diff --git a/src/AutoPilotPlugins/AutoPilotPluginManager.cc b/src/AutoPilotPlugins/AutoPilotPluginManager.cc
index 80172536b3436e24838a7c002792e796cb4397f3..e164470327bd13a9fa667ccdcc0d14f8f2608c9e 100644
--- a/src/AutoPilotPlugins/AutoPilotPluginManager.cc
+++ b/src/AutoPilotPlugins/AutoPilotPluginManager.cc
@@ -28,6 +28,7 @@
 #include "PX4/PX4AutoPilotPlugin.h"
 #include "Generic/GenericAutoPilotPlugin.h"
 #include "QGCApplication.h"
+#include "QGCMessageBox.h"
 #include "UASManager.h"
 
 IMPLEMENT_QGC_SINGLETON(AutoPilotPluginManager, AutoPilotPluginManager)
@@ -81,6 +82,9 @@ void AutoPilotPluginManager::_uasCreated(UASInterface* uas)
             plugin = new GenericAutoPilotPlugin(uas, this);
             Q_CHECK_PTR(plugin);
             _pluginMap[MAV_AUTOPILOT_GENERIC][uasId] = QSharedPointer<AutoPilotPlugin>(plugin);
+            QGCMessageBox::warning("Partial Support AutoPilot",
+                                   "Warning: You have connected QGroundControl to a firmware flight stack which is only partially supported. "
+                                   "If you are using the APM Flight Stack it is currently recommended to use Mission Planner, APM Planner or Tower as your ground control station.");
     }
 }