const QJsonObject& jsonObject, QStringList& enumStrin
     return true;
 }
 
+bool JsonHelper::parseEnum(const QJsonObject& jsonObject, QMap<QString, QString>& defineMap, QStringList& enumStrings, QStringList& enumValues, QString& errorString, QString valueName)
+{
+    return _parseEnumWorker(jsonObject, defineMap, enumStrings, enumValues, errorString, valueName);
+}
+
+bool JsonHelper::parseEnum(const QJsonObject& jsonObject, QStringList& enumStrings, QStringList& enumValues, QString& errorString, QString valueName)
+{
+    QMap<QString, QString> defineMap;
+    return _parseEnumWorker(jsonObject, defineMap, enumStrings, enumValues, errorString, valueName);
+}
+
 bool JsonHelper::isJsonFile(const QByteArray& bytes, QJsonDocument& jsonDoc, QString& errorString)
 {
     QJsonParseError parseError;
diff --git a/src/JsonHelper.h b/src/JsonHelper.h
index 711c38ace027946e19fbf1fdc6a5e5ba25d6bc24..2398e6f2c5aff5bbed213e66aebbb197d5b1a8a5 100644
--- a/src/JsonHelper.h
+++ b/src/JsonHelper.h
@@ -122,6 +122,7 @@ public:
                             QJsonArray&         polygonArray);  ///< Array to save into
 
     static bool parseEnum(const QJsonObject& jsonObject, QStringList& enumStrings, QStringList& enumValues, QString& errorString, QString valueName = QString());
+    static bool parseEnum(const QJsonObject& jsonObject, QMap<QString, QString>& defineMap, QStringList& enumStrings, QStringList& enumValues, QString& errorString, QString valueName = QString());
 
     /// Returns NaN if the value is null, or if not, the double value
     static double possibleNaNJsonValue(const QJsonValue& value);
@@ -142,6 +143,7 @@ private:
                                    bool                     writeAltitude,
                                    QJsonValue&              jsonValue,
                                    bool                     geoJsonFormat);
+    static bool _parseEnumWorker(const QJsonObject& jsonObject, QMap<QString, QString>& defineMap, QStringList& enumStrings, QStringList& enumValues, QString& errorString, QString valueName);
 
     static const char*  _enumStringsJsonKey;
     static const char*  _enumValuesJsonKey;
diff --git a/src/QmlControls/QGroundControlQmlGlobal.cc b/src/QmlControls/QGroundControlQmlGlobal.cc
index 2f892c185d8e2be0fdfb5256c6c6f62a88c0f2f4..b223793fd3501293d02dd2e2289e7656cd8e49f5 100644
--- a/src/QmlControls/QGroundControlQmlGlobal.cc
+++ b/src/QmlControls/QGroundControlQmlGlobal.cc
@@ -178,6 +178,15 @@ int QGroundControlQmlGlobal::supportedFirmwareCount()
     return _firmwarePluginManager->supportedFirmwareTypes().count();
 }
 
+bool QGroundControlQmlGlobal::px4ProFirmwareSupported()
+{
+    return _firmwarePluginManager->supportedFirmwareTypes().contains(MAV_AUTOPILOT_PX4);
+}
+
+bool QGroundControlQmlGlobal::apmFirmwareSupported()
+{
+    return _firmwarePluginManager->supportedFirmwareTypes().contains(MAV_AUTOPILOT_ARDUPILOTMEGA);
+}
 
 bool QGroundControlQmlGlobal::linesIntersect(QPointF line1A, QPointF line1B, QPointF line2A, QPointF line2B)
 {
diff --git a/src/QmlControls/QGroundControlQmlGlobal.h b/src/QmlControls/QGroundControlQmlGlobal.h
index e49ace26cf725b6131f8fabe2def0869a9a3e803..26c3631e564200356b488dd0344c509f0fad6995 100644
--- a/src/QmlControls/QGroundControlQmlGlobal.h
+++ b/src/QmlControls/QGroundControlQmlGlobal.h
@@ -70,6 +70,8 @@ public:
     Q_PROPERTY(bool                 taisyncSupported    READ taisyncSupported       CONSTANT)
 
