diff --git a/src/AutoPilotPlugins/PX4/AirframeComponent.qml b/src/AutoPilotPlugins/PX4/AirframeComponent.qml
index 277458be031cc5cb28f7d99d2f150c7dd56a67e6..8cc94555937abeafd6cf15cb84ce81eeabc32905 100644
--- a/src/AutoPilotPlugins/PX4/AirframeComponent.qml
+++ b/src/AutoPilotPlugins/PX4/AirframeComponent.qml
@@ -51,7 +51,7 @@ QGCView {
 
                 onCompleted: {
                     if (controller.showCustomConfigPanel) {
-                        panel.showDialog(customConfigDialog, "Custom Airframe Config", 50, StandardButton.Reset)
+                        panel.showDialog(customConfigDialogComponent, "Custom Airframe Config", 50, StandardButton.Reset)
                     }
                 }
             }
@@ -62,23 +62,45 @@ QGCView {
             }
 
             Component {
-                id: customConfigDialog
+                id: customConfigDialogComponent
 
-                QGCLabel {
-                    id:             customConfigPanel
-                    anchors.fill:   parent
-                    wrapMode:       Text.WordWrap
-                    text:           "Your vehicle is using a custom airframe configuration. " +
-                                    "This configuration can only be modified through the Parameter Editor.\n\n" +
-                                    "If you want to Reset your airframe configuration and select a standard configuration, click 'Reset' above."
-
-                    signal hideDialog
+                QGCViewDialog {
+                    id: customConfigDialog
 
                     Fact { id: sys_autostart; name: "SYS_AUTOSTART" }
 
                     function accept() {
                         sys_autostart.value = 0
-                        customConfigPanel.hideDialog()
+                        customConfigDialog.hideDialog()
+                    }
+
+                    QGCLabel {
+                        anchors.fill:   parent
+                        wrapMode:       Text.WordWrap
+                        text:           "Your vehicle is using a custom airframe configuration. " +
+                                        "This configuration can only be modified through the Parameter Editor.\n\n" +
+                                        "If you want to Reset your airframe configuration and select a standard configuration, click 'Reset' above."
+                    }
+                }
+            }
+
+            Component {
+                id: applyRestartDialogComponent
+
+                QGCViewDialog {
+                    id: applyRestartDialog
+
+                    function accept() {
+                        controller.changeAutostart()
+                        applyRestartDialog.hideDialog()
+                    }
+
+                    QGCLabel {
+                        anchors.fill:   parent
+                        wrapMode:       Text.WordWrap
+                        text:           "Clicking Apply will save the changes you have made to your aiframe configuration. " +
+                                        "Your vehicle will also be rebooted in order to complete the process. " +
+                                        "After your vehicle reboots, you can reconnect it to QGroundControl."
                     }
                 }
             }
@@ -117,7 +139,7 @@ QGCView {
                     anchors.right:  parent.right
                     text:           "Apply and Restart"
 
-                    onClicked: { controller.changeAutostart() }
+                    onClicked:      panel.showDialog(applyRestartDialogComponent, "Apply and Restart", 50, StandardButton.Apply | StandardButton.Cancel)
                 }
 
                 Item {
diff --git a/src/AutoPilotPlugins/PX4/AirframeComponentController.cc b/src/AutoPilotPlugins/PX4/AirframeComponentController.cc
index 2cc1386f495f8e507e68f9e59310695ae2c91bd0..8f96cacfd4446119649abfb45dbcc5d7b3fb4c1e 100644
--- a/src/AutoPilotPlugins/PX4/AirframeComponentController.cc
+++ b/src/AutoPilotPlugins/PX4/AirframeComponentController.cc
@@ -101,24 +101,26 @@ void AirframeComponentController::changeAutostart(void)
 		return;
 	}
 	
+    qgcApp()->setOverrideCursor(Qt::WaitCursor);
+    
     _autopilot->getParameterFact("SYS_AUTOSTART")->setValue(_autostartId);
     _autopilot->getParameterFact("SYS_AUTOCONFIG")->setValue(1);
     
-    qgcApp()->setOverrideCursor(Qt::WaitCursor);
     
