diff --git a/src/VehicleSetup/FirmwareUpgradeController.cc b/src/VehicleSetup/FirmwareUpgradeController.cc
index 69f8050e56b454a13bc957c8b82192fa4a5b06b4..a86b87a21974b82bb28dfde96697a78e3bdc936f 100644
--- a/src/VehicleSetup/FirmwareUpgradeController.cc
+++ b/src/VehicleSetup/FirmwareUpgradeController.cc
@@ -211,12 +211,7 @@ void FirmwareUpgradeController::_initFirmwareHash()
         { AutoPilotStackPX4, StableFirmware,    DefaultVehicleFirmware, "http://px4-travis.s3.amazonaws.com/Firmware/stable/px4fmu-v4_default.px4"},
         { AutoPilotStackPX4, BetaFirmware,      DefaultVehicleFirmware, "http://px4-travis.s3.amazonaws.com/Firmware/beta/px4fmu-v4_default.px4"},
         { AutoPilotStackPX4, DeveloperFirmware, DefaultVehicleFirmware, "http://px4-travis.s3.amazonaws.com/Firmware/master/px4fmu-v4_default.px4"},
-        { AutoPilotStackAPM, StableFirmware,    QuadFirmware,           "http://firmware.ardupilot.org/Copter/stable/PX4-quad/ArduCopter-v4.px4"},
-        { AutoPilotStackAPM, StableFirmware,    X8Firmware,             "http://firmware.ardupilot.org/Copter/stable/PX4-octa-quad/ArduCopter-v4.px4"},
-        { AutoPilotStackAPM, StableFirmware,    HexaFirmware,           "http://firmware.ardupilot.org/Copter/stable/PX4-hexa/ArduCopter-v4.px4"},
-        { AutoPilotStackAPM, StableFirmware,    OctoFirmware,           "http://firmware.ardupilot.org/Copter/stable/PX4-octa/ArduCopter-v4.px4"},
-        { AutoPilotStackAPM, StableFirmware,    YFirmware,              "http://firmware.ardupilot.org/Copter/stable/PX4-tri/ArduCopter-v4.px4"},
-        { AutoPilotStackAPM, StableFirmware,    Y6Firmware,             "http://firmware.ardupilot.org/Copter/stable/PX4-y6/ArduCopter-v4.px4"},
+        { AutoPilotStackAPM, StableFirmware,    CopterFirmware,         "http://firmware.ardupilot.org/Copter/stable/PX4/ArduCopter-v4.px4"},
         { AutoPilotStackAPM, StableFirmware,    HeliFirmware,           "http://firmware.ardupilot.org/Copter/stable/PX4-heli/ArduCopter-v4.px4"},
         { AutoPilotStackAPM, StableFirmware,    PlaneFirmware,          "http://firmware.ardupilot.org/Plane/stable/PX4/ArduPlane-v4.px4"},
         { AutoPilotStackAPM, StableFirmware,    RoverFirmware,          "http://firmware.ardupilot.org/Rover/stable/PX4/APMrover2-v4.px4"},
@@ -232,18 +227,12 @@ void FirmwareUpgradeController::_initFirmwareHash()
     };
 
