diff --git a/src/AutoPilotPlugins/PX4/FlightModesComponentController.cc b/src/AutoPilotPlugins/PX4/FlightModesComponentController.cc
index f6c241ae53cd1f2166d72bd6a8ac492d7acdd67d..962df646476d4a4497fce17bf0f7106679f1c346 100644
--- a/src/AutoPilotPlugins/PX4/FlightModesComponentController.cc
+++ b/src/AutoPilotPlugins/PX4/FlightModesComponentController.cc
@@ -55,12 +55,7 @@ FlightModesComponentController::FlightModesComponentController(void) :
     _init();
     _validateConfiguration();
     
-    connect(_uas, &UASInterface::remoteControlChannelRawChanged, this, &FlightModesComponentController::_remoteControlChannelRawChanged);
-}
-
-FlightModesComponentController::~FlightModesComponentController()
-{
-    disconnect(_uas, &UASInterface::remoteControlChannelRawChanged, this, &FlightModesComponentController::_remoteControlChannelRawChanged);
+    connect(_vehicle, &Vehicle::rcChannelsChanged, this, &FlightModesComponentController::_rcChannelsChanged);
 }
 
 void FlightModesComponentController::_init(void)
@@ -209,27 +204,29 @@ void FlightModesComponentController::_validateConfiguration(void)
     }
 }
 
-/// @brief This routine is called whenever a raw value for an RC channel changes.
-///     @param chan RC channel on which signal is coming from (0-based)
-///     @param fval Current value for channel
-void FlightModesComponentController::_remoteControlChannelRawChanged(int chan, float fval)
+/// Connected to Vehicle::rcChannelsChanged signal
+void FlightModesComponentController::_rcChannelsChanged(int channelCount, int pwmValues[Vehicle::cMaxRcChannels])
 {
-    Q_ASSERT(chan >= 0 && chan <= _chanMax);
-    
-    if (fval < _rgRCMin[chan]) {
-        fval= _rgRCMin[chan];
-    }
-    if (fval > _rgRCMax[chan]) {
-        fval= _rgRCMax[chan];
-    }
-    
-    float percentRange = (fval - _rgRCMin[chan]) / (float)(_rgRCMax[chan] - _rgRCMin[chan]);
-    if (_rgRCReversed[chan]) {
-        percentRange = 1.0 - percentRange;
+    for (int channel=0; channel<channelCount; channel++) {
+        int channelValue = pwmValues[channel];
+
+        if (channelValue != -1) {
+            if (channelValue < _rgRCMin[channel]) {
+                channelValue= _rgRCMin[channel];
+            }
+            if (channelValue > _rgRCMax[channel]) {
+                channelValue= _rgRCMax[channel];
+            }
+
+            float percentRange = (channelValue - _rgRCMin[channel]) / (float)(_rgRCMax[channel] - _rgRCMin[channel]);
+            if (_rgRCReversed[channel]) {
+                percentRange = 1.0 - percentRange;
+            }
+
+            _rcValues[channel] = percentRange;
+        }
     }
     
-    _rcValues[chan] = percentRange;
-    
     _recalcModeSelections();
     
     emit switchLiveRangeChanged();
diff --git a/src/AutoPilotPlugins/PX4/FlightModesComponentController.h b/src/AutoPilotPlugins/PX4/FlightModesComponentController.h
index 091f0de115dd9d77c3cfaf6e9cb48b97a3d73cfc..9070de31c9d045e19d2e5a64d05505d2377f2506 100644
--- a/src/AutoPilotPlugins/PX4/FlightModesComponentController.h
+++ b/src/AutoPilotPlugins/PX4/FlightModesComponentController.h
@@ -43,7 +43,6 @@ class FlightModesComponentController : public FactPanelController
     
 public:
     FlightModesComponentController(void);
-    ~FlightModesComponentController();
     
