diff --git a/qgroundcontrol.pro b/qgroundcontrol.pro
index e6f7fcde31effefdb635195de556f2ca1b733f6a..167a06a679383f797969ebead4d7d9ef93284cf2 100644
--- a/qgroundcontrol.pro
+++ b/qgroundcontrol.pro
@@ -544,10 +544,12 @@ SOURCES += \
 #
 
 INCLUDEPATH += \
+    src/AutoPilotPlugins/APM \
     src/AutoPilotPlugins/Common \
     src/AutoPilotPlugins/PX4 \
-    src/AutoPilotPlugins/APM \
     src/FirmwarePlugin \
+    src/FirmwarePlugin/APM \
+    src/FirmwarePlugin/PX4 \
     src/Vehicle \
     src/VehicleSetup \
 
diff --git a/src/AutoPilotPlugins/APM/APMAirframeComponent.cc b/src/AutoPilotPlugins/APM/APMAirframeComponent.cc
index 19899f11f903a068faccf89db10feea733f76082..12fb5df929072bbf60e279bde9c4e2e9b3c9ddd9 100644
--- a/src/AutoPilotPlugins/APM/APMAirframeComponent.cc
+++ b/src/AutoPilotPlugins/APM/APMAirframeComponent.cc
@@ -25,13 +25,14 @@
 ///     @author Don Gagne <don@thegagnes.com>
 
 #include "APMAirframeComponent.h"
-#include "QGCQmlWidgetHolder.h"
+#include "ArduCopterFirmwarePlugin.h"
 
-APMAirframeComponent::APMAirframeComponent(Vehicle* vehicle, AutoPilotPlugin* autopilot, QObject* parent) :
-    APMComponent(vehicle, autopilot, parent),
-    _name(tr("Airframe"))
+APMAirframeComponent::APMAirframeComponent(Vehicle* vehicle, AutoPilotPlugin* autopilot, QObject* parent)
+    : APMComponent(vehicle, autopilot, parent)
+    , _copterFirmware(false)
+    , _name("Airframe")
 {
-
+    _copterFirmware = qobject_cast<ArduCopterFirmwarePlugin*>(_vehicle->firmwarePlugin()) != NULL;
 }
 
 QString APMAirframeComponent::name(void) const
@@ -52,28 +53,45 @@ QString APMAirframeComponent::iconResource(void) const
 
 bool APMAirframeComponent::requiresSetup(void) const
 {
-    return true;
+    return _copterFirmware;
 }
 
 bool APMAirframeComponent::setupComplete(void) const
 {
-    //: Not the correct one, but it works for the moment.
-    return _autopilot->getParameterFact(FactSystem::defaultComponentId, "FRAME")->rawValue().toInt() != -1;
+    if (_copterFirmware) {
+        return _autopilot->getParameterFact(FactSystem::defaultComponentId, "FRAME")->rawValue().toInt() >= 0;
+    } else {
+        return true;
+    }
 }
 
 QStringList APMAirframeComponent::setupCompleteChangedTriggerList(void) const
 {
-    return QStringList();
+    QStringList list;
+
+    if (_copterFirmware) {
+        list << "FRAME";
+    }
+
+    return list;
 }
 
 QUrl APMAirframeComponent::setupSource(void) const
 {
-    return QUrl::fromUserInput("qrc:/qml/APMAirframeComponent.qml");
+    if (_copterFirmware) {
+        return QUrl::fromUserInput("qrc:/qml/APMAirframeComponent.qml");
+    } else {
+        return QUrl();
+    }
 }
 
 QUrl APMAirframeComponent::summaryQmlSource(void) const
 {
-    return QUrl::fromUserInput("qrc:/qml/APMAirframeComponentSummary.qml");
+    if (_copterFirmware) {
+        return QUrl::fromUserInput("qrc:/qml/APMAirframeComponentSummary.qml");
+    } else {
+        return QUrl();
+    }
 }
 
 QString APMAirframeComponent::prerequisiteSetup(void) const
diff --git a/src/AutoPilotPlugins/APM/APMAirframeComponent.h b/src/AutoPilotPlugins/APM/APMAirframeComponent.h
index a37f9d3f98e62b2207b3846116cc541735233b3c..774193815acdf969b3b168208bdd8b0231831d38 100644
--- a/src/AutoPilotPlugins/APM/APMAirframeComponent.h
+++ b/src/AutoPilotPlugins/APM/APMAirframeComponent.h
@@ -47,8 +47,8 @@ public:
     virtual QString prerequisiteSetup(void) const;
 
 private:
+    bool            _copterFirmware;
     const QString   _name;
-    QVariantList    _summaryItems;
 };
 
