diff --git a/qgcresources.qrc b/qgcresources.qrc
index dcfc66ccf6b7bfe5eb03d886da754321b76240bb..5c714bbed2920dfe3da8d356d82ff6e3542e630e 100644
--- a/qgcresources.qrc
+++ b/qgcresources.qrc
@@ -58,6 +58,12 @@
         <file alias="LandMode.svg">src/AutoPilotPlugins/PX4/Images/LandMode.svg</file>
         <file alias="LandModeCopter.svg">src/AutoPilotPlugins/PX4/Images/LandModeCopter.svg</file>
         <file alias="LightsComponentIcon.png">src/AutoPilotPlugins/APM/Images/LightsComponentIcon.png</file>
+        <file alias="SubFrameComponentIcon.png">src/AutoPilotPlugins/APM/Images/SubFrameComponentIcon.png</file>
+        <file alias="Frames/BlueROV1.png">src/AutoPilotPlugins/APM/Images/bluerov-frame.png</file>
+        <file alias="Frames/Vectored.png">src/AutoPilotPlugins/APM/Images/vectored-frame.png</file>
+        <file alias="Frames/Vectored6DOF.png">src/AutoPilotPlugins/APM/Images/vectored6dof-frame.png</file>
+        <file alias="Frames/SimpleROV-3.png">src/AutoPilotPlugins/APM/Images/simple3-frame.png</file>
+        <file alias="Frames/SimpleROV-4.png">src/AutoPilotPlugins/APM/Images/simple4-frame.png</file>
         <file alias="LogDownloadIcon">src/AnalyzeView/LogDownloadIcon.svg</file>
         <file alias="LowBattery.svg">src/AutoPilotPlugins/PX4/Images/LowBattery.svg</file>
         <file alias="LowBatteryLight.svg">src/AutoPilotPlugins/PX4/Images/LowBatteryLight.svg</file>
diff --git a/qgroundcontrol.pro b/qgroundcontrol.pro
index 4fa119de466caeee8e34b09836885b2a28bab00a..3560594152e7eb1fb59841abf6b36fd0c92b08fb 100644
--- a/qgroundcontrol.pro
+++ b/qgroundcontrol.pro
@@ -796,6 +796,7 @@ APMFirmwarePlugin {
         src/AutoPilotPlugins/APM/APMFlightModesComponent.h \
         src/AutoPilotPlugins/APM/APMFlightModesComponentController.h \
         src/AutoPilotPlugins/APM/APMLightsComponent.h \
+        src/AutoPilotPlugins/APM/APMSubFrameComponent.h \
         src/AutoPilotPlugins/APM/APMPowerComponent.h \
         src/AutoPilotPlugins/APM/APMRadioComponent.h \
         src/AutoPilotPlugins/APM/APMSafetyComponent.h \
@@ -822,6 +823,7 @@ APMFirmwarePlugin {
         src/AutoPilotPlugins/APM/APMFlightModesComponent.cc \
         src/AutoPilotPlugins/APM/APMFlightModesComponentController.cc \
         src/AutoPilotPlugins/APM/APMLightsComponent.cc \
+        src/AutoPilotPlugins/APM/APMSubFrameComponent.cc \
         src/AutoPilotPlugins/APM/APMPowerComponent.cc \
         src/AutoPilotPlugins/APM/APMRadioComponent.cc \
         src/AutoPilotPlugins/APM/APMSafetyComponent.cc \
diff --git a/src/AutoPilotPlugins/APM/APMAutoPilotPlugin.cc b/src/AutoPilotPlugins/APM/APMAutoPilotPlugin.cc
index 618e2a7ab7723911d921ce411573c28d9b329dcd..4edebf5de4d0d90ab0470f422afff8a85cd9f905 100644
--- a/src/AutoPilotPlugins/APM/APMAutoPilotPlugin.cc
+++ b/src/AutoPilotPlugins/APM/APMAutoPilotPlugin.cc
@@ -27,6 +27,7 @@
 #include "MotorComponent.h"
 #include "APMCameraComponent.h"
 #include "APMLightsComponent.h"
+#include "APMSubFrameComponent.h"
 #include "ESP8266Component.h"
 
 /// This is the AutoPilotPlugin implementatin for the MAV_AUTOPILOT_ARDUPILOT type.