     Q_PROPERTY(int      supportedFirmwareCount          READ supportedFirmwareCount CONSTANT)
+    Q_PROPERTY(bool     px4ProFirmwareSupported         READ px4ProFirmwareSupported CONSTANT)
+    Q_PROPERTY(int      apmFirmwareSupported            READ apmFirmwareSupported CONSTANT)
 
     Q_PROPERTY(qreal zOrderTopMost              READ zOrderTopMost              CONSTANT) ///< z order for top most items, toolbar, main window sub view
     Q_PROPERTY(qreal zOrderWidgets              READ zOrderWidgets              CONSTANT) ///< z order value to widgets, for example: zoom controls, hud widgetss
@@ -180,6 +182,8 @@ public:
     int     mavlinkSystemID         () { return _toolbox->mavlinkProtocol()->getSystemId(); }
 
     int     supportedFirmwareCount  ();
+    bool    px4ProFirmwareSupported ();
+    bool    apmFirmwareSupported    ();
     bool    skipSetupPage           () { return _skipSetupPage; }
     void    setSkipSetupPage        (bool skip);
 
diff --git a/src/Settings/APMMavlinkStreamRate.SettingsGroup.json b/src/Settings/APMMavlinkStreamRate.SettingsGroup.json
new file mode 100644
index 0000000000000000000000000000000000000000..954b079dc269972e80b104a1f93782ddabcde55c
--- /dev/null
+++ b/src/Settings/APMMavlinkStreamRate.SettingsGroup.json
@@ -0,0 +1,64 @@
+{
+    "QGC.MetaData.Defines": {
+        "StreamRateEnumStrings":    "Controlled By Vehicle,0 hz,1 hz,2 hz,3 hz,4 hz,5 hz,6 hz,7 hz,8 hz,9 hz,10 hz,50 hz,100 hz",
+        "StreamRateEnumValues":     "-1,0,1,2,3,4,5,6,7,8,9,10,50,100"
+    },
+    "QGC.MetaData.Facts": [
+        {
+            "name":             "streamRateRawSensors",
+            "shortDescription": "Stream rate for MAVLink Raw Sensors telemetry stream.",
+            "type":             "int32",
+            "enumStrings":      "QGC.MetaData.Defines.StreamRateEnumStrings",
+            "enumValues":       "QGC.MetaData.Defines.StreamRateEnumValues",
+            "defaultValue":     2
+        },
+        {
+            "name":             "streamRateExtendedStatus",
+            "shortDescription": "Stream rate for MAVLink Extended Status telemetry stream.",
+            "type":             "int32",
+            "enumStrings":      "QGC.MetaData.Defines.StreamRateEnumStrings",
+            "enumValues":       "QGC.MetaData.Defines.StreamRateEnumValues",
+            "defaultValue":     2
+        },
+        {
+            "name":             "streamRateRCChannels",
+            "shortDescription": "Stream rate for MAVLink RC Channels telemetry stream.",
+            "type":             "int32",
+            "enumStrings":      "QGC.MetaData.Defines.StreamRateEnumStrings",
+            "enumValues":       "QGC.MetaData.Defines.StreamRateEnumValues",
+            "defaultValue":     2
+        },
+        {
+            "name":             "streamRatePosition",
+            "shortDescription": "Stream rate for MAVLink Position telemetry stream.",
+            "type":             "int32",
+            "enumStrings":      "QGC.MetaData.Defines.StreamRateEnumStrings",
+            "enumValues":       "QGC.MetaData.Defines.StreamRateEnumValues",
+            "defaultValue":     3
+        },
+        {
+            "name":             "streamRateExtra1",
+            "shortDescription": "Stream rate for MAVLink Extra1 telemetry stream.",
+            "type":             "int32",
+            "enumStrings":      "QGC.MetaData.Defines.StreamRateEnumStrings",
+            "enumValues":       "QGC.MetaData.Defines.StreamRateEnumValues",
+            "defaultValue":     10
+        },
+        {
+            "name":             "streamRateExtra2",
+            "shortDescription": "Stream rate for MAVLink Extra2 telemetry stream.",
+            "type":             "int32",
+            "enumStrings":      "QGC.MetaData.Defines.StreamRateEnumStrings",
+            "enumValues":       "QGC.MetaData.Defines.StreamRateEnumValues",
+            "defaultValue":     10
+        },
+        {
+            "name":             "streamRateExtra3",
