diff --git a/src/ui/px4_configuration/PX4FirmwareUpgrade.cc b/src/ui/px4_configuration/PX4FirmwareUpgrade.cc
index 70c1e067cedcde58be55ae3dc6ec3076df6310a7..47f001456e7b56e443a00a9585df294d9cd77153 100644
--- a/src/ui/px4_configuration/PX4FirmwareUpgrade.cc
+++ b/src/ui/px4_configuration/PX4FirmwareUpgrade.cc
@@ -35,6 +35,7 @@
 #include <QDir>
 #include <QFileDialog>
 #include <QDebug>
+#include <QMessageBox>
 
 /// @Brief Constructs a new PX4FirmwareUpgrade Widget. This widget is used within the PX4VehicleConfig set of screens.
 PX4FirmwareUpgrade::PX4FirmwareUpgrade(QWidget *parent) :
@@ -287,12 +288,18 @@ void PX4FirmwareUpgrade::_findBoard(void)
 }
 
 /// @brief Called when board has been found by the findBoard process
-void PX4FirmwareUpgrade::_foundBoard(const QString portName, QString portDescription)
+void PX4FirmwareUpgrade::_foundBoard(bool firstTry, const QString portName, QString portDescription)
 {
-    _portName = portName;
-    _portDescription = portDescription;
-    _setupState(upgradeStateBootloaderSearch);
-    _findBootloader();
+    if (firstTry) {
+        // Board is still plugged
+        QMessageBox::critical(this, tr("Firmware Upgrade"), tr("You must unplug you board before beginning the Firmware Upgrade process."));
+        _cancel();
+    } else {
+        _portName = portName;
+        _portDescription = portDescription;
+        _setupState(upgradeStateBootloaderSearch);
+        _findBootloader();
+    }
 }
 
 /// @brief Begins the findBootloader process to connect to the bootloader
diff --git a/src/ui/px4_configuration/PX4FirmwareUpgrade.h b/src/ui/px4_configuration/PX4FirmwareUpgrade.h
index ad3e6afe27091a6ceac7624ad79ab341d1fbf0a7..0a7361dd4a3ab4eac18728fe9a9080c3d6eec092 100644
--- a/src/ui/px4_configuration/PX4FirmwareUpgrade.h
+++ b/src/ui/px4_configuration/PX4FirmwareUpgrade.h
@@ -61,7 +61,7 @@ private slots:
     void _downloadProgress(qint64 curr, qint64 total);
     void _downloadFinished(void);
     void _downloadError(QNetworkReply::NetworkError code);
-    void _foundBoard(const QString portname, QString portDescription);
+    void _foundBoard(bool firstTry, const QString portname, QString portDescription);
     void _foundBootloader(int bootloaderVersion, int boardID, int flashSize);
     void _error(const int command, const QString errorString);
     void _bootloaderSyncFailed(void);
diff --git a/src/ui/px4_configuration/PX4FirmwareUpgradeThread.cc b/src/ui/px4_configuration/PX4FirmwareUpgradeThread.cc
index 496fec388c11c4b5959d14bd9f356ce8ab5f6461..2a9b7ff032fda0bf13328447a1a5373fdf5d111a 100644
--- a/src/ui/px4_configuration/PX4FirmwareUpgradeThread.cc
+++ b/src/ui/px4_configuration/PX4FirmwareUpgradeThread.cc
@@ -75,6 +75,7 @@ void PX4FirmwareUpgradeThreadWorker::init(void)
 
 void PX4FirmwareUpgradeThreadWorker::findBoard(int msecTimeout)
 {
+    _findBoardFirstAttempt = true;
     connect(_timerRetry, &QTimer::timeout, this, &PX4FirmwareUpgradeThreadWorker::_findBoardOnce);
     _timerTimeout->start(msecTimeout);
     _elapsed.start();
@@ -107,11 +108,13 @@ void PX4FirmwareUpgradeThreadWorker::_findBoardOnce(void)
 #endif
             
             _closeFind();
-            emit foundBoard(portName, portDescription);
+            emit foundBoard(_findBoardFirstAttempt, portName, portDescription);
             return;
         }
     }
     
+    _findBoardFirstAttempt = false;
+    
     emit updateProgress(_elapsed.elapsed(), _timerTimeout->interval());
     _timerRetry->start();
 }
@@ -285,9 +288,9 @@ void PX4FirmwareUpgradeThreadController::findBootloader(const QString& portName,
     emit _findBootloaderOnThread(portName, msecTimeout);
 }
 
-void PX4FirmwareUpgradeThreadController::_foundBoard(const QString portName, QString portDescription)
+void PX4FirmwareUpgradeThreadController::_foundBoard(bool firstTry, const QString portName, QString portDescription)
 {
-    emit foundBoard(portName, portDescription);
+    emit foundBoard(firstTry, portName, portDescription);
 }
 
 void PX4FirmwareUpgradeThreadController::_foundBootloader(int bootloaderVersion, int boardID, int flashSize)
diff --git a/src/ui/px4_configuration/PX4FirmwareUpgradeThread.h b/src/ui/px4_configuration/PX4FirmwareUpgradeThread.h
index f51362b06ad12354f35790f541add5cb45bd8bbc..59a7f4a6832de43a1b8e433e4021c34b41002ea1 100644
--- a/src/ui/px4_configuration/PX4FirmwareUpgradeThread.h
+++ b/src/ui/px4_configuration/PX4FirmwareUpgradeThread.h
@@ -69,7 +69,7 @@ public slots:
     void erase(void);
     
 signals:
-    void foundBoard(const QString portname, QString portDescription);
+    void foundBoard(bool firstTry, const QString portname, QString portDescription);
     void foundBootloader(int bootloaderVersion, int boardID, int flashSize);
     void bootloaderSyncFailed(void);
     void error(const int command, const QString errorString);
@@ -91,6 +91,7 @@ private:
     QTime               _elapsed;
     QString             _portName;
     static const int    _retryTimeout = 1000;
+    bool                _findBoardFirstAttempt;
 };
 
 /// @brief Provides methods to interact with the bootloader. The commands themselves are signalled
@@ -129,9 +130,10 @@ public:
 
 signals:
     /// @brief Emitted by the findBoard process when it finds the board.
+    ///     @param firstTry true: board found on first attempt
     ///     @param portName Port that board is on
     ///     @param portDescription User friendly port description
-    void foundBoard(const QString portname, QString portDescription);
+    void foundBoard(bool firstTry, const QString portname, QString portDescription);
     
     /// @brief Emitted by the findBootloader process when has a connection to the bootloader
     void foundBootloader(int bootloaderVersion, int boardID, int flashSize);
@@ -164,7 +166,7 @@ signals:
     void _cancelFindOnThread(void);
     
 private slots:
-    void _foundBoard(const QString portname, QString portDescription);
+    void _foundBoard(bool firstTry, const QString portname, QString portDescription);
     void _foundBootloader(int bootloaderVersion, int boardID, int flashSize);
     void _bootloaderSyncFailed(void);
     void _error(const int errorCommand, const QString errorString) { emit error(errorCommand, errorString); }