diff --git a/src/FirmwarePlugin/APM/APMFirmwarePlugin.cc b/src/FirmwarePlugin/APM/APMFirmwarePlugin.cc
index b67318b0f4f977925cef2a7b18bc783ce3593c29..e39d7dbf3234acf6a85c1b8af2c2fd68c506157f 100644
--- a/src/FirmwarePlugin/APM/APMFirmwarePlugin.cc
+++ b/src/FirmwarePlugin/APM/APMFirmwarePlugin.cc
@@ -391,13 +391,15 @@ bool APMFirmwarePlugin::_handleStatusText(Vehicle* vehicle, mavlink_message_t* m
         _soloVideoHandshake(vehicle);
     }
 
-    // ArduPilot PreArm messages can come across very frequently especially on Solo, which seems to send them once a second.
-    // Filter them out if they come too quickly.
     if (messageText.startsWith("PreArm")) {
+        // ArduPilot PreArm messages can come across very frequently especially on Solo, which seems to send them once a second.
+        // Filter them out if they come too quickly.
         if (_noisyPrearmMap.contains(messageText) && _noisyPrearmMap[messageText].msecsTo(QTime::currentTime()) < (10 * 1000)) {
             return false;
         }
         _noisyPrearmMap[messageText] = QTime::currentTime();
+
+        vehicle->setPrearmError(messageText);
     }
 
     return true;
diff --git a/src/FlightDisplay/FlightDisplayViewWidgets.qml b/src/FlightDisplay/FlightDisplayViewWidgets.qml
index 93afc39d8562e7e8c48bfd25583421df71afcb95..ae87d287e83a5094d0d35307a9c2f895724138b7 100644
--- a/src/FlightDisplay/FlightDisplayViewWidgets.qml
+++ b/src/FlightDisplay/FlightDisplayViewWidgets.qml
@@ -61,24 +61,28 @@ Item {
         id: _dropButtonsExclusiveGroup
     }
 
-    //-- Vehicle GPS lock display
+    //-- Map warnings
     Column {
-        id:     gpsLockColumn
-        y:      (parent.height - height) / 2
-        width:  parent.width
-
-        Repeater {
-            model: QGroundControl.multiVehicleManager.vehicles
-
-            delegate:
-                QGCLabel {
-                width:                  gpsLockColumn.width
-                horizontalAlignment:    Text.AlignHCenter
-                visible:                !object.coordinateValid
-                text:                   "No GPS Lock for Vehicle #" + object.id
-                z:                      QGroundControl.zOrderMapItems - 2
-                color:                  mapPal.text
-            }
+        anchors.horizontalCenter:   parent.horizontalCenter
+        anchors.verticalCenter:     parent.verticalCenter
+        spacing:                    ScreenTools.defaultFontPixelHeight
+
+        QGCLabel {
+            anchors.horizontalCenter:   parent.horizontalCenter
+            visible:                    _activeVehicle && !_activeVehicle.coordinateValid
+            z:                          QGroundControl.zOrderTopMost
+            color:                      mapPal.text
+            font.pixelSize:             ScreenTools.largeFontPixelSize
+            text:                       "No GPS Lock for Vehicle"
+        }
+
+        QGCLabel {
+            anchors.horizontalCenter:   parent.horizontalCenter
+            visible:                    _activeVehicle && !_activeVehicle.coordinateValid
+            z:                          QGroundControl.zOrderTopMost
+            color:                      mapPal.text
+            font.pixelSize:             ScreenTools.largeFontPixelSize
+            text:                       _activeVehicle ? _activeVehicle.prearmError : ""
         }
     }
 
diff --git a/src/QGCApplication.cc b/src/QGCApplication.cc
index f7090f0ed488f1ea6e5d9003349faa804093bb26..20d9701b570f351ffe53c0296b0a339c6c9a59b1 100644
--- a/src/QGCApplication.cc
+++ b/src/QGCApplication.cc
@@ -723,6 +723,11 @@ QObject* QGCApplication::_rootQmlObject(void)
 
 void QGCApplication::showMessage(const QString& message)
 {
+    // Special case hack for ArduPilot prearm messages. These show up in the center of the map, so no need for popup.
+    if (message.contains("PreArm:")) {
+        return;
+    }
+
     QObject* rootQmlObject = _rootQmlObject();
 
     if (rootQmlObject) {
diff --git a/src/Vehicle/Vehicle.cc b/src/Vehicle/Vehicle.cc
index 21dcec3beb29b5c446894eea0938cf85e1a712c6..a69beaf287ab28fec2f792dfa0c12a3bba7144ac 100644
--- a/src/Vehicle/Vehicle.cc
+++ b/src/Vehicle/Vehicle.cc
@@ -168,6 +168,11 @@ Vehicle::Vehicle(LinkInterface*             link,
     _refreshTimer->setInterval(UPDATE_TIMER);
     _refreshTimer->start(UPDATE_TIMER);
 