+            "shortDescription": "Stream rate for MAVLink Extra3 telemetry stream.",
+            "type":             "int32",
+            "enumStrings":      "QGC.MetaData.Defines.StreamRateEnumStrings",
+            "enumValues":       "QGC.MetaData.Defines.StreamRateEnumValues",
+            "defaultValue":     3
+        }
+    ]
+}
diff --git a/src/Settings/APMMavlinkStreamRateSettings.cc b/src/Settings/APMMavlinkStreamRateSettings.cc
new file mode 100644
index 0000000000000000000000000000000000000000..7516a60d33684a065005b9bf1a493d28296122b3
--- /dev/null
+++ b/src/Settings/APMMavlinkStreamRateSettings.cc
@@ -0,0 +1,83 @@
+/****************************************************************************
+ *
+ *   (c) 2009-2016 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
+ *
+ * QGroundControl is licensed according to the terms in the file
+ * COPYING.md in the root of the source code directory.
+ *
+ ****************************************************************************/
+
+#include "APMMavlinkStreamRateSettings.h"
+#include "QGCApplication.h"
+
+#include <QQmlEngine>
+#include <QtQml>
+
+DECLARE_SETTINGGROUP(APMMavlinkStreamRate, "APMMavlinkStreamRate")
+{
+    QQmlEngine::setObjectOwnership(this, QQmlEngine::CppOwnership);
+    qmlRegisterUncreatableType<APMMavlinkStreamRateSettings>("QGroundControl.SettingsManager", 1, 0, "APMMavlinkStreamRateSettings", "Reference only");
+
+    connect(streamRateRawSensors(),     &Fact::rawValueChanged, this, &APMMavlinkStreamRateSettings::_updateStreamRateRawSensors);
+    connect(streamRateExtendedStatus(), &Fact::rawValueChanged, this, &APMMavlinkStreamRateSettings::_updateStreamRateExtendedStatus);
+    connect(streamRateRCChannels(),     &Fact::rawValueChanged, this, &APMMavlinkStreamRateSettings::_updateStreamRateRCChannels);
+    connect(streamRatePosition(),       &Fact::rawValueChanged, this, &APMMavlinkStreamRateSettings::_updateStreamRatePosition);
+    connect(streamRateExtra1(),         &Fact::rawValueChanged, this, &APMMavlinkStreamRateSettings::_updateStreamRateExtra1);
+    connect(streamRateExtra2(),         &Fact::rawValueChanged, this, &APMMavlinkStreamRateSettings::_updateStreamRateExtra2);
+    connect(streamRateExtra3(),         &Fact::rawValueChanged, this, &APMMavlinkStreamRateSettings::_updateStreamRateExtra3);
+}
+
+DECLARE_SETTINGSFACT(APMMavlinkStreamRateSettings, streamRateRawSensors)
+DECLARE_SETTINGSFACT(APMMavlinkStreamRateSettings, streamRateExtendedStatus)
+DECLARE_SETTINGSFACT(APMMavlinkStreamRateSettings, streamRateRCChannels)
+DECLARE_SETTINGSFACT(APMMavlinkStreamRateSettings, streamRatePosition)
+DECLARE_SETTINGSFACT(APMMavlinkStreamRateSettings, streamRateExtra1)
+DECLARE_SETTINGSFACT(APMMavlinkStreamRateSettings, streamRateExtra2)
+DECLARE_SETTINGSFACT(APMMavlinkStreamRateSettings, streamRateExtra3)
+
+void APMMavlinkStreamRateSettings::_updateStreamRateWorker(MAV_DATA_STREAM mavStream, QVariant rateVar)
+{
+    Vehicle* activeVehicle = qgcApp()->toolbox()->multiVehicleManager()->activeVehicle();
+
+    if (activeVehicle) {
+        int streamRate = rateVar.toInt();
+        if (streamRate >= 0) {
+            activeVehicle->requestDataStream(mavStream, static_cast<uint16_t>(streamRate));
+        }
+    }
+}
+
+void APMMavlinkStreamRateSettings::_updateStreamRateRawSensors(QVariant value)
+{
+    _updateStreamRateWorker(MAV_DATA_STREAM_RAW_SENSORS, value);
+}
+
+void APMMavlinkStreamRateSettings::_updateStreamRateExtendedStatus(QVariant value)
+{
+    _updateStreamRateWorker(MAV_DATA_STREAM_EXTENDED_STATUS, value);
+}
+
+void APMMavlinkStreamRateSettings::_updateStreamRateRCChannels(QVariant value)
+{
+    _updateStreamRateWorker(MAV_DATA_STREAM_RC_CHANNELS, value);
+}
+
+void APMMavlinkStreamRateSettings::_updateStreamRatePosition(QVariant value)
+{
+    _updateStreamRateWorker(MAV_DATA_STREAM_POSITION, value);
+}
+
+void APMMavlinkStreamRateSettings::_updateStreamRateExtra1(QVariant value)
+{
+    _updateStreamRateWorker(MAV_DATA_STREAM_EXTRA1, value);
+}
+
+void APMMavlinkStreamRateSettings::_updateStreamRateExtra2(QVariant value)