 #endif
diff --git a/src/AutoPilotPlugins/APM/APMAutoPilotPlugin.cc b/src/AutoPilotPlugins/APM/APMAutoPilotPlugin.cc
index 338ce0d7ab7668d0e4e2b292c46a0e0b137d4d09..e0bdf1676fa58d48387ebb35c459615fccb1621b 100644
--- a/src/AutoPilotPlugins/APM/APMAutoPilotPlugin.cc
+++ b/src/AutoPilotPlugins/APM/APMAutoPilotPlugin.cc
@@ -67,14 +67,12 @@ const QVariantList& APMAutoPilotPlugin::vehicleComponents(void)
         Q_ASSERT(_vehicle);
 
         if (parametersReady()) {
-            if (dynamic_cast<ArduCopterFirmwarePlugin*>(_vehicle->firmwarePlugin())){
-                _airframeComponent = new APMAirframeComponent(_vehicle, this);
-                if(_airframeComponent) {
-                    _airframeComponent->setupTriggerSignals();
-                    _components.append(QVariant::fromValue((VehicleComponent*)_airframeComponent));
-                } else {
-                    qWarning() << "new APMAirframeComponent failed";
-                }
+            _airframeComponent = new APMAirframeComponent(_vehicle, this);
+            if(_airframeComponent) {
+                _airframeComponent->setupTriggerSignals();
+                _components.append(QVariant::fromValue((VehicleComponent*)_airframeComponent));
+            } else {
+                qWarning() << "new APMAirframeComponent failed";
             }
 
             _flightModesComponent = new APMFlightModesComponent(_vehicle, this);
diff --git a/src/AutoPilotPlugins/APM/APMFlightModesComponent.qml b/src/AutoPilotPlugins/APM/APMFlightModesComponent.qml
index 9fbeeab7b7497abff50d62b95aefb28136885698..34c76beca06af5ad19b131fa9a801da52e661bd6 100644
--- a/src/AutoPilotPlugins/APM/APMFlightModesComponent.qml
+++ b/src/AutoPilotPlugins/APM/APMFlightModesComponent.qml
@@ -36,6 +36,7 @@ QGCView {
     viewPanel:  panel
 
     property real _margins: ScreenTools.defaultFontPixelHeight
+    property bool _channelOptionsAvailable: controller.parameterExists(-1, "CH7_OPT")   // Not available in all firmware types
 
     QGCPalette { id: qgcPal; colorGroupEnabled: panel.enabled }
 
@@ -116,6 +117,7 @@ QGCView {
                 anchors.left:       flightModeSettings.right
                 text:               "Channel Options"
                 font.weight:        Font.DemiBold
+                visible:            _channelOptionsAvailable
             }
 
             Rectangle {
@@ -126,6 +128,7 @@ QGCView {
                 width:              channelOptColumn.width + (_margins * 2)
                 height:             channelOptColumn.height + ScreenTools.defaultFontPixelHeight
                 color:              qgcPal.windowShade
+                visible:            _channelOptionsAvailable
 
                 Column {
                     id:                 channelOptColumn
@@ -141,19 +144,18 @@ QGCView {
                             spacing: ScreenTools.defaultFontPixelWidth
 
                             property int index: modelData + 7
+                            property Fact nullFact: Fact { }
 
                             QGCLabel {
                                 anchors.baseline:   optCombo.baseline
                                 text:               "Channel option " + index + ":"
                                 color:              controller.channelOptionEnabled[modelData] ? qgcPal.buttonHighlight : qgcPal.text
-
-                                Component.onCompleted: console.log(index, controller.channelOptionEnabled[modelData])
                             }
 
                             FactComboBox {
                                 id:         optCombo
                                 width:      ScreenTools.defaultFontPixelWidth * 15
-                                fact:       controller.getParameterFact(-1, "CH" + index + "_OPT")
+                                fact:       _channelOptionsAvailable ? controller.getParameterFact(-1, "CH" + index + "_OPT") : nullFact
                                 indexModel: false
                             }
                         }
diff --git a/src/VehicleSetup/SetupView.qml b/src/VehicleSetup/SetupView.qml
index 27e8c33a131e69f4cd1650d530799dba793e4f8b..a6bef3b741542be78be29fbbcbb2c3a0b8a82835 100644
--- a/src/VehicleSetup/SetupView.qml
+++ b/src/VehicleSetup/SetupView.qml
@@ -299,6 +299,8 @@ Rectangle {
                         setupComplete:  modelData.setupComplete
                         exclusiveGroup: setupButtonGroup
                         text:           modelData.name
+                        visible:        modelData.setupSource.toString() != ""
+
 
                         onClicked: showVehicleComponentPanel(modelData)
                     }