     //////////////////////////////////// PX4FMUV3 firmwares //////////////////////////////////////////////////
-    // Note: ArduPilot stable does not yet support V3 firmwares, so fall back to V2
     FirmwareToUrlElement_t rgPX4FMV3FirmwareArray[] = {
         { AutoPilotStackPX4, StableFirmware,    DefaultVehicleFirmware, "http://px4-travis.s3.amazonaws.com/Firmware/stable/px4fmu-v3_default.px4"},
         { AutoPilotStackPX4, BetaFirmware,      DefaultVehicleFirmware, "http://px4-travis.s3.amazonaws.com/Firmware/beta/px4fmu-v3_default.px4"},
         { AutoPilotStackPX4, DeveloperFirmware, DefaultVehicleFirmware, "http://px4-travis.s3.amazonaws.com/Firmware/master/px4fmu-v3_default.px4"},
-        { AutoPilotStackAPM, StableFirmware,    QuadFirmware,           "http://firmware.ardupilot.org/Copter/stable/PX4-quad/ArduCopter-v2.px4"},
-        { AutoPilotStackAPM, StableFirmware,    X8Firmware,             "http://firmware.ardupilot.org/Copter/stable/PX4-octa-quad/ArduCopter-v2.px4"},
-        { AutoPilotStackAPM, StableFirmware,    HexaFirmware,           "http://firmware.ardupilot.org/Copter/stable/PX4-hexa/ArduCopter-v2.px4"},
-        { AutoPilotStackAPM, StableFirmware,    OctoFirmware,           "http://firmware.ardupilot.org/Copter/stable/PX4-octa/ArduCopter-v2.px4"},
-        { AutoPilotStackAPM, StableFirmware,    YFirmware,              "http://firmware.ardupilot.org/Copter/stable/PX4-tri/ArduCopter-v2.px4"},
-        { AutoPilotStackAPM, StableFirmware,    Y6Firmware,             "http://firmware.ardupilot.org/Copter/stable/PX4-y6/ArduCopter-v2.px4"},
-        { AutoPilotStackAPM, StableFirmware,    HeliFirmware,           "http://firmware.ardupilot.org/Copter/stable/PX4-heli/ArduCopter-v2.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"},
@@ -265,12 +254,7 @@ void FirmwareUpgradeController::_initFirmwareHash()
         { AutoPilotStackPX4, StableFirmware,    DefaultVehicleFirmware, "http://px4-travis.s3.amazonaws.com/Firmware/stable/px4fmu-v2_default.px4"},
         { AutoPilotStackPX4, BetaFirmware,      DefaultVehicleFirmware, "http://px4-travis.s3.amazonaws.com/Firmware/beta/px4fmu-v2_default.px4"},
         { AutoPilotStackPX4, DeveloperFirmware, DefaultVehicleFirmware, "http://px4-travis.s3.amazonaws.com/Firmware/master/px4fmu-v2_default.px4"},
-        { AutoPilotStackAPM, StableFirmware,    QuadFirmware,           "http://firmware.ardupilot.org/Copter/stable/PX4-quad/ArduCopter-v2.px4"},
-        { AutoPilotStackAPM, StableFirmware,    X8Firmware,             "http://firmware.ardupilot.org/Copter/stable/PX4-octa-quad/ArduCopter-v2.px4"},
-        { AutoPilotStackAPM, StableFirmware,    HexaFirmware,           "http://firmware.ardupilot.org/Copter/stable/PX4-hexa/ArduCopter-v2.px4"},
-        { AutoPilotStackAPM, StableFirmware,    OctoFirmware,           "http://firmware.ardupilot.org/Copter/stable/PX4-octa/ArduCopter-v2.px4"},
-        { AutoPilotStackAPM, StableFirmware,    YFirmware,              "http://firmware.ardupilot.org/Copter/stable/PX4-tri/ArduCopter-v2.px4"},
-        { AutoPilotStackAPM, StableFirmware,    Y6Firmware,             "http://firmware.ardupilot.org/Copter/stable/PX4-y6/ArduCopter-v2.px4"},
+        { AutoPilotStackAPM, StableFirmware,    CopterFirmware,         "http://firmware.ardupilot.org/Copter/stable/PX4/ArduCopter-v2.px4"},
         { AutoPilotStackAPM, StableFirmware,    HeliFirmware,           "http://firmware.ardupilot.org/Copter/stable/PX4-heli/ArduCopter-v2.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"},
@@ -322,12 +306,7 @@ void FirmwareUpgradeController::_initFirmwareHash()
         { AutoPilotStackPX4, StableFirmware,    DefaultVehicleFirmware, "http://px4-travis.s3.amazonaws.com/Firmware/stable/px4fmu-v1_default.px4"},
         { AutoPilotStackPX4, BetaFirmware,      DefaultVehicleFirmware, "http://px4-travis.s3.amazonaws.com/Firmware/beta/px4fmu-v1_default.px4"},
         { AutoPilotStackPX4, DeveloperFirmware, DefaultVehicleFirmware, "http://px4-travis.s3.amazonaws.com/Firmware/master/px4fmu-v1_default.px4"},
-        { AutoPilotStackAPM, StableFirmware,    QuadFirmware,           "http://firmware.ardupilot.org/Copter/stable/PX4-quad/ArduCopter-v1.px4"},
-        { AutoPilotStackAPM, StableFirmware,    X8Firmware,             "http://firmware.ardupilot.org/Copter/stable/PX4-octa-quad/ArduCopter-v1.px4"},
-        { AutoPilotStackAPM, StableFirmware,    HexaFirmware,           "http://firmware.ardupilot.org/Copter/stable/PX4-hexa/ArduCopter-v1.px4"},
-        { AutoPilotStackAPM, StableFirmware,    OctoFirmware,           "http://firmware.ardupilot.org/Copter/stable/PX4-octa/ArduCopter-v1.px4"},
-        { AutoPilotStackAPM, StableFirmware,    YFirmware,              "http://firmware.ardupilot.org/Copter/stable/PX4-tri/ArduCopter-v1.px4"},
-        { AutoPilotStackAPM, StableFirmware,    Y6Firmware,             "http://firmware.ardupilot.org/Copter/stable/PX4-y6/ArduCopter-v1.px4"},
+        { AutoPilotStackAPM, StableFirmware,    CopterFirmware,         "http://firmware.ardupilot.org/Copter/stable/PX4/ArduCopter-v1.px4"},
         { AutoPilotStackAPM, StableFirmware,    HeliFirmware,           "http://firmware.ardupilot.org/Copter/stable/PX4-heli/ArduCopter-v1.px4"},
         { AutoPilotStackAPM, StableFirmware,    PlaneFirmware,          "http://firmware.ardupilot.org/Plane/stable/PX4/ArduPlane-v1.px4"},
         { AutoPilotStackAPM, StableFirmware,    RoverFirmware,          "http://firmware.ardupilot.org/Rover/stable/PX4/APMrover2-v1.px4"},
@@ -530,9 +509,9 @@ void FirmwareUpgradeController::_getFirmwareFile(FirmwareIdentifier firmwareId)
     