+{
+    _updateStreamRateWorker(MAV_DATA_STREAM_EXTRA2, value);
+}
+
+void APMMavlinkStreamRateSettings::_updateStreamRateExtra3(QVariant value)
+{
+    _updateStreamRateWorker(MAV_DATA_STREAM_EXTRA3, value);
+}
diff --git a/src/Settings/APMMavlinkStreamRateSettings.h b/src/Settings/APMMavlinkStreamRateSettings.h
new file mode 100644
index 0000000000000000000000000000000000000000..bb95ecbde683bc18c5885a15e37b7ad503b185c3
--- /dev/null
+++ b/src/Settings/APMMavlinkStreamRateSettings.h
@@ -0,0 +1,42 @@
+/****************************************************************************
+ *
+ *   (c) 2009-2016 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
+ *
+ * QGroundControl is licensed according to the terms in the file
+ * COPYING.md in the root of the source code directory.
+ *
+ ****************************************************************************/
+#pragma once
+
+#include "SettingsGroup.h"
+#include "QGCMAVLink.h"
+
+class APMMavlinkStreamRateSettings : public SettingsGroup
+{
+    Q_OBJECT
+
+public:
+    APMMavlinkStreamRateSettings(QObject* parent = nullptr);
+
+    DEFINE_SETTING_NAME_GROUP()
+
+    DEFINE_SETTINGFACT(streamRateRawSensors)
+    DEFINE_SETTINGFACT(streamRateExtendedStatus)
+    DEFINE_SETTINGFACT(streamRateRCChannels)
+    DEFINE_SETTINGFACT(streamRatePosition)
+    DEFINE_SETTINGFACT(streamRateExtra1)
+    DEFINE_SETTINGFACT(streamRateExtra2)
+    DEFINE_SETTINGFACT(streamRateExtra3)
+
+private slots:
+    void _updateStreamRateRawSensors    (QVariant value);
+    void _updateStreamRateExtendedStatus(QVariant value);
+    void _updateStreamRateRCChannels    (QVariant value);
+    void _updateStreamRatePosition      (QVariant value);
+    void _updateStreamRateExtra1        (QVariant value);
+    void _updateStreamRateExtra2        (QVariant value);
+    void _updateStreamRateExtra3        (QVariant value);
+
+private:
+    void _updateStreamRateWorker(MAV_DATA_STREAM mavStream, QVariant rateVar);
+};
diff --git a/src/Settings/App.SettingsGroup.json b/src/Settings/App.SettingsGroup.json
index 82917802eefa4c16ec51154684416e7123089391..67ef154dcca8ff523e4b7d9289ebcb46ca263397 100644
--- a/src/Settings/App.SettingsGroup.json
+++ b/src/Settings/App.SettingsGroup.json
@@ -201,10 +201,11 @@
     "defaultValue":     0
 },
 {
-    "name":             "apmStartMavlinkStreams",
-    "shortDescription": "Request start of MAVLink telemetry streams (ArduPilot only)",
-    "type":             "bool",
-    "defaultValue":     true
+    "name":                 "apmStartMavlinkStreams",
+    "shortDescription":     "Request start of MAVLink telemetry streams (ArduPilot only)",
+    "type":                 "bool",
+    "defaultValue":         true,
+    "qgcRebootRequired":    true
 },
 {
     "name":             "enableTaisync",
diff --git a/src/Settings/SettingsManager.cc b/src/Settings/SettingsManager.cc
index a6393d47c1fcb10f2a3392069d00578785ed68ce..70a44ecc5bf34b08ab999116b71f509146497ef4 100644
--- a/src/Settings/SettingsManager.cc
+++ b/src/Settings/SettingsManager.cc
@@ -17,15 +17,16 @@ SettingsManager::SettingsManager(QGCApplication* app, QGCToolbox* toolbox)
 #if defined(QGC_AIRMAP_ENABLED)
     , _airMapSettings       (nullptr)
 #endif
-    , _appSettings          (nullptr)
-    , _unitsSettings        (nullptr)
-    , _autoConnectSettings  (nullptr)
-    , _videoSettings        (nullptr)
-    , _flightMapSettings    (nullptr)
-    , _rtkSettings          (nullptr)
-    , _flyViewSettings      (nullptr)
-    , _planViewSettings     (nullptr)
-    , _brandImageSettings   (nullptr)
+    , _appSettings                  (nullptr)
+    , _unitsSettings                (nullptr)
+    , _autoConnectSettings          (nullptr)
+    , _videoSettings                (nullptr)
+    , _flightMapSettings            (nullptr)
+    , _rtkSettings                  (nullptr)
+    , _flyViewSettings              (nullptr)
+    , _planViewSettings             (nullptr)
+    , _brandImageSettings           (nullptr)
+    , _apmMavlinkStreamRateSettings (nullptr)
 {
 