     // Wait for the parameters to flow through system
     qgcApp()->processEvents(QEventLoop::ExcludeUserInputEvents);
     QGC::SLEEP::sleep(1);
     qgcApp()->processEvents(QEventLoop::ExcludeUserInputEvents);
     
-    // Reboot board and reconnect
+    // Reboot board
     
     _uas->executeCommand(MAV_CMD_PREFLIGHT_REBOOT_SHUTDOWN, 1, 1.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0);
     qgcApp()->processEvents(QEventLoop::ExcludeUserInputEvents);
     QGC::SLEEP::sleep(1);
     qgcApp()->processEvents(QEventLoop::ExcludeUserInputEvents);
+    LinkManager::instance()->disconnectAll();
     
-    qgcApp()->reconnectAfterWait(5);
+    qgcApp()->restoreOverrideCursor();
 }
 
 AirframeType::AirframeType(const QString& name, const QString& imageResource, QObject* parent) :
diff --git a/src/QGCApplication.cc b/src/QGCApplication.cc
index a3f4b68eef54b84b000f4d35206eac62529e7f27..2850fea9f9ced09684084a23f0671d6e20264d2d 100644
--- a/src/QGCApplication.cc
+++ b/src/QGCApplication.cc
@@ -655,32 +655,6 @@ void QGCApplication::_loadCurrentStyle(void)
     restoreOverrideCursor();
 }
 
-void QGCApplication::reconnectAfterWait(int waitSeconds)
-{
-    LinkManager* linkManager = LinkManager::instance();
-    Q_ASSERT(linkManager);
-    
-    Q_ASSERT(linkManager->getLinks().count() == 1);
-    LinkInterface* link = linkManager->getLinks()[0];
-    
-    // Save the link configuration so we can restart the link laster
-    _reconnectLinkConfig = LinkConfiguration::duplicateSettings(linkManager->getLinks()[0]->getLinkConfiguration());
-    
-    // Disconnect and wait
-    
-    linkManager->disconnectLink(link);
-    QTimer::singleShot(waitSeconds * 1000, this, &QGCApplication::_reconnect);
-}
-
-void QGCApplication::_reconnect(void)
-{
-    Q_ASSERT(_reconnectLinkConfig);
-    
-    qgcApp()->restoreOverrideCursor();
-    LinkManager::instance()->createConnectedLink(_reconnectLinkConfig);
-    _reconnectLinkConfig = NULL;
-}
-
 void QGCApplication::reportMissingFact(const QString& name)
 {
     _missingFacts += name;
diff --git a/src/QGCApplication.h b/src/QGCApplication.h
index 481f88319ca9f96d126b945595333fee2fbb4d47..44e52c73c09a180beb11055f8a85bc4b4bae47cf 100644
--- a/src/QGCApplication.h
+++ b/src/QGCApplication.h
@@ -96,9 +96,6 @@ public:
     /// Set the current UI style
     void setStyle(bool styleIsDark);
     
-    /// Disconnects the current link and waits for the specified number of seconds before reconnecting.
-    void reconnectAfterWait(int waitSeconds);
-    
     /// Used to report a missing Fact. Warning will be displayed to user. Method may be called
     /// multiple times.
     void reportMissingFact(const QString& name);
@@ -143,7 +140,6 @@ public:
     static QGCApplication*  _app;   ///< Our own singleton. Should be reference directly by qgcApp
     
 private slots:
-    void _reconnect(void);
     void _missingFactsDisplay(void);
     
 private:
@@ -167,8 +163,6 @@ private:
     static const char*  _lightStyleFile;
     bool                _styleIsDark;      ///< true: dark style, false: light style
     
-    LinkConfiguration* _reconnectLinkConfig;    ///< Configuration to reconnect for reconnectAfterWait
-    
     static const int    _missingFactDelayedDisplayTimerTimeout = 1000;  ///< Timeout to wait for next missing fact to come in before display
     QTimer              _missingFactDelayedDisplayTimer;                ///< Timer use to delay missing fact display
     QStringList         _missingFacts;                                  ///< List of missing facts to be displayed