diff --git a/src/AutoPilotPlugins/APM/APMSafetyComponentSub.qml b/src/AutoPilotPlugins/APM/APMSafetyComponentSub.qml
index 9c52761c0f0d6a6bb9d42bc983dba21fb760a525..592798e84d799962275aa525c9c8d8437d7cd61e 100644
--- a/src/AutoPilotPlugins/APM/APMSafetyComponentSub.qml
+++ b/src/AutoPilotPlugins/APM/APMSafetyComponentSub.qml
@@ -43,14 +43,14 @@ SetupPage {
             property Fact _failsafeEKFEnable:         controller.getParameterFact(-1, "FS_EKF_ACTION")
             property Fact _failsafeGCSEnable:         controller.getParameterFact(-1, "FS_GCS_ENABLE")
             property Fact _failsafeLeakEnable:        controller.getParameterFact(-1, "FS_LEAK_ENABLE")
-            property Fact _failsafePilotEnable:       controller.getParameterFact(-1, "FS_PILOT_INPUT")
+            property Fact _failsafePilotEnable:       _firmware34 ? null : controller.getParameterFact(-1, "FS_PILOT_INPUT")
             property Fact _failsafePressureEnable:    controller.getParameterFact(-1, "FS_PRESS_ENABLE")
             property Fact _failsafeTemperatureEnable: controller.getParameterFact(-1, "FS_TEMP_ENABLE")
 
             // Threshold parameters
             property Fact _failsafePressureThreshold:    controller.getParameterFact(-1, "FS_PRESS_MAX")
             property Fact _failsafeTemperatureThreshold: controller.getParameterFact(-1, "FS_TEMP_MAX")
-            property Fact _failsafePilotTimeout:         controller.getParameterFact(-1, "FS_PILOT_TIMEOUT")
+            property Fact _failsafePilotTimeout:         _firmware34 ? null : controller.getParameterFact(-1, "FS_PILOT_TIMEOUT")
             property Fact _failsafeLeakPin:              controller.getParameterFact(-1, "LEAK1_PIN")
             property Fact _failsafeLeakLogic:            controller.getParameterFact(-1, "LEAK1_LOGIC")
             property Fact _failsafeEKFThreshold:         controller.getParameterFact(-1, "FS_EKF_THRESH")
diff --git a/src/AutoPilotPlugins/APM/APMSafetyComponentSummarySub.qml b/src/AutoPilotPlugins/APM/APMSafetyComponentSummarySub.qml
index 161a1d42021f53d516cefcedc5f19df26ebffce2..fa4f216270f2383c78b46c4f8f8bdaa416d0d63f 100644
--- a/src/AutoPilotPlugins/APM/APMSafetyComponentSummarySub.qml
+++ b/src/AutoPilotPlugins/APM/APMSafetyComponentSummarySub.qml
@@ -1,16 +1,20 @@
 import QtQuick 2.3
 import QtQuick.Controls 1.2
 
-import QGroundControl.FactSystem 1.0
+import QGroundControl              1.0
+import QGroundControl.FactSystem   1.0
 import QGroundControl.FactControls 1.0
-import QGroundControl.Controls 1.0
-import QGroundControl.Palette 1.0
+import QGroundControl.Controls     1.0
+import QGroundControl.Palette      1.0
 
 FactPanel {
     id:             panel
     anchors.fill:   parent
     color:          qgcPal.windowShadeDark
 
+    property var _activeVehicle:     QGroundControl.multiVehicleManager.activeVehicle
+    property bool _firmware34: _activeVehicle.firmwareMajorVersion == 3 && _activeVehicle.firmwareMinorVersion == 4
+
     QGCPalette { id: qgcPal; colorGroupEnabled: enabled }
     FactPanelController { id: controller; factPanel: panel }
 
@@ -19,14 +23,14 @@ FactPanel {
     property Fact _failsafeEKFEnable:         controller.getParameterFact(-1, "FS_EKF_ACTION")
     property Fact _failsafeGCSEnable:         controller.getParameterFact(-1, "FS_GCS_ENABLE")
     property Fact _failsafeLeakEnable:        controller.getParameterFact(-1, "FS_LEAK_ENABLE")
-    property Fact _failsafePilotEnable:       controller.getParameterFact(-1, "FS_PILOT_INPUT")
+    property Fact _failsafePilotEnable:       _firmware34 ? null : controller.getParameterFact(-1, "FS_PILOT_INPUT")
     property Fact _failsafePressureEnable:    controller.getParameterFact(-1, "FS_PRESS_ENABLE")
     property Fact _failsafeTemperatureEnable: controller.getParameterFact(-1, "FS_TEMP_ENABLE")
 
     // Threshold parameters
     property Fact _failsafePressureThreshold:    controller.getParameterFact(-1, "FS_PRESS_MAX")
     property Fact _failsafeTemperatureThreshold: controller.getParameterFact(-1, "FS_TEMP_MAX")
-    property Fact _failsafePilotTimeout:         controller.getParameterFact(-1, "FS_PILOT_TIMEOUT")
+    property Fact _failsafePilotTimeout:         _firmware34 ? null : controller.getParameterFact(-1, "FS_PILOT_TIMEOUT")
     property Fact _failsafeLeakPin:              controller.getParameterFact(-1, "LEAK1_PIN")
     property Fact _failsafeLeakLogic:            controller.getParameterFact(-1, "LEAK1_LOGIC")
     property Fact _failsafeEKFThreshold:         controller.getParameterFact(-1, "FS_EKF_THRESH")
@@ -51,16 +55,19 @@ FactPanel {
             valueText:  _failsafeLeakEnable.enumOrValueString
         }
         VehicleSummaryRow {
+            visible: !_firmware34
             labelText: qsTr("Battery failsafe:")
-            valueText:  _failsafeBatteryEnable.enumOrValueString
+            valueText: _firmware34 ? "" : _failsafeBatteryEnable.enumOrValueString
         }
         VehicleSummaryRow {
+            visible: !_firmware34
             labelText: qsTr("EKF failsafe:")
-            valueText:  _failsafeEKFEnable.enumOrValueString
+            valueText: _firmware34 ? "" : _failsafeEKFEnable.enumOrValueString
         }
         VehicleSummaryRow {
+            visible: !_firmware34
             labelText: qsTr("Pilot Input failsafe:")
-            valueText:  _failsafePilotEnable.enumOrValueString
+            valueText: _firmware34 ? "" : _failsafePilotEnable.enumOrValueString
         }
         VehicleSummaryRow {
             labelText: qsTr("Int. Temperature failsafe:")