 }
@@ -36,16 +37,17 @@ void SettingsManager::setToolbox(QGCToolbox *toolbox)
     QQmlEngine::setObjectOwnership(this, QQmlEngine::CppOwnership);
     qmlRegisterUncreatableType<SettingsManager>("QGroundControl.SettingsManager", 1, 0, "SettingsManager", "Reference only");
 
-    _unitsSettings =        new UnitsSettings       (this);        // Must be first since AppSettings references it
-    _appSettings =          new AppSettings         (this);
-    _autoConnectSettings =  new AutoConnectSettings (this);
-    _videoSettings =        new VideoSettings       (this);
-    _flightMapSettings =    new FlightMapSettings   (this);
-    _rtkSettings =          new RTKSettings         (this);
-    _flyViewSettings =      new FlyViewSettings     (this);
-    _planViewSettings =     new PlanViewSettings    (this);
-    _brandImageSettings =   new BrandImageSettings  (this);
+    _unitsSettings =                new UnitsSettings       (this);        // Must be first since AppSettings references it
+    _appSettings =                  new AppSettings         (this);
+    _autoConnectSettings =          new AutoConnectSettings (this);
+    _videoSettings =                new VideoSettings       (this);
+    _flightMapSettings =            new FlightMapSettings   (this);
+    _rtkSettings =                  new RTKSettings         (this);
+    _flyViewSettings =              new FlyViewSettings     (this);
+    _planViewSettings =             new PlanViewSettings    (this);
+    _brandImageSettings =           new BrandImageSettings  (this);
+    _apmMavlinkStreamRateSettings = new APMMavlinkStreamRateSettings     (this);
 #if defined(QGC_AIRMAP_ENABLED)
-    _airMapSettings =       new AirMapSettings      (this);
+    _airMapSettings =               new AirMapSettings      (this);
 #endif
 }
diff --git a/src/Settings/SettingsManager.h b/src/Settings/SettingsManager.h
index 11fdacf48274a41facc9ca0bd800bf863135ea46..47d63b3ef9aa9479d56c14e00c0a7ee04c1de84a 100644
--- a/src/Settings/SettingsManager.h
+++ b/src/Settings/SettingsManager.h
@@ -23,6 +23,7 @@
 #include "FlyViewSettings.h"
 #include "PlanViewSettings.h"
 #include "BrandImageSettings.h"
+#include "APMMavlinkStreamRateSettings.h"
 #if defined(QGC_AIRMAP_ENABLED)
 #include "AirMapSettings.h"
 #endif
@@ -37,17 +38,18 @@ public:
     SettingsManager(QGCApplication* app, QGCToolbox* toolbox);
 