@@ -36,6 +37,7 @@ APMAutoPilotPlugin::APMAutoPilotPlugin(Vehicle* vehicle, QObject* parent)
     , _airframeComponent(NULL)
     , _cameraComponent(NULL)
     , _lightsComponent(NULL)
+    , _subFrameComponent(NULL)
     , _flightModesComponent(NULL)
     , _powerComponent(NULL)
 #if 0
@@ -109,6 +111,13 @@ const QVariantList& APMAutoPilotPlugin::vehicleComponents(void)
                 _lightsComponent = new APMLightsComponent(_vehicle, this);
                 _lightsComponent->setupTriggerSignals();
                 _components.append(QVariant::fromValue((VehicleComponent*)_lightsComponent));
+
+                qWarning() << "ArduSub Version Detected:" << _vehicle->firmwareMajorVersion() << _vehicle->firmwareMinorVersion();
+                if(_vehicle->firmwareMajorVersion() > 3 || (_vehicle->firmwareMajorVersion() == 3 && _vehicle->firmwareMinorVersion() >= 5)) {
+                    _subFrameComponent = new APMSubFrameComponent(_vehicle, this);
+                    _subFrameComponent->setupTriggerSignals();
+                    _components.append(QVariant::fromValue((VehicleComponent*)_subFrameComponent));
+                }
             }
 
             //-- Is there an ESP8266 Connected?
diff --git a/src/AutoPilotPlugins/APM/APMAutoPilotPlugin.h b/src/AutoPilotPlugins/APM/APMAutoPilotPlugin.h
index 6bd6031526bad7d82075be43285452f538b0e286..8ac267b4266070f0eb43f57a7b046590728442ce 100644
--- a/src/AutoPilotPlugins/APM/APMAutoPilotPlugin.h
+++ b/src/AutoPilotPlugins/APM/APMAutoPilotPlugin.h
@@ -25,6 +25,7 @@ class APMPowerComponent;
 class MotorComponent;
 class APMCameraComponent;
 class APMLightsComponent;
+class APMSubFrameComponent;
 class ESP8266Component;
 
 /// This is the APM specific implementation of the AutoPilot class.
@@ -42,6 +43,7 @@ public:
     APMAirframeComponent*       airframeComponent   (void) const { return _airframeComponent; }
     APMCameraComponent*         cameraComponent     (void) const { return _cameraComponent; }
     APMLightsComponent*         lightsComponent     (void) const { return _lightsComponent; }
+    APMSubFrameComponent*       subFrameComponent   (void) const { return _subFrameComponent; }
     APMFlightModesComponent*    flightModesComponent(void) const { return _flightModesComponent; }
     APMPowerComponent*          powerComponent      (void) const { return _powerComponent; }
 #if 0
@@ -61,6 +63,7 @@ private:
     APMAirframeComponent*       _airframeComponent;
     APMCameraComponent*         _cameraComponent;
     APMLightsComponent*         _lightsComponent;
+    APMSubFrameComponent*       _subFrameComponent;
     APMFlightModesComponent*    _flightModesComponent;
     APMPowerComponent*          _powerComponent;
 #if 0
diff --git a/src/AutoPilotPlugins/APM/APMSubFrameComponent.cc b/src/AutoPilotPlugins/APM/APMSubFrameComponent.cc
new file mode 100644
index 0000000000000000000000000000000000000000..95506a14c82e8d9f5c93c8f880474787cfeb5f60
--- /dev/null
+++ b/src/AutoPilotPlugins/APM/APMSubFrameComponent.cc
@@ -0,0 +1,78 @@
+/****************************************************************************
+ *
+ *   (c) 2009-2016 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
+ *
+ * QGroundControl is licensed according to the terms in the file
+ * COPYING.md in the root of the source code directory.