+    // PreArm Error self-destruct timer
+    connect(&_prearmErrorTimer, &QTimer::timeout, this, &Vehicle::_prearmErrorTimeout);
+    _prearmErrorTimer.setInterval(_prearmErrorTimeoutMSecs);
+    _prearmErrorTimer.setSingleShot(true);
+
     // Connection Lost time
     _connectionLostTimer.setInterval(Vehicle::_connectionLostTimeoutMSecs);
     _connectionLostTimer.setSingleShot(false);
@@ -1526,6 +1531,19 @@ void Vehicle::doCommandLong(int component, MAV_CMD command, float param1, float
     sendMessage(msg);
 }
 
+void Vehicle::setPrearmError(const QString& prearmError)
+{
+    _prearmError = prearmError;
+    emit prearmErrorChanged(_prearmError);
+    if (!_prearmError.isEmpty()) {
+        _prearmErrorTimer.start();
+    }
+}
+
+void Vehicle::_prearmErrorTimeout(void)
+{
+    setPrearmError(QString());
+}
 
 const char* VehicleGPSFactGroup::_hdopFactName =                "hdop";
 const char* VehicleGPSFactGroup::_vdopFactName =                "vdop";
diff --git a/src/Vehicle/Vehicle.h b/src/Vehicle/Vehicle.h
index 6167eb72ab963249bdace9c4bd40a7e375e3d477..119d2d4404c475cbff982d489f319639f4e10c1b 100644
--- a/src/Vehicle/Vehicle.h
+++ b/src/Vehicle/Vehicle.h
@@ -286,6 +286,7 @@ public:
     Q_PROPERTY(bool                 fixedWing               READ fixedWing                              CONSTANT)
     Q_PROPERTY(bool                 multiRotor              READ multiRotor                             CONSTANT)
     Q_PROPERTY(bool                 autoDisconnect          MEMBER _autoDisconnect                      NOTIFY autoDisconnectChanged)
+    Q_PROPERTY(QString              prearmError             READ prearmError        WRITE setPrearmError NOTIFY prearmErrorChanged)
 
     /// true: Vehicle is flying, false: Vehicle is on ground
     Q_PROPERTY(bool flying      READ flying     WRITE setFlying     NOTIFY flyingChanged)
@@ -443,6 +444,9 @@ public:
     void setFlying(bool flying);
     void setGuidedMode(bool guidedMode);
 
+    QString prearmError(void) const { return _prearmError; }
+    void setPrearmError(const QString& prearmError);
+
     QmlObjectListModel* trajectoryPoints(void) { return &_mapTrajectoryList; }
 
     int  flowImageIndex() { return _flowImageIndex; }
@@ -533,6 +537,7 @@ signals:
     void autoDisconnectChanged(bool autoDisconnectChanged);
     void flyingChanged(bool flying);
     void guidedModeChanged(bool guidedMode);
+    void prearmErrorChanged(const QString& prearmError);
 
     void messagesReceivedChanged    ();
     void messagesSentChanged        ();
@@ -594,6 +599,7 @@ private slots:
     /** @brief A new camera image has arrived */
     void _imageReady                        (UASInterface* uas);
     void _connectionLostTimeout(void);
+    void _prearmErrorTimeout(void);
 
 private:
     bool _containsLink(LinkInterface* link);
@@ -662,6 +668,10 @@ private:
     bool            _autoDisconnect;    ///< true: Automatically disconnect vehicle when last connection goes away or lost heartbeat
     bool            _flying;
 
+    QString             _prearmError;
+    QTimer              _prearmErrorTimer;
+    static const int    _prearmErrorTimeoutMSecs = 35 * 1000;   ///< Take away prearm error after 35 seconds
+
     // Lost connection handling
     bool                _connectionLost;
     bool                _connectionLostEnabled;