 #if defined(QGC_AIRMAP_ENABLED)
-    Q_PROPERTY(QObject* airMapSettings      READ airMapSettings         CONSTANT)
+    Q_PROPERTY(QObject* airMapSettings                  READ airMapSettings                 CONSTANT)
 #endif
-    Q_PROPERTY(QObject* appSettings         READ appSettings            CONSTANT)
-    Q_PROPERTY(QObject* unitsSettings       READ unitsSettings          CONSTANT)
-    Q_PROPERTY(QObject* autoConnectSettings READ autoConnectSettings    CONSTANT)
-    Q_PROPERTY(QObject* videoSettings       READ videoSettings          CONSTANT)
-    Q_PROPERTY(QObject* flightMapSettings   READ flightMapSettings      CONSTANT)
-    Q_PROPERTY(QObject* rtkSettings         READ rtkSettings            CONSTANT)
-    Q_PROPERTY(QObject* flyViewSettings     READ flyViewSettings        CONSTANT)
-    Q_PROPERTY(QObject* planViewSettings    READ planViewSettings       CONSTANT)
-    Q_PROPERTY(QObject* brandImageSettings  READ brandImageSettings     CONSTANT)
+    Q_PROPERTY(QObject* appSettings                     READ appSettings                    CONSTANT)
+    Q_PROPERTY(QObject* unitsSettings                   READ unitsSettings                  CONSTANT)
+    Q_PROPERTY(QObject* autoConnectSettings             READ autoConnectSettings            CONSTANT)
+    Q_PROPERTY(QObject* videoSettings                   READ videoSettings                  CONSTANT)
+    Q_PROPERTY(QObject* flightMapSettings               READ flightMapSettings              CONSTANT)
+    Q_PROPERTY(QObject* rtkSettings                     READ rtkSettings                    CONSTANT)
+    Q_PROPERTY(QObject* flyViewSettings                 READ flyViewSettings                CONSTANT)
+    Q_PROPERTY(QObject* planViewSettings                READ planViewSettings               CONSTANT)
+    Q_PROPERTY(QObject* brandImageSettings              READ brandImageSettings             CONSTANT)
+    Q_PROPERTY(QObject* apmMavlinkStreamRateSettings    READ apmMavlinkStreamRateSettings   CONSTANT)
 
     // Override from QGCTool
     virtual void setToolbox(QGCToolbox *toolbox);
@@ -55,29 +57,31 @@ public:
 #if defined(QGC_AIRMAP_ENABLED)
     AirMapSettings*         airMapSettings      (void) { return _airMapSettings; }
 #endif
-    AppSettings*            appSettings         (void) { return _appSettings; }
-    UnitsSettings*          unitsSettings       (void) { return _unitsSettings; }
-    AutoConnectSettings*    autoConnectSettings (void) { return _autoConnectSettings; }
-    VideoSettings*          videoSettings       (void) { return _videoSettings; }
-    FlightMapSettings*      flightMapSettings   (void) { return _flightMapSettings; }
-    RTKSettings*            rtkSettings         (void) { return _rtkSettings; }
-    FlyViewSettings*        flyViewSettings     (void) { return _flyViewSettings; }
-    PlanViewSettings*       planViewSettings    (void) { return _planViewSettings; }
-    BrandImageSettings*     brandImageSettings  (void) { return _brandImageSettings; }
+    AppSettings*                    appSettings                 (void) { return _appSettings; }
+    UnitsSettings*                  unitsSettings               (void) { return _unitsSettings; }
+    AutoConnectSettings*            autoConnectSettings         (void) { return _autoConnectSettings; }
+    VideoSettings*                  videoSettings               (void) { return _videoSettings; }
+    FlightMapSettings*              flightMapSettings           (void) { return _flightMapSettings; }
+    RTKSettings*                    rtkSettings                 (void) { return _rtkSettings; }
+    FlyViewSettings*                flyViewSettings             (void) { return _flyViewSettings; }
+    PlanViewSettings*               planViewSettings            (void) { return _planViewSettings; }
+    BrandImageSettings*             brandImageSettings          (void) { return _brandImageSettings; }
+    APMMavlinkStreamRateSettings*   apmMavlinkStreamRateSettings(void) { return _apmMavlinkStreamRateSettings; }
 