+ *
+ ****************************************************************************/
+
+
+/// @file
+///     @author Don Gagne <don@thegagnes.com>
+///     @author Jacob Walser <jwalser90@gmail.com>
+
+#include "APMSubFrameComponent.h"
+#include "QGCQmlWidgetHolder.h"
+#include "APMAutoPilotPlugin.h"
+#include "APMAirframeComponent.h"
+
+APMSubFrameComponent::APMSubFrameComponent(Vehicle* vehicle, AutoPilotPlugin* autopilot, QObject* parent)
+    : VehicleComponent(vehicle, autopilot, parent)
+    , _name(tr("Frame"))
+{
+}
+
+QString APMSubFrameComponent::name(void) const
+{
+    return _name;
+}
+
+QString APMSubFrameComponent::description(void) const
+{
+    return tr("Frame setup allows you to choose your vehicle's motor configuration. Install clockwise" \
+              "\npropellers on the green thrusters and counter-clockwise propellers on the blue thrusters" \
+              "\n(or vice-versa). The flight controller will need to be rebooted to apply changes.");
+}
+
+QString APMSubFrameComponent::iconResource(void) const
+{
+    return QStringLiteral("/qmlimages/SubFrameComponentIcon.png");
+}
+
+bool APMSubFrameComponent::requiresSetup(void) const
+{
+    return false;
+}
+
+bool APMSubFrameComponent::setupComplete(void) const
+{
+    return true;
+}
+
+QStringList APMSubFrameComponent::setupCompleteChangedTriggerList(void) const
+{
+    return QStringList();
+}
+
+QUrl APMSubFrameComponent::setupSource(void) const
+{
+    return QUrl::fromUserInput(QStringLiteral("qrc:/qml/APMSubFrameComponent.qml"));
+}
+
+QUrl APMSubFrameComponent::summaryQmlSource(void) const
+{
+    return QUrl::fromUserInput(QStringLiteral("qrc:/qml/APMSubFrameComponentSummary.qml"));
+}
+
+QString APMSubFrameComponent::prerequisiteSetup(void) const
+{
+    APMAutoPilotPlugin* plugin = dynamic_cast<APMAutoPilotPlugin*>(_autopilot);
+    Q_ASSERT(plugin);
+
+    if (!plugin->airframeComponent()->setupComplete()) {
+        return plugin->airframeComponent()->name();
+    }
+
+    return QString();
+}
diff --git a/src/AutoPilotPlugins/APM/APMSubFrameComponent.h b/src/AutoPilotPlugins/APM/APMSubFrameComponent.h
new file mode 100644
index 0000000000000000000000000000000000000000..68b3eabb1fa89605f2096aefbb57eedd61f3381f
--- /dev/null
+++ b/src/AutoPilotPlugins/APM/APMSubFrameComponent.h
@@ -0,0 +1,40 @@
+/****************************************************************************
+ *
+ *   (c) 2009-2016 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
+ *
+ * QGroundControl is licensed according to the terms in the file
+ * COPYING.md in the root of the source code directory.