     Q_PROPERTY(bool validConfiguration MEMBER _validConfiguration CONSTANT)
     Q_PROPERTY(QString configurationErrors MEMBER _configurationErrors CONSTANT)
@@ -183,7 +182,7 @@ signals:
     void modeRowsChanged(void);
     
 private slots:
-    void _remoteControlChannelRawChanged(int chan, float fval);
+    void _rcChannelsChanged(int channelCount, int pwmValues[Vehicle::cMaxRcChannels]);
     
 private:
     double _switchLiveRange(const QString& param);
diff --git a/src/Vehicle/Vehicle.cc b/src/Vehicle/Vehicle.cc
index 925f9ab821e6ac084a7db1e28986a3e4d2e0f1d8..d4c281cde89573df54dd7e0f1e333a9e49b07023 100644
--- a/src/Vehicle/Vehicle.cc
+++ b/src/Vehicle/Vehicle.cc
@@ -119,10 +119,10 @@ Vehicle::Vehicle(LinkInterface*             link,
     setLatitude(_uas->getLatitude());
     setLongitude(_uas->getLongitude());
 
-    connect(_uas, &UAS::latitudeChanged,            this, &Vehicle::setLatitude);
-    connect(_uas, &UAS::longitudeChanged,           this, &Vehicle::setLongitude);
-    connect(_uas, &UAS::imageReady,                 this, &Vehicle::_imageReady);
-    connect(_uas, &UAS::remoteControlRSSIChanged,   this, &Vehicle::_remoteControlRSSIChanged);
+    connect(_uas, &UAS::latitudeChanged,                this, &Vehicle::setLatitude);
+    connect(_uas, &UAS::longitudeChanged,               this, &Vehicle::setLongitude);
+    connect(_uas, &UAS::imageReady,                     this, &Vehicle::_imageReady);
+    connect(this, &Vehicle::remoteControlRSSIChanged,   this, &Vehicle::_remoteControlRSSIChanged);
 
     _firmwarePlugin     = _firmwarePluginManager->firmwarePluginForAutopilot(_firmwareType, _vehicleType);
     _autopilotPlugin    = _autopilotPluginManager->newAutopilotPluginForVehicle(this);
@@ -211,12 +211,18 @@ void Vehicle::_mavlinkMessageReceived(LinkInterface* link, mavlink_message_t mes
     _firmwarePlugin->adjustMavlinkMessage(&message);
 
     switch (message.msgid) {
-        case MAVLINK_MSG_ID_HOME_POSITION:
-            _handleHomePosition(message);
-            break;
-        case MAVLINK_MSG_ID_HEARTBEAT:
-            _handleHeartbeat(message);
-            break;
+    case MAVLINK_MSG_ID_HOME_POSITION:
+        _handleHomePosition(message);
+        break;
+    case MAVLINK_MSG_ID_HEARTBEAT:
+        _handleHeartbeat(message);
+        break;
+    case MAVLINK_MSG_ID_RC_CHANNELS:
+        _handleRCChannels(message);
+        break;
+    case MAVLINK_MSG_ID_RC_CHANNELS_RAW:
+        _handleRCChannelsRaw(message);
+        break;
     }
 
     emit mavlinkMessageReceived(message);
@@ -281,6 +287,89 @@ void Vehicle::_handleHeartbeat(mavlink_message_t& message)
     }
 }
 
