diff --git a/src/FirmwarePlugin/PX4/PX4FirmwarePlugin.cc b/src/FirmwarePlugin/PX4/PX4FirmwarePlugin.cc
index 9cef3d6e3e9f440a8621657869e5159cebcd6717..4385d2e9f4d73b053f0ea120c6986b3fd446dd7d 100644
--- a/src/FirmwarePlugin/PX4/PX4FirmwarePlugin.cc
+++ b/src/FirmwarePlugin/PX4/PX4FirmwarePlugin.cc
@@ -459,7 +459,15 @@ void PX4FirmwarePlugin::_handleAutopilotVersion(Vehicle* vehicle, mavlink_messag
             minorVersion = (version.flight_sw_version >> (8*2)) & 0xFF;
             patchVersion = (version.flight_sw_version >> (8*1)) & 0xFF;
 
-            notifyUser = majorVersion < supportedMajorVersion || minorVersion < supportedMinorVersion || patchVersion < supportedPatchVersion;
+            if (majorVersion < supportedMajorVersion) {
+                notifyUser = true;
+            } else if (majorVersion == supportedMajorVersion) {
+                if (minorVersion < supportedMinorVersion) {
+                    notifyUser = true;
+                } else if (minorVersion == supportedMinorVersion) {
+                    notifyUser = patchVersion < supportedPatchVersion;
+                }
+            }
         } else {
             notifyUser = true;
         }