+ *
+ ****************************************************************************/
+
+
+#ifndef APMSubFrameComponent_H
+#define APMSubFrameComponent_H
+
+#include "VehicleComponent.h"
+
+class APMSubFrameComponent : public VehicleComponent
+{
+    Q_OBJECT
+
+public:
+    APMSubFrameComponent(Vehicle* vehicle, AutoPilotPlugin* autopilot, QObject* parent = NULL);
+
+    // Virtuals from VehicleComponent
+    QStringList setupCompleteChangedTriggerList(void) const final;
+
+    // Virtuals from VehicleComponent
+    QString name(void) const final;
+    QString description(void) const final;
+    QString iconResource(void) const final;
+    bool requiresSetup(void) const final;
+    bool setupComplete(void) const final;
+    QUrl setupSource(void) const final;
+    QUrl summaryQmlSource(void) const final;
+    QString prerequisiteSetup(void) const final;
+
+private:
+    const QString   _name;
+};
+
+#endif
diff --git a/src/AutoPilotPlugins/APM/APMSubFrameComponent.qml b/src/AutoPilotPlugins/APM/APMSubFrameComponent.qml
new file mode 100644
index 0000000000000000000000000000000000000000..df06fec69595a36fae33cd6ebc766a233748a4b3
--- /dev/null
+++ b/src/AutoPilotPlugins/APM/APMSubFrameComponent.qml
@@ -0,0 +1,151 @@
+/****************************************************************************
+ *
+ *   (c) 2009-2016 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
+ *
+ * QGroundControl is licensed according to the terms in the file
+ * COPYING.md in the root of the source code directory.
+ *
+ ****************************************************************************/
+
+
+import QtQuick              2.5
+import QtQuick.Controls     1.2
+
+import QGroundControl.FactSystem    1.0
+import QGroundControl.FactControls  1.0
+import QGroundControl.Palette       1.0
+import QGroundControl.Controls      1.0
+import QGroundControl.ScreenTools   1.0
+
+SetupPage {
+    id:                 subFramePage
+    pageComponent:      subFramePageComponent
+
+    Component {
+        id: subFramePageComponent
+
+        Column {
+            id:     mainColumn
+            width:  availableWidth
+
+            FactPanelController { id: controller; factPanel: subFramePage.viewPanel }
+
+            QGCPalette { id: palette; colorGroupEnabled: true }
+
+            property Fact _frameConfig: controller.getParameterFact(-1, "FRAME_CONFIG")
+
+            function setFrameConfig(frame) {
+                _frameConfig.value = frame;
+            }
+
+            property real _minW:        ScreenTools.defaultFontPixelWidth * 30
+            property real _boxWidth:    _minW
+            property real _boxSpace:    ScreenTools.defaultFontPixelWidth
+
+            onWidthChanged: {
+                computeDimensions()
+            }
+
+            Component.onCompleted: computeDimensions()
+
+            function computeDimensions() {
+                var sw  = 0
+                var rw  = 0
+                var idx = Math.floor(mainColumn.width / (_minW + ScreenTools.defaultFontPixelWidth))
+                if(idx < 1) {
+                    _boxWidth = mainColumn.width
+                    _boxSpace = 0
+                } else {
+                    _boxSpace = 0
+                    if(idx > 1) {
+                        _boxSpace = ScreenTools.defaultFontPixelWidth
+                        sw = _boxSpace * (idx - 1)
+                    }
+                    rw = mainColumn.width - sw
+                    _boxWidth = rw / idx
+                }
+            }
+
+            ListModel {
+                id: subFrameModel
+
+                ListElement {
+                    name: "BlueROV1"
+                    resource: "qrc:///qmlimages/Frames/BlueROV1.png"
+                    paramValue: 0
+                }
+
+                ListElement {
+                    name: "BlueROV2/Vectored"
+                    resource: "qrc:///qmlimages/Frames/Vectored.png"
+                    paramValue: 1