+void Vehicle::_handleRCChannels(mavlink_message_t& message)
+{
+    mavlink_rc_channels_t channels;
+
+    mavlink_msg_rc_channels_decode(&message, &channels);
+
+    uint16_t* _rgChannelvalues[cMaxRcChannels] = {
+        &channels.chan1_raw,
+        &channels.chan2_raw,
+        &channels.chan3_raw,
+        &channels.chan4_raw,
+        &channels.chan5_raw,
+        &channels.chan6_raw,
+        &channels.chan7_raw,
+        &channels.chan8_raw,
+        &channels.chan9_raw,
+        &channels.chan10_raw,
+        &channels.chan11_raw,
+        &channels.chan12_raw,
+        &channels.chan13_raw,
+        &channels.chan14_raw,
+        &channels.chan15_raw,
+        &channels.chan16_raw,
+        &channels.chan17_raw,
+        &channels.chan18_raw,
+    };
+    int pwmValues[cMaxRcChannels];
+
+    for (int i=0; i<cMaxRcChannels; i++) {
+        uint16_t channelValue = *_rgChannelvalues[i];
+
+        if (i < channels.chancount) {
+            pwmValues[i] = channelValue == UINT16_MAX ? -1 : channelValue;
+        } else {
+            pwmValues[i] = -1;
+        }
+    }
+
+    emit remoteControlRSSIChanged(channels.rssi);
+    emit rcChannelsChanged(channels.chancount, pwmValues);
+}
+
+void Vehicle::_handleRCChannelsRaw(mavlink_message_t& message)
+{
+    // We handle both RC_CHANNLES and RC_CHANNELS_RAW since different firmware will only
+    // send one or the other.
+
+    mavlink_rc_channels_raw_t channels;
+
+    mavlink_msg_rc_channels_raw_decode(&message, &channels);
+
+    uint16_t* _rgChannelvalues[cMaxRcChannels] = {
+        &channels.chan1_raw,
+        &channels.chan2_raw,
+        &channels.chan3_raw,
+        &channels.chan4_raw,
+        &channels.chan5_raw,
+        &channels.chan6_raw,
+        &channels.chan7_raw,
+        &channels.chan8_raw,
+    };
+
+    int pwmValues[cMaxRcChannels];
+    int channelCount = 0;
+
+    for (int i=0; i<8; i++) {
+        uint16_t channelValue = *_rgChannelvalues[i];
+
+        if (channelValue == UINT16_MAX) {
+            pwmValues[i] = -1;
+        } else {
+            channelCount = i;
+            pwmValues[i] = channelValue;
+        }
+    }
+    for (int i=9; i<18; i++) {
+        pwmValues[i] = -1;
+    }
+
+    emit remoteControlRSSIChanged(channels.rssi);
+    emit rcChannelsChanged(channelCount, pwmValues);
+}
+
 bool Vehicle::_containsLink(LinkInterface* link)
 {
     return _links.contains(link);
diff --git a/src/Vehicle/Vehicle.h b/src/Vehicle/Vehicle.h
index 6574982b2d0d8c793dd51e92fc89b5b35c400a42..f6b74b0e4c4264cc38158328984707e55bc755f4 100644
--- a/src/Vehicle/Vehicle.h
+++ b/src/Vehicle/Vehicle.h
@@ -112,6 +112,9 @@ public:
     Q_PROPERTY(bool                 active                  READ active             WRITE setActive     NOTIFY activeChanged)
     Q_PROPERTY(int                  flowImageIndex          READ flowImageIndex                         NOTIFY flowImageIndexChanged)
     Q_PROPERTY(int                  rcRSSI                  READ rcRSSI                                 NOTIFY rcRSSIChanged)
+    Q_PROPERTY(bool                 px4Firmware             READ px4Firmware                            CONSTANT)
+    Q_PROPERTY(bool                 apmFirmware             READ apmFirmware                            CONSTANT)
+    Q_PROPERTY(bool                 genericFirmware         READ genericFirmware                        CONSTANT)
 
     /// Returns the number of buttons which are reserved for firmware use in the MANUAL_CONTROL mavlink
     /// message. For example PX4 Flight Stack reserves the first 8 buttons to simulate rc switches.
@@ -253,9 +256,14 @@ public:
     int             satelliteLock       () { return _satelliteLock; }
     unsigned int    heartbeatTimeout    () { return _currentHeartbeatTimeout; }
     int             rcRSSI              () { return _rcRSSI; }
+    bool            px4Firmware         () { return _firmwareType == MAV_AUTOPILOT_PX4; }
+    bool            apmFirmware         () { return _firmwareType == MAV_AUTOPILOT_ARDUPILOTMEGA; }
+    bool            genericFirmware     () { return !px4Firmware() && !apmFirmware(); }
 
     ParameterLoader* getParameterLoader(void);
 
+    static const int cMaxRcChannels = 18;
+
 public slots:
     void setLatitude(double latitude);
     void setLongitude(double longitude);
@@ -305,6 +313,14 @@ signals:
     void flowImageIndexChanged  ();
     void rcRSSIChanged          (int rcRSSI);
 