 private:
 #if defined(QGC_AIRMAP_ENABLED)
     AirMapSettings*         _airMapSettings;
 #endif
-    AppSettings*            _appSettings;
-    UnitsSettings*          _unitsSettings;
-    AutoConnectSettings*    _autoConnectSettings;
-    VideoSettings*          _videoSettings;
-    FlightMapSettings*      _flightMapSettings;
-    RTKSettings*            _rtkSettings;
-    FlyViewSettings*        _flyViewSettings;
-    PlanViewSettings*       _planViewSettings;
-    BrandImageSettings*     _brandImageSettings;
+    AppSettings*                    _appSettings;
+    UnitsSettings*                  _unitsSettings;
+    AutoConnectSettings*            _autoConnectSettings;
+    VideoSettings*                  _videoSettings;
+    FlightMapSettings*              _flightMapSettings;
+    RTKSettings*                    _rtkSettings;
+    FlyViewSettings*                _flyViewSettings;
+    PlanViewSettings*               _planViewSettings;
+    BrandImageSettings*             _brandImageSettings;
+    APMMavlinkStreamRateSettings*   _apmMavlinkStreamRateSettings;
 };
 
 #endif
diff --git a/src/ui/preferences/MavlinkSettings.qml b/src/ui/preferences/MavlinkSettings.qml
index b154d6ba180e6eb32aee9c182b8af7c782e74586..2db2cc1d958272481712c9e77bb06b7396424a59 100644
--- a/src/ui/preferences/MavlinkSettings.qml
+++ b/src/ui/preferences/MavlinkSettings.qml
@@ -12,6 +12,7 @@ import QtQuick                  2.3
 import QtQuick.Controls         1.2
 import QtQuick.Controls.Styles  1.4
 import QtQuick.Dialogs          1.2
+import QtQuick.Layouts          1.2
 
 import QGroundControl                       1.0
 import QGroundControl.FactSystem            1.0
@@ -33,6 +34,7 @@ Rectangle {
     property bool _uploadedSelected:    false
     property var  _activeVehicle:       QGroundControl.multiVehicleManager.activeVehicle
     property var  _showMavlinkLog:      QGroundControl.corePlugin.options.showMavlinkLogOptions
+    property bool _showAPMStreamRates:  QGroundControl.apmFirmwareSupported && QGroundControl.settingsManager.apmMavlinkStreamRateSettings.visible
 
     QGCPalette { id: qgcPal }
 
@@ -143,11 +145,6 @@ Rectangle {
                         }
                     }
 
