diff --git a/QGCSetup.pri b/QGCSetup.pri
index a44926f730c6ce928c3b69ea992f9be4cec915a6..63480efc15fe59c0715e2d115226beb5cfe358a4 100644
--- a/QGCSetup.pri
+++ b/QGCSetup.pri
@@ -122,7 +122,8 @@ LinuxBuild {
         libQt5Svg.so.5 \
         libQt5Test.so.5 \
         libQt5Widgets.so.5 \
-        libQt5XcbQpa.so.5
+        libQt5XcbQpa.so.5 \
+        libQt5TextToSpeech.so.5
 
     !contains(DEFINES, __rasp_pi2__) {
         QT_LIB_LIST += \
diff --git a/src/VehicleSetup/FirmwareImage.cc b/src/VehicleSetup/FirmwareImage.cc
index 782ef70cb8a5136484fa5062461a2231f8e5e11f..0bc3c928801e68c07f669a45b9a816a39810a1a7 100644
--- a/src/VehicleSetup/FirmwareImage.cc
+++ b/src/VehicleSetup/FirmwareImage.cc
@@ -194,6 +194,24 @@ bool FirmwareImage::_ihxLoad(const QString& ihxFilename)
     return true;
 }
 
+bool FirmwareImage::isCompatible(uint32_t boardId, uint32_t firmwareId) {
+    bool result = false;
+    if (boardId == firmwareId ) {
+        result = true;
+    }
+    switch(boardId) {
+    case Bootloader::boardIDAUAVX2_1: // AUAVX2.1 is compatible with px4-v2/v3
+        if (firmwareId == 9) result = true;
+        break;
+    case Bootloader::boardIDPX4FMUV3:
+        if (firmwareId == 9) result = true;
+        break;
+    default:
+        break;
+    }
+    return result;
+}
+
 bool FirmwareImage::_px4Load(const QString& imageFilename)
 {
     _imageSize = 0;
@@ -237,8 +255,7 @@ bool FirmwareImage::_px4Load(const QString& imageFilename)
     }
 
     uint32_t firmwareBoardId = (uint32_t)px4Json.value(_jsonBoardIdKey).toInt();
-    uint32_t actualBoardId = _boardId == Bootloader::boardIDPX4FMUV3 ? Bootloader::boardIDPX4FMUV2 : _boardId;;
-    if (firmwareBoardId != actualBoardId) {
+    if (!isCompatible(_boardId, firmwareBoardId)) {
         emit statusMessage(QString("Downloaded firmware board id does not match hardware board id: %1 != %2").arg(firmwareBoardId).arg(_boardId));
         return false;
     }
diff --git a/src/VehicleSetup/FirmwareImage.h b/src/VehicleSetup/FirmwareImage.h
index f567b266d2fe145becf0315b437a578eb864152b..5a9935dda0625c901e88567a8f48a7a73cba6e74 100644
--- a/src/VehicleSetup/FirmwareImage.h
+++ b/src/VehicleSetup/FirmwareImage.h
@@ -56,6 +56,9 @@ public:
     /// @return true: block retrieved
     bool ihxGetBlock(uint16_t index, uint16_t& address, QByteArray& bytes) const;
     
+    /// @return true: actual boardId is compatible with firmware boardId
+    bool isCompatible(uint32_t boardId, uint32_t firmwareId);
+
 signals:
     void errorMessage(const QString& errorString);
     void statusMessage(const QString& warningtring);
diff --git a/src/VehicleSetup/FirmwareUpgradeController.cc b/src/VehicleSetup/FirmwareUpgradeController.cc
index b2f456f60dc2617dd98a94507f06e252d62e8cdc..b2ea5d72fe350a59709e28b1c585e069729dd718 100644
--- a/src/VehicleSetup/FirmwareUpgradeController.cc
+++ b/src/VehicleSetup/FirmwareUpgradeController.cc
@@ -324,6 +324,21 @@ void FirmwareUpgradeController::_initFirmwareHash()
         { AutoPilotStackPX4, StableFirmware,    DefaultVehicleFirmware, "http://px4-travis.s3.amazonaws.com/Firmware/stable/auav-x21_default.px4"},
         { AutoPilotStackPX4, BetaFirmware,      DefaultVehicleFirmware, "http://px4-travis.s3.amazonaws.com/Firmware/beta/auav-x21_default.px4"},
         { AutoPilotStackPX4, DeveloperFirmware, DefaultVehicleFirmware, "http://px4-travis.s3.amazonaws.com/Firmware/master/auav-x21_default.px4"},
+        { AutoPilotStackAPM, StableFirmware,    CopterFirmware,         "http://firmware.ardupilot.org/Copter/stable/PX4/ArduCopter-v3.px4"},
+        { AutoPilotStackAPM, StableFirmware,    HeliFirmware,           "http://firmware.ardupilot.org/Copter/stable/PX4-heli/ArduCopter-v3.px4"},
+        { AutoPilotStackAPM, StableFirmware,    PlaneFirmware,          "http://firmware.ardupilot.org/Plane/stable/PX4/ArduPlane-v2.px4"},
+        { AutoPilotStackAPM, StableFirmware,    RoverFirmware,          "http://firmware.ardupilot.org/Rover/stable/PX4/APMrover2-v2.px4"},
+        { AutoPilotStackAPM, StableFirmware,    SubFirmware,            "http://firmware.ardupilot.org/Sub/stable/PX4/ArduSub-v2.px4"},
+        { AutoPilotStackAPM, BetaFirmware,      CopterFirmware,         "http://firmware.ardupilot.org/Copter/beta/PX4/ArduCopter-v3.px4"},
+        { AutoPilotStackAPM, BetaFirmware,      HeliFirmware,           "http://firmware.ardupilot.org/Copter/beta/PX4-heli/ArduCopter-v3.px4"},
+        { AutoPilotStackAPM, BetaFirmware,      PlaneFirmware,          "http://firmware.ardupilot.org/Plane/beta/PX4/ArduPlane-v3.px4"},
+        { AutoPilotStackAPM, BetaFirmware,      RoverFirmware,          "http://firmware.ardupilot.org/Rover/beta/PX4/APMrover2-v3.px4"},
+        { AutoPilotStackAPM, BetaFirmware,      SubFirmware,            "http://firmware.ardupilot.org/Sub/beta/PX4/ArduSub-v3.px4"},
+        { AutoPilotStackAPM, DeveloperFirmware, CopterFirmware,         "http://firmware.ardupilot.org/Copter/latest/PX4/ArduCopter-v3.px4"},
+        { AutoPilotStackAPM, DeveloperFirmware, HeliFirmware,           "http://firmware.ardupilot.org/Copter/latest/PX4-heli/ArduCopter-v3.px4"},
+        { AutoPilotStackAPM, DeveloperFirmware, PlaneFirmware,          "http://firmware.ardupilot.org/Plane/latest/PX4/ArduPlane-v3.px4"},
+        { AutoPilotStackAPM, DeveloperFirmware, RoverFirmware,          "http://firmware.ardupilot.org/Rover/latest/PX4/APMrover2-v3.px4"},
+        { AutoPilotStackAPM, DeveloperFirmware, SubFirmware,            "http://firmware.ardupilot.org/Sub/latest/PX4/ArduSub-v3.px4"}
     };
     //////////////////////////////////// MindPXFMUV2 firmwares //////////////////////////////////////////////////
     FirmwareToUrlElement_t rgMindPXFMUV2FirmwareArray[] = {