diff --git a/src/QmlControls/QGCRadioButton.qml b/src/QmlControls/QGCRadioButton.qml
index ccaaf0e4cb8813a14e1ac83a55f2f7c24387737f..e28d327e349a19888d2d12f3690048e77e90ce34 100644
--- a/src/QmlControls/QGCRadioButton.qml
+++ b/src/QmlControls/QGCRadioButton.qml
@@ -9,6 +9,7 @@ RadioButton {
     property var    color:          qgcPal.text    ///< Text color
     property int    textStyle:      Text.Normal
     property color  textStyleColor: qgcPal.text
+    property bool   textBold:       false
     property var    qgcPal:         QGCPalette { colorGroupEnabled: enabled }
 
     style: RadioButtonStyle {
@@ -35,6 +36,7 @@ RadioButton {
                 text:               control.text
                 font.pointSize:     ScreenTools.defaultFontPointSize
                 font.family:        ScreenTools.normalFontFamily
+                font.bold:          control.textBold
                 antialiasing:       true
                 color:              control.color
                 style:              control.textStyle
diff --git a/src/VehicleSetup/FirmwareUpgrade.qml b/src/VehicleSetup/FirmwareUpgrade.qml
index cb0ee3009e90ceb9de7f905850bd7829358900bb..046312f4967f4d72133e213e75a7fe1e76d895a2 100644
--- a/src/VehicleSetup/FirmwareUpgrade.qml
+++ b/src/VehicleSetup/FirmwareUpgrade.qml
@@ -56,7 +56,7 @@ SetupPage {
             readonly property int _defaultFimwareTypeAPM:   3
 
             property var    _defaultFirmwareFact:   QGroundControl.settingsManager.appSettings.defaultFirmwareType
-            property bool   _defaultFirmwareIsPX4:  _defaultFirmwareFact.rawValue === _defaultFimwareTypePX4
+            property bool   _defaultFirmwareIsPX4:  true
 
             property string firmwareWarningMessage
             property bool   controllerCompleted:      false
@@ -134,6 +134,7 @@ SetupPage {
                     // We can only start the board search when the Qml and Controller are completely done loading
                     controller.startBoardSearch()
                 }
+                _defaultFirmwareIsPX4 = _defaultFirmwareFact.rawValue === _defaultFimwareTypePX4 // we don't want this to be bound and change as radios are selected
             }
 
             Component {
@@ -160,7 +161,8 @@ SetupPage {
                         } else {
                             versionString = controller.px4StableVersion
                         }
-                        px4FlightStack.text = qsTr("PX4 Flight Stack ") + versionString
+                        px4FlightStackRadio1.text = qsTr("PX4 Flight Stack ") + versionString
+                        px4FlightStackRadio2.text = qsTr("PX4 Flight Stack ") + versionString
                     }
 
                     Component.onCompleted: updatePX4VersionDisplay()
@@ -282,19 +284,16 @@ SetupPage {
                             firmwareVersionCombo.currentIndex = 0
                         }
 
-                        Component.onCompleted: {
-                            if (_defaultFirmwareIsPX4) {
-                                px4FlightStack.checked = true
-                            } else {
-                                apmFlightStack.checked = true
-                            }
-                        }
+                        // The following craziness of three radio buttons to represent two radio buttons is so that the
+                        // order can be changed such that the default firmware button is always on the top
 
                         QGCRadioButton {
-                            id:             px4FlightStack
-                            exclusiveGroup: firmwareGroup
+                            id:             px4FlightStackRadio1
+                            exclusiveGroup: _defaultFirmwareIsPX4 ? firmwareGroup : null
                             text:           qsTr("PX4 Flight Stack ")
-                            visible:        !_singleFirmwareMode && !px4Flow
+                            textBold:       _defaultFirmwareIsPX4
+                            checked:        _defaultFirmwareIsPX4
+                            visible:        _defaultFirmwareIsPX4 && !_singleFirmwareMode && !px4Flow
 
                             onClicked: {
                                 _defaultFirmwareFact.rawValue = _defaultFimwareTypePX4
@@ -306,6 +305,8 @@ SetupPage {
                             id:             apmFlightStack
                             exclusiveGroup: firmwareGroup
                             text:           qsTr("ArduPilot Flight Stack")
+                            textBold:       !_defaultFirmwareIsPX4
+                            checked:        !_defaultFirmwareIsPX4
                             visible:        !_singleFirmwareMode && !px4Flow
 
                             onClicked: {
@@ -314,6 +315,18 @@ SetupPage {
                             }
                         }
 
+                        QGCRadioButton {
+                            id:             px4FlightStackRadio2
+                            exclusiveGroup: _defaultFirmwareIsPX4 ? null : firmwareGroup
+                            text:           qsTr("PX4 Flight Stack ")
+                            visible:        !_defaultFirmwareIsPX4 && !_singleFirmwareMode && !px4Flow
+
+                            onClicked: {
+                                _defaultFirmwareFact.rawValue = _defaultFimwareTypePX4
+                                parent.firmwareVersionChanged(firmwareTypeList)
+                            }
+                        }
+
                         QGCComboBox {
                             id:             vehicleTypeSelectionCombo
                             anchors.left:   parent.left