-                    FactCheckBox {
-                        text:   fact.shortDescription
-                        fact:   QGroundControl.settingsManager.appSettings.apmStartMavlinkStreams
-                    }
-
                     QGCCheckBox {
                         text:       qsTr("Only accept MAVs with same protocol version")
                         checked:    QGroundControl.isVersionCheckEnabled
@@ -158,6 +155,97 @@ Rectangle {
                 }
             }
             //-----------------------------------------------------------------
+            //-- Stream Rates
+            Item {
+                id:                         apmStreamRatesLabel
+                width:                      __mavlinkRoot.width * 0.8
+                height:                     streamRatesLabel.height
+                anchors.margins:            ScreenTools.defaultFontPixelWidth
+                anchors.horizontalCenter:   parent.horizontalCenter
+                visible:                    _showAPMStreamRates
+                QGCLabel {
+                    id:             streamRatesLabel
+                    text:           qsTr("Telemetry Stream Rates (ArduPilot Only)")
+                    font.family:    ScreenTools.demiboldFontFamily
+                }
+            }
+            Rectangle {
+                height:                     streamRatesColumn.height + (ScreenTools.defaultFontPixelHeight * 2)
+                width:                      __mavlinkRoot.width * 0.8
+                color:                      qgcPal.windowShade
+                anchors.margins:            ScreenTools.defaultFontPixelWidth
+                anchors.horizontalCenter:   parent.horizontalCenter
+                visible:                    _showAPMStreamRates
+
+                ColumnLayout {
+                    id:                 streamRatesColumn
+                    spacing:            ScreenTools.defaultFontPixelHeight / 2
+                    anchors.centerIn:   parent
+
+                    property bool allStreamsControlledByVehicle: !QGroundControl.settingsManager.appSettings.apmStartMavlinkStreams.rawValue
+
+                    QGCCheckBox {
+                        text:               qsTr("All Streams Controlled By Vehicle Settings")
+                        checked:            streamRatesColumn.allStreamsControlledByVehicle
+                        onClicked:          QGroundControl.settingsManager.appSettings.apmStartMavlinkStreams.rawValue = !checked
+                    }
+
+                    GridLayout {
+                        columns:    2
+                        enabled:    !streamRatesColumn.allStreamsControlledByVehicle
+
+                        QGCLabel { text:  qsTr("Raw Sensors") }
+                        FactComboBox {
+                            fact:                   QGroundControl.settingsManager.apmMavlinkStreamRateSettings.streamRateRawSensors
+                            indexModel:             false
+                            Layout.preferredWidth:  _valueWidth
+                        }
+
+                        QGCLabel { text:  qsTr("Extended Status") }
+                        FactComboBox {
+                            fact:                   QGroundControl.settingsManager.apmMavlinkStreamRateSettings.streamRateExtendedStatus
+                            indexModel:             false
+                            Layout.preferredWidth:  _valueWidth
+                        }
+
+                        QGCLabel { text:  qsTr("RC Channel") }
+                        FactComboBox {
+                            fact:                   QGroundControl.settingsManager.apmMavlinkStreamRateSettings.streamRateRCChannels
+                            indexModel:             false
+                            Layout.preferredWidth:  _valueWidth
+                        }
+
+                        QGCLabel { text:  qsTr("Position") }
+                        FactComboBox {
+                            fact:                   QGroundControl.settingsManager.apmMavlinkStreamRateSettings.streamRatePosition
+                            indexModel:             false
+                            Layout.preferredWidth:  _valueWidth
+                        }
+
+                        QGCLabel { text:  qsTr("Extra 1") }
+                        FactComboBox {
+                            fact:                   QGroundControl.settingsManager.apmMavlinkStreamRateSettings.streamRateExtra1
+                            indexModel:             false
+                            Layout.preferredWidth:  _valueWidth
+                        }
+
+                        QGCLabel { text:  qsTr("Extra 2") }
+                        FactComboBox {
+                            fact:                   QGroundControl.settingsManager.apmMavlinkStreamRateSettings.streamRateExtra2
+                            indexModel:             false
+                            Layout.preferredWidth:  _valueWidth
+                        }
+
+                        QGCLabel { text:  qsTr("Extra 3") }
+                        FactComboBox {
+                            fact:                   QGroundControl.settingsManager.apmMavlinkStreamRateSettings.streamRateExtra3
+                            indexModel:             false
+                            Layout.preferredWidth:  _valueWidth
+                        }
+                    }
+                }
+            }
+            //-----------------------------------------------------------------
             //-- Mavlink Status
             Item {
                 width:              __mavlinkRoot.width * 0.8
@@ -253,7 +341,7 @@ Rectangle {
                 visible:            _showMavlinkLog
                 QGCLabel {
                     id:             mavlogLabel
-                    text:           qsTr("MAVLink 2.0 Logging (PX4 Firmware Only)")
+                    text:           qsTr("MAVLink 2.0 Logging (PX4 Pro Only)")
                     font.family:    ScreenTools.demiboldFontFamily
                 }
             }
@@ -315,7 +403,7 @@ Rectangle {
                 visible:            _showMavlinkLog
                 QGCLabel {
                     id:             logLabel
-                    text:           qsTr("MAVLink 2.0 Log Uploads (PX4 Firmware Only)")
+                    text:           qsTr("MAVLink 2.0 Log Uploads (PX4 Pro Only)")
                     font.family:    ScreenTools.demiboldFontFamily
                 }
             }