+                }
+
+                ListElement {
+                    name: "Vectored-6DOF"
+                    resource: "qrc:///qmlimages/Frames/Vectored6DOF.png"
+                    paramValue: 2
+                }
+
+                ListElement {
+                    name: "SimpleROV-3"
+                    resource: "qrc:///qmlimages/Frames/SimpleROV-3.png"
+                    paramValue: 4
+                }
+
+                ListElement {
+                    name: "SimpleROV-4"
+                    resource: "qrc:///qmlimages/Frames/SimpleROV-4.png"
+                    paramValue: 5
+                }
+            }
+
+            Flow {
+                id:         flowView
+                width:      parent.width
+                spacing:    _boxSpace
+
+                Repeater {
+                    model: subFrameModel
+
+                    Rectangle {
+                        width:  _boxWidth
+                        height: ScreenTools.defaultFontPixelHeight * 14
+                        color:  qgcPal.window
+
+                        QGCLabel {
+                            id:     title
+                            text:   subFrameModel.get(index).name
+                        }
+
+                        Rectangle {
+                            anchors.topMargin:  ScreenTools.defaultFontPixelHeight / 2
+                            anchors.top:        title.bottom
+                            anchors.bottom:     parent.bottom
+                            anchors.left:       parent.left
+                            anchors.right:      parent.right
+                            color:              subFrameModel.get(index).paramValue == _frameConfig.value ? qgcPal.buttonHighlight: qgcPal.windowShade
+
+                            Image {
+                                anchors.margins:    ScreenTools.defaultFontPixelWidth
+                                anchors.top:        parent.top
+                                anchors.bottom:     parent.bottom
+                                anchors.left:       parent.left
+                                anchors.right:      parent.right
+                                fillMode:           Image.PreserveAspectFit
+                                smooth:             true
+                                mipmap:             true
+                                source:             subFrameModel.get(index).resource
+                            }
+
+                            MouseArea {
+                                anchors.fill: parent
+                                onClicked: setFrameConfig(subFrameModel.get(index).paramValue)
+                            }
+                        }
+                    }
+                }// Repeater
+            }// Flow
+        } // Column
+    } // Component
+} // SetupPage
diff --git a/src/AutoPilotPlugins/APM/APMSubFrameComponentSummary.qml b/src/AutoPilotPlugins/APM/APMSubFrameComponentSummary.qml
new file mode 100644
index 0000000000000000000000000000000000000000..6dcf659fd76b4b7b27d5394b6f5b81cbe7f64f89
--- /dev/null
+++ b/src/AutoPilotPlugins/APM/APMSubFrameComponentSummary.qml
@@ -0,0 +1,57 @@
+import QtQuick 2.2
+import QtQuick.Controls 1.2
+
+import QGroundControl.FactSystem 1.0
+import QGroundControl.FactControls 1.0
+import QGroundControl.Controls 1.0
+import QGroundControl.Controllers 1.0
+import QGroundControl.Palette 1.0
+
+FactPanel {
+    id:             panel
+    anchors.fill:   parent
+    color:          qgcPal.windowShadeDark
+
+    QGCPalette { id: qgcPal; colorGroupEnabled: enabled }
+
+    FactPanelController { id: controller; factPanel: panel }
+
+    property Fact frameFact: controller.getParameterFact(-1, "FRAME_CONFIG")
+
+    function frameName() {
+        switch(frameFact.value) {
+        case 0:
+            return "BlueROV1"
+        case 1:
+            return "Vectored/BlueROV2"
+        case 2:
+            return "Vectored 6DOF"
+        case 3:
