diff --git a/src/Vehicle/Vehicle.cc b/src/Vehicle/Vehicle.cc
index 9803371e3e6e9c956ea37e3f417af5a92c65a05a..cd824d5de598aac55a859951ab17eb84bac1d243 100644
--- a/src/Vehicle/Vehicle.cc
+++ b/src/Vehicle/Vehicle.cc
@@ -698,12 +698,16 @@ void Vehicle::_mavlinkMessageReceived(LinkInterface* link, mavlink_message_t mes
             }
         }
         if (!foundRequest) {
-            if (++_capabilitiesRetryCount > 5) {
+            _capabilitiesRetryCount++;
+            if (_capabilitiesRetryCount == 1) {
+                _capabilitiesRetryElapsed.start();
+            } else if (_capabilitiesRetryElapsed.elapsed() > 10000){
+                qCDebug(VehicleLog) << "Giving up on getting AUTOPILOT_VERSION after 10 seconds";
                 qgcApp()->showMessage(QStringLiteral("Vehicle failed to send AUTOPILOT_VERSION"));
                 _handleUnsupportedRequestAutopilotCapabilities();
             } else {
                 // Vehicle never sent us AUTOPILOT_VERSION response. Try again.
-                qCDebug(VehicleLog) << "Sending MAV_CMD_REQUEST_AUTOPILOT_CAPABILITIES again due to no response with AUTOPILOT_VERSION - _capabilitiesRetryCount" << _capabilitiesRetryCount;
+                qCDebug(VehicleLog) << QStringLiteral("Sending MAV_CMD_REQUEST_AUTOPILOT_CAPABILITIES again due to no response with AUTOPILOT_VERSION - _capabilitiesRetryCount(%1) elapsed(%2)").arg(_capabilitiesRetryCount).arg(_capabilitiesRetryElapsed.elapsed());
                 sendMavCommand(MAV_COMP_ID_ALL,
                                MAV_CMD_REQUEST_AUTOPILOT_CAPABILITIES,
                                true,                                    // Show error on failure
diff --git a/src/Vehicle/Vehicle.h b/src/Vehicle/Vehicle.h
index 2ce4a9db661c9bfee975df8f9b1e9cba4c1761f4..7e87789a8813e2288dd669208d71092bdd8344e1 100644
--- a/src/Vehicle/Vehicle.h
+++ b/src/Vehicle/Vehicle.h
@@ -12,6 +12,7 @@
 #include <QObject>
 #include <QVariantList>
 #include <QGeoCoordinate>
+#include <QTime>
 
 #include "FactGroup.h"
 #include "LinkInterface.h"
@@ -1431,6 +1432,7 @@ private:
     QTimer                          _mavCommandAckTimer;
     int                             _mavCommandRetryCount;
     int                             _capabilitiesRetryCount =               0;
+    QTime                           _capabilitiesRetryElapsed;
     static const int                _mavCommandMaxRetryCount =              3;
     static const int                _mavCommandAckTimeoutMSecs =            3000;
     static const int                _mavCommandAckTimeoutMSecsHighLatency = 120000;