     if (firmwareId.firmwareType == CustomFirmware) {
         _firmwareFilename = QGCQFileDialog::getOpenFileName(NULL,                                                                // Parent to main window
-                                                           "Select Firmware File",                                              // Dialog Caption
-                                                           QStandardPaths::writableLocation(QStandardPaths::DocumentsLocation), // Initial directory
-                                                           "Firmware Files (*.px4 *.bin *.ihx)");                               // File filter
+                                                            "Select Firmware File",                                              // Dialog Caption
+                                                            QStandardPaths::writableLocation(QStandardPaths::DocumentsLocation), // Initial directory
+                                                            "Firmware Files (*.px4 *.bin *.ihx)");                               // File filter
     } else {
         if (prgFirmware->contains(firmwareId)) {
             _firmwareFilename = prgFirmware->value(firmwareId);
@@ -774,51 +753,57 @@ void FirmwareUpgradeController::setSelectedFirmwareType(FirmwareType_t firmwareT
 
 QStringList FirmwareUpgradeController::apmAvailableVersions(void)
 {
-    QStringList list;
+    QStringList                     list;
+    QList<FirmwareVehicleType_t>    vehicleTypes;
+
+    // This allows up to force the order of the combo box display
+    vehicleTypes << CopterFirmware << HeliFirmware << PlaneFirmware << RoverFirmware << SubFirmware;
 
     _apmVehicleTypeFromCurrentVersionList.clear();
 
-    foreach (FirmwareVehicleType_t vehicleType, _apmVersionMap[_selectedFirmwareType].keys()) {
-        QString version;
-
-        switch (vehicleType) {
-        case QuadFirmware:
-            version = "Quad - ";
-            break;
-        case X8Firmware:
-            version = "X8 - ";
-            break;
-        case HexaFirmware:
-            version = "Hexa - ";
-            break;
-        case OctoFirmware:
-            version = "Octo - ";
-            break;
-        case YFirmware:
-            version = "Y - ";
-            break;
-        case Y6Firmware:
-            version = "Y6 - ";
-            break;
-        case HeliFirmware:
-            version = "Heli - ";
-            break;
-        case CopterFirmware:
-            version = "MultiRotor - ";
-            break;
-        case SubFirmware:
-            version = "Sub - ";
-            break;
-        case PlaneFirmware:
-        case RoverFirmware:
-        case DefaultVehicleFirmware:
-            break;
+    foreach (FirmwareVehicleType_t vehicleType, vehicleTypes) {
+        if (_apmVersionMap[_selectedFirmwareType].contains(vehicleType)) {
+            QString version;
+
+            switch (vehicleType) {
+            case QuadFirmware:
+                version = "Quad - ";
+                break;
+            case X8Firmware:
+                version = "X8 - ";
+                break;
+            case HexaFirmware:
+                version = "Hexa - ";
+                break;
+            case OctoFirmware:
+                version = "Octo - ";
+                break;
+            case YFirmware:
+                version = "Y - ";
+                break;
+            case Y6Firmware:
+                version = "Y6 - ";
+                break;
+            case HeliFirmware:
+                version = "Heli - ";
+                break;
+            case CopterFirmware:
+                version = "MultiRotor - ";
+                break;
+            case SubFirmware:
+                version = "Sub - ";
+                break;
+            case PlaneFirmware:
+            case RoverFirmware:
+            case DefaultVehicleFirmware:
+                break;
+            }
+
+            version += _apmVersionMap[_selectedFirmwareType][vehicleType];
+            _apmVehicleTypeFromCurrentVersionList.append(vehicleType);
+
+            list << version;
         }
-
-        version += _apmVersionMap[_selectedFirmwareType][vehicleType];
-        _apmVehicleTypeFromCurrentVersionList.append(vehicleType);
-
-        list << version;
     }
 
     return list;