+    /// New RC channel values
+    ///     @param channelCount Number of available channels, cMaxRcChannels max
+    ///     @param pwmValues -1 signals channel not available
+    void rcChannelsChanged(int channelCount, int pwmValues[cMaxRcChannels]);
+
+    /// Remote control RSSI changed  (0% - 100%)
+    void remoteControlRSSIChanged(uint8_t rssi);
+
 private slots:
     void _mavlinkMessageReceived(LinkInterface* link, mavlink_message_t message);
     void _linkInactiveOrDeleted(LinkInterface* link);
@@ -342,6 +358,8 @@ private:
     void _startJoystick(bool start);
     void _handleHomePosition(mavlink_message_t& message);
     void _handleHeartbeat(mavlink_message_t& message);
+    void _handleRCChannels(mavlink_message_t& message);
+    void _handleRCChannelsRaw(mavlink_message_t& message);
     void _missionManagerError(int errorCode, const QString& errorMsg);
     void _mapTrajectoryStart(void);
     void _mapTrajectoryStop(void);
diff --git a/src/uas/UAS.cc b/src/uas/UAS.cc
index c72c4fcab203946d850280b1edc5bb62ec5909d6..574d28caa869dc3976216b044d2484d7f751800d 100644
--- a/src/uas/UAS.cc
+++ b/src/uas/UAS.cc
@@ -755,82 +755,9 @@ void UAS::receiveMessage(mavlink_message_t message)
             mavlink_gps_global_origin_t pos;
             mavlink_msg_gps_global_origin_decode(&message, &pos);
             emit homePositionChanged(uasId, pos.latitude / 10000000.0, pos.longitude / 10000000.0, pos.altitude / 1000.0);
-        }
-            break;
-        case MAVLINK_MSG_ID_RC_CHANNELS:
-        {
-            mavlink_rc_channels_t channels;
-            mavlink_msg_rc_channels_decode(&message, &channels);
-
-            emit remoteControlRSSIChanged(channels.rssi);
-
-            if (channels.chan1_raw != UINT16_MAX && channels.chancount > 0)
-                emit remoteControlChannelRawChanged(0, channels.chan1_raw);
-            if (channels.chan2_raw != UINT16_MAX && channels.chancount > 1)
-                emit remoteControlChannelRawChanged(1, channels.chan2_raw);
-            if (channels.chan3_raw != UINT16_MAX && channels.chancount > 2)
-                emit remoteControlChannelRawChanged(2, channels.chan3_raw);
-            if (channels.chan4_raw != UINT16_MAX && channels.chancount > 3)
-                emit remoteControlChannelRawChanged(3, channels.chan4_raw);
-            if (channels.chan5_raw != UINT16_MAX && channels.chancount > 4)
-                emit remoteControlChannelRawChanged(4, channels.chan5_raw);
-            if (channels.chan6_raw != UINT16_MAX && channels.chancount > 5)
-                emit remoteControlChannelRawChanged(5, channels.chan6_raw);
-            if (channels.chan7_raw != UINT16_MAX && channels.chancount > 6)
-                emit remoteControlChannelRawChanged(6, channels.chan7_raw);
-            if (channels.chan8_raw != UINT16_MAX && channels.chancount > 7)
-                emit remoteControlChannelRawChanged(7, channels.chan8_raw);
-            if (channels.chan9_raw != UINT16_MAX && channels.chancount > 8)
-                emit remoteControlChannelRawChanged(8, channels.chan9_raw);
-            if (channels.chan10_raw != UINT16_MAX && channels.chancount > 9)
-                emit remoteControlChannelRawChanged(9, channels.chan10_raw);
-            if (channels.chan11_raw != UINT16_MAX && channels.chancount > 10)
-                emit remoteControlChannelRawChanged(10, channels.chan11_raw);
-            if (channels.chan12_raw != UINT16_MAX && channels.chancount > 11)
-                emit remoteControlChannelRawChanged(11, channels.chan12_raw);
-            if (channels.chan13_raw != UINT16_MAX && channels.chancount > 12)
-                emit remoteControlChannelRawChanged(12, channels.chan13_raw);
-            if (channels.chan14_raw != UINT16_MAX && channels.chancount > 13)
-                emit remoteControlChannelRawChanged(13, channels.chan14_raw);
-            if (channels.chan15_raw != UINT16_MAX && channels.chancount > 14)
-                emit remoteControlChannelRawChanged(14, channels.chan15_raw);
-            if (channels.chan16_raw != UINT16_MAX && channels.chancount > 15)
-                emit remoteControlChannelRawChanged(15, channels.chan16_raw);
-            if (channels.chan17_raw != UINT16_MAX && channels.chancount > 16)
-                emit remoteControlChannelRawChanged(16, channels.chan17_raw);
-            if (channels.chan18_raw != UINT16_MAX && channels.chancount > 17)
-                emit remoteControlChannelRawChanged(17, channels.chan18_raw);
-
         }
             break;
 
-        // TODO: (gg 20150420) PX4 Firmware does not seem to send this message. Don't know what to do about it.
-        case MAVLINK_MSG_ID_RC_CHANNELS_SCALED:
-        {
-            mavlink_rc_channels_scaled_t channels;
-            mavlink_msg_rc_channels_scaled_decode(&message, &channels);
-
-            const unsigned int portWidth = 8; // XXX magic number
-
-            emit remoteControlRSSIChanged(channels.rssi);
-            if (static_cast<uint16_t>(channels.chan1_scaled) != UINT16_MAX)
-                emit remoteControlChannelScaledChanged(channels.port * portWidth + 0, channels.chan1_scaled/10000.0f);
-            if (static_cast<uint16_t>(channels.chan2_scaled) != UINT16_MAX)
-                emit remoteControlChannelScaledChanged(channels.port * portWidth + 1, channels.chan2_scaled/10000.0f);
-            if (static_cast<uint16_t>(channels.chan3_scaled) != UINT16_MAX)
-                emit remoteControlChannelScaledChanged(channels.port * portWidth + 2, channels.chan3_scaled/10000.0f);
-            if (static_cast<uint16_t>(channels.chan4_scaled) != UINT16_MAX)
-                emit remoteControlChannelScaledChanged(channels.port * portWidth + 3, channels.chan4_scaled/10000.0f);
-            if (static_cast<uint16_t>(channels.chan5_scaled) != UINT16_MAX)
-                emit remoteControlChannelScaledChanged(channels.port * portWidth + 4, channels.chan5_scaled/10000.0f);
-            if (static_cast<uint16_t>(channels.chan6_scaled) != UINT16_MAX)
-                emit remoteControlChannelScaledChanged(channels.port * portWidth + 5, channels.chan6_scaled/10000.0f);
-            if (static_cast<uint16_t>(channels.chan7_scaled) != UINT16_MAX)
-                emit remoteControlChannelScaledChanged(channels.port * portWidth + 6, channels.chan7_scaled/10000.0f);
-            if (static_cast<uint16_t>(channels.chan8_scaled) != UINT16_MAX)
-                emit remoteControlChannelScaledChanged(channels.port * portWidth + 7, channels.chan8_scaled/10000.0f);
-        }
-            break;
         case MAVLINK_MSG_ID_PARAM_VALUE:
         {
             mavlink_param_value_t rawValue;
diff --git a/src/uas/UASInterface.h b/src/uas/UASInterface.h
index 24f5b8148c792b56e540e20626539cb828ec1da2..4fabdcdc5596a065799729064088e25226777b35 100644
--- a/src/uas/UASInterface.h
+++ b/src/uas/UASInterface.h
@@ -302,13 +302,6 @@ signals:
     /** @brief Differential pressure / airspeed status changed */
     void airspeedStatusChanged(bool supported, bool enabled, bool ok);
 
-    /** @brief Value of a remote control channel (raw) */
-    void remoteControlChannelRawChanged(int channelId, float raw);
-    /** @brief Value of a remote control channel (scaled)*/
-    void remoteControlChannelScaledChanged(int channelId, float normalized);
-    /** @brief Remote control RSSI changed  (0% - 100%)*/
-    void remoteControlRSSIChanged(uint8_t rssi);
-
     /**
      * @brief Localization quality changed
      * @param fix 0: lost, 1: 2D local position hold, 2: 2D localization, 3: 3D localization