+            return "Vectored 6DOF 90Degree"
+        case 4:
+            return "SimpleROV-3"
+        case 5:
+            return "SimpleROV-4"
+        case 6:
+            return "SimpleROV-5"
+        case 7:
+            return "Custom"
+        default:
+            return "Unknown"
+        }
+    }
+
+    Column {
+        anchors.fill:       parent
+        VehicleSummaryRow {
+            id: nameRow;
+            labelText: qsTr("Frame Type:")
+            valueText: frameName()
+        }
+
+        VehicleSummaryRow {
+            labelText: qsTr("Firmware Version:")
+            valueText: activeVehicle.firmwareMajorVersion == -1 ? qsTr("Unknown") : activeVehicle.firmwareMajorVersion + "." + activeVehicle.firmwareMinorVersion + "." + activeVehicle.firmwarePatchVersion + "-" + activeVehicle.firmwareVersionTypeString
+        }
+    }
+}
diff --git a/src/AutoPilotPlugins/APM/Images/SubFrameComponentIcon.png b/src/AutoPilotPlugins/APM/Images/SubFrameComponentIcon.png
new file mode 100644
index 0000000000000000000000000000000000000000..6401e093c8591eb554f2dccb99a717d12124ae20
Binary files /dev/null and b/src/AutoPilotPlugins/APM/Images/SubFrameComponentIcon.png differ
diff --git a/src/AutoPilotPlugins/APM/Images/bluerov-frame.png b/src/AutoPilotPlugins/APM/Images/bluerov-frame.png
new file mode 100644
index 0000000000000000000000000000000000000000..5a5edaf360c11b6fa76cf2b54351f66f62ac0faf
Binary files /dev/null and b/src/AutoPilotPlugins/APM/Images/bluerov-frame.png differ
diff --git a/src/AutoPilotPlugins/APM/Images/simple3-frame.png b/src/AutoPilotPlugins/APM/Images/simple3-frame.png
new file mode 100644
index 0000000000000000000000000000000000000000..c7368a3e228044513282810f12bc45f1d13e60d0
Binary files /dev/null and b/src/AutoPilotPlugins/APM/Images/simple3-frame.png differ
diff --git a/src/AutoPilotPlugins/APM/Images/simple4-frame.png b/src/AutoPilotPlugins/APM/Images/simple4-frame.png
new file mode 100644
index 0000000000000000000000000000000000000000..793b36521c292297e622bae17728d69a83780a4f
Binary files /dev/null and b/src/AutoPilotPlugins/APM/Images/simple4-frame.png differ
diff --git a/src/AutoPilotPlugins/APM/Images/vectored-frame.png b/src/AutoPilotPlugins/APM/Images/vectored-frame.png
new file mode 100644
index 0000000000000000000000000000000000000000..aa1c3cf9edf75fbf4b1c18df39ae4a3aa8301fad
Binary files /dev/null and b/src/AutoPilotPlugins/APM/Images/vectored-frame.png differ
diff --git a/src/AutoPilotPlugins/APM/Images/vectored6dof-frame.png b/src/AutoPilotPlugins/APM/Images/vectored6dof-frame.png
new file mode 100644
index 0000000000000000000000000000000000000000..c690be96964d9ac4f8b2930f6b88cd7a69d5c2bd
Binary files /dev/null and b/src/AutoPilotPlugins/APM/Images/vectored6dof-frame.png differ
diff --git a/src/FirmwarePlugin/APM/APMResources.qrc b/src/FirmwarePlugin/APM/APMResources.qrc
index 9e0cb0c8beb0417adea9ccb40f80aea697a05578..4ca53d7fc40c24be07456184aa173fb5507d5da2 100644
--- a/src/FirmwarePlugin/APM/APMResources.qrc
+++ b/src/FirmwarePlugin/APM/APMResources.qrc
@@ -8,6 +8,8 @@
         <file alias="APMFlightModesComponentSummary.qml">../../AutoPilotPlugins/APM/APMFlightModesComponentSummary.qml</file>
         <file alias="APMLightsComponent.qml">../../AutoPilotPlugins/APM/APMLightsComponent.qml</file>
         <file alias="APMLightsComponentSummary.qml">../../AutoPilotPlugins/APM/APMLightsComponentSummary.qml</file>
+        <file alias="APMSubFrameComponent.qml">../../AutoPilotPlugins/APM/APMSubFrameComponent.qml</file>
+        <file alias="APMSubFrameComponentSummary.qml">../../AutoPilotPlugins/APM/APMSubFrameComponentSummary.qml</file>
         <file alias="APMNotSupported.qml">../../AutoPilotPlugins/APM/APMNotSupported.qml</file>
         <file alias="APMPowerComponent.qml">../../AutoPilotPlugins/APM/APMPowerComponent.qml</file>
         <file alias="APMPowerComponentSummary.qml">../../AutoPilotPlugins/APM/APMPowerComponentSummary.qml</file>