diff --git a/src/FirmwarePlugin/PX4/PX4ParameterFactMetaData.xml b/src/FirmwarePlugin/PX4/PX4ParameterFactMetaData.xml
index 9349789432dbc0295322e670f5070e94ec2a250b..5bf5d06c47fd419392462b09501dbdffd2d1b612 100644
--- a/src/FirmwarePlugin/PX4/PX4ParameterFactMetaData.xml
+++ b/src/FirmwarePlugin/PX4/PX4ParameterFactMetaData.xml
@@ -10039,6 +10039,7 @@ to fixed wing mode. Zero or negative values will produce an instant throttle ris
       <min>0</min>
       <max>2</max>
       <decimal>0</decimal>
+      <reboot_required>true</reboot_required>
       <values>
         <value code="0">Tailsitter</value>
         <value code="1">Tiltrotor</value>
diff --git a/src/Vehicle/Vehicle.cc b/src/Vehicle/Vehicle.cc
index fab58588246f8f8a0cf98208eea4700079bf5299..df21fd0e354582a6306a7e354856c02c6966fc8c 100644
--- a/src/Vehicle/Vehicle.cc
+++ b/src/Vehicle/Vehicle.cc
@@ -953,6 +953,7 @@ void Vehicle::_handleVfrHud(mavlink_message_t& message)
     _airSpeedFact.setRawValue(qIsNaN(vfrHud.airspeed) ? 0 : vfrHud.airspeed);
     _groundSpeedFact.setRawValue(qIsNaN(vfrHud.groