diff --git a/qgcresources.qrc b/qgcresources.qrc
index 630152fffd3affd7d394f6d0361ad8b0f73d83ef..72b12dc336066d81177b1900df407b6137c884b7 100644
--- a/qgcresources.qrc
+++ b/qgcresources.qrc
@@ -33,9 +33,12 @@
         <file alias="VehicleNoseDown.png">src/AutoPilotPlugins/PX4/Images/VehicleNoseDown.png</file>
         <file alias="VehicleNoseDownRotate.png">src/AutoPilotPlugins/PX4/Images/VehicleNoseDownRotate.png</file>
         <file alias="VehicleRight.png">src/AutoPilotPlugins/PX4/Images/VehicleRight.png</file>
+        <file alias="VehicleRightRotate.png">src/AutoPilotPlugins/PX4/Images/VehicleRightRotate.png</file>
         <file alias="VehicleSummaryIcon.png">src/VehicleSetup/VehicleSummaryIcon.png</file>
         <file alias="VehicleTailDown.png">src/AutoPilotPlugins/PX4/Images/VehicleTailDown.png</file>
+        <file alias="VehicleTailDownRotate.png">src/AutoPilotPlugins/PX4/Images/VehicleTailDownRotate.png</file>
         <file alias="VehicleUpsideDown.png">src/AutoPilotPlugins/PX4/Images/VehicleUpsideDown.png</file>
+        <file alias="VehicleUpsideDownRotate.png">src/AutoPilotPlugins/PX4/Images/VehicleUpsideDownRotate.png</file>
         <file alias="attitudeDial.svg">src/FlightMap/Images/attitudeDial.svg</file>
         <file alias="attitudeInstrument.svg">src/FlightMap/Images/attitudeInstrument.svg</file>
         <file alias="attitudePointer.svg">src/FlightMap/Images/attitudePointer.svg</file>
diff --git a/src/AutoPilotPlugins/APM/APMSensorsComponent.qml b/src/AutoPilotPlugins/APM/APMSensorsComponent.qml
index e68c03399635b3bf62fdd09a8329fd72918aa557..40d9a4f3bb0cb7637629642c4c59a8492fd1b57d 100644
--- a/src/AutoPilotPlugins/APM/APMSensorsComponent.qml
+++ b/src/AutoPilotPlugins/APM/APMSensorsComponent.qml
@@ -364,7 +364,7 @@ QGCView {
                         calValid:           controller.orientationCalUpsideDownSideDone
                         calInProgress:      controller.orientationCalUpsideDownSideInProgress
                         calInProgressText:  controller.orientationCalUpsideDownSideRotate ? "Rotate" : "Hold Still"
-                        imageSource:        "qrc:///qmlimages/VehicleUpsideDown.png"
+                        imageSource:        controller.orientationCalUpsideDownSideRotate ? "qrc:///qmlimages/VehicleUpsideDownRotate.png" : "qrc:///qmlimages/VehicleUpsideDown.png"
                     }
                     VehicleRotationCal {
                         visible:            controller.orientationCalNoseDownSideVisible
@@ -378,7 +378,7 @@ QGCView {
                         calValid:           controller.orientationCalTailDownSideDone
                         calInProgress:      controller.orientationCalTailDownSideInProgress
                         calInProgressText:  controller.orientationCalTailDownSideRotate ? "Rotate" : "Hold Still"
-                        imageSource:        "qrc:///qmlimages/VehicleTailDown.png"
+                        imageSource:        controller.orientationCalTailDownSideRotate ? "qrc:///qmlimages/VehicleTailDownRotate.png" : "qrc:///qmlimages/VehicleTailDown.png"
                     }
                     VehicleRotationCal {
                         visible:            controller.orientationCalLeftSideVisible
@@ -392,7 +392,7 @@ QGCView {
                         calValid:           controller.orientationCalRightSideDone
                         calInProgress:      controller.orientationCalRightSideInProgress
                         calInProgressText:  controller.orientationCalRightSideRotate ? "Rotate" : "Hold Still"
-                        imageSource:        "qrc:///qmlimages/VehicleRight.png"
+                        imageSource:        controller.orientationCalRightSideRotate ? "qrc:///qmlimages/VehicleRightRotate.png" : "qrc:///qmlimages/VehicleRight.png"
                     }
                 }
             }
diff --git a/src/AutoPilotPlugins/APM/APMSensorsComponentController.cc b/src/AutoPilotPlugins/APM/APMSensorsComponentController.cc
index 7fe9eca943effc004a5d2561ed92ec4bc2e6512c..e5770b6a3d6fea270a1306794a51c0142d5dd5ad 100644
--- a/src/AutoPilotPlugins/APM/APMSensorsComponentController.cc
+++ b/src/AutoPilotPlugins/APM/APMSensorsComponentController.cc
@@ -365,6 +365,7 @@ void APMSensorsComponentController::_handleUASTextMessage(int uasId, int compId,
         } else if (side == "up") {
             _orientationCalUpsideDownSideInProgress = false;
             _orientationCalUpsideDownSideDone = true;
+            _orientationCalUpsideDownSideRotate = false;
         } else if (side == "left") {
             _orientationCalLeftSideInProgress = false;
             _orientationCalLeftSideDone = true;
@@ -372,6 +373,7 @@ void APMSensorsComponentController::_handleUASTextMessage(int uasId, int compId,
         } else if (side == "right") {
             _orientationCalRightSideInProgress = false;
             _orientationCalRightSideDone = true;
+            _orientationCalRightSideRotate = false;
         } else if (side == "front") {
             _orientationCalNoseDownSideInProgress = false;
             _orientationCalNoseDownSideDone = true;
@@ -379,6 +381,7 @@ void APMSensorsComponentController::_handleUASTextMessage(int uasId, int compId,
         } else if (side == "back") {
             _orientationCalTailDownSideInProgress = false;
             _orientationCalTailDownSideDone = true;
+            _orientationCalTailDownSideRotate = false;
         }
         
         _orientationCalAreaHelpText->setProperty("text", "Place you vehicle into one of the orientations shown below and hold it still");
diff --git a/src/AutoPilotPlugins/PX4/Images/Rotate.png b/src/AutoPilotPlugins/PX4/Images/Rotate.png
new file mode 100644
index 0000000000000000000000000000000000000000..7791532cf04a2d6d05222b9c2b839b8279f9c082
Binary files /dev/null and b/src/AutoPilotPlugins/PX4/Images/Rotate.png differ
diff --git a/src/AutoPilotPlugins/PX4/Images/RotateBack.png b/src/AutoPilotPlugins/PX4/Images/RotateBack.png
new file mode 100644
index 0000000000000000000000000000000000000000..070cabe7e0ad836b715389d8c46b092eae291b93
Binary files /dev/null and b/src/AutoPilotPlugins/PX4/Images/RotateBack.png differ
diff --git a/src/AutoPilotPlugins/PX4/Images/RotateFront.png b/src/AutoPilotPlugins/PX4/Images/RotateFront.png
new file mode 100644
index 0000000000000000000000000000000000000000..302101a493228f279dc4548e3dbbd2007f71b818
Binary files /dev/null and b/src/AutoPilotPlugins/PX4/Images/RotateFront.png differ
diff --git a/src/AutoPilotPlugins/PX4/Images/VehicleRightRotate.png b/src/AutoPilotPlugins/PX4/Images/VehicleRightRotate.png
new file mode 100644
index 0000000000000000000000000000000000000000..f6240d9baf8eb3a8f4beb6bc05a7337f5cbbf3f2
Binary files /dev/null and b/src/AutoPilotPlugins/PX4/Images/VehicleRightRotate.png differ
diff --git a/src/AutoPilotPlugins/PX4/Images/VehicleTailDownRotate.png b/src/AutoPilotPlugins/PX4/Images/VehicleTailDownRotate.png
new file mode 100644
index 0000000000000000000000000000000000000000..81b18f958b70f417cfc611a67d005d7e9b6a37ba
Binary files /dev/null and b/src/AutoPilotPlugins/PX4/Images/VehicleTailDownRotate.png differ
diff --git a/src/AutoPilotPlugins/PX4/Images/VehicleUpsideDownRotate.png b/src/AutoPilotPlugins/PX4/Images/VehicleUpsideDownRotate.png
new file mode 100644
index 0000000000000000000000000000000000000000..33d5d49ad9e540bfc2622fb240c06ac99a17249d
Binary files /dev/null and b/src/AutoPilotPlugins/PX4/Images/VehicleUpsideDownRotate.png differ
diff --git a/src/AutoPilotPlugins/PX4/SensorsComponent.qml b/src/AutoPilotPlugins/PX4/SensorsComponent.qml
index 750a9005e4da171c81ce9c8a5efba1146b458f98..7fc5ac494828688857534ed7b7f6321f3efbc9e4 100644
--- a/src/AutoPilotPlugins/PX4/SensorsComponent.qml
+++ b/src/AutoPilotPlugins/PX4/SensorsComponent.qml
@@ -428,7 +428,7 @@ QGCView {
                             calValid:           controller.orientationCalUpsideDownSideDone
                             calInProgress:      controller.orientationCalUpsideDownSideInProgress
                             calInProgressText:  controller.orientationCalUpsideDownSideRotate ? "Rotate" : "Hold Still"
-                            imageSource:        "qrc:///qmlimages/VehicleUpsideDown.png"
+                            imageSource:        controller.orientationCalUpsideDownSideRotate ? "qrc:///qmlimages/VehicleUpsideDownRotate.png" : "qrc:///qmlimages/VehicleUpsideDown.png"
                         }
                         VehicleRotationCal {
                             visible:            controller.orientationCalNoseDownSideVisible
@@ -442,7 +442,7 @@ QGCView {
                             calValid:           controller.orientationCalTailDownSideDone
                             calInProgress:      controller.orientationCalTailDownSideInProgress
                             calInProgressText:  controller.orientationCalTailDownSideRotate ? "Rotate" : "Hold Still"
-                            imageSource:        "qrc:///qmlimages/VehicleTailDown.png"
+                            imageSource:        controller.orientationCalTailDownSideRotate ? "qrc:///qmlimages/VehicleTailDownRotate.png" : "qrc:///qmlimages/VehicleTailDown.png"
                         }
                         VehicleRotationCal {
                             visible:            controller.orientationCalLeftSideVisible
@@ -456,7 +456,7 @@ QGCView {
                             calValid:           controller.orientationCalRightSideDone
                             calInProgress:      controller.orientationCalRightSideInProgress
                             calInProgressText:  controller.orientationCalRightSideRotate ? "Rotate" : "Hold Still"
-                            imageSource:        "qrc:///qmlimages/VehicleRight.png"
+                            imageSource:        controller.orientationCalRightSideRotate ? "qrc:///qmlimages/VehicleRightRotate.png" : "qrc:///qmlimages/VehicleRight.png"
                         }
                     }
                 }
diff --git a/src/AutoPilotPlugins/PX4/SensorsComponentController.cc b/src/AutoPilotPlugins/PX4/SensorsComponentController.cc
index 602d09d01eee186d43ea1e9da36834505e8231e4..130fa4571dfafa8498fd8fc53f1e5b2832964cd2 100644
--- a/src/AutoPilotPlugins/PX4/SensorsComponentController.cc
+++ b/src/AutoPilotPlugins/PX4/SensorsComponentController.cc
@@ -387,6 +387,7 @@ void SensorsComponentController::_handleUASTextMessage(int uasId, int compId, in
         } else if (side == "up") {
             _orientationCalUpsideDownSideInProgress = false;
             _orientationCalUpsideDownSideDone = true;
+            _orientationCalUpsideDownSideRotate = false;
         } else if (side == "left") {
             _orientationCalLeftSideInProgress = false;
             _orientationCalLeftSideDone = true;
@@ -394,6 +395,7 @@ void SensorsComponentController::_handleUASTextMessage(int uasId, int compId, in
         } else if (side == "right") {
             _orientationCalRightSideInProgress = false;
             _orientationCalRightSideDone = true;
+            _orientationCalRightSideRotate = false;
         } else if (side == "front") {
             _orientationCalNoseDownSideInProgress = false;
             _orientationCalNoseDownSideDone = true;
@@ -401,6 +403,7 @@ void SensorsComponentController::_handleUASTextMessage(int uasId, int compId, in
         } else if (side == "back") {
             _orientationCalTailDownSideInProgress = false;
             _orientationCalTailDownSideDone = true;
+            _orientationCalTailDownSideRotate = false;
         }
         
         _orientationCalAreaHelpText->setProperty("text", "Place you vehicle into one of the orientations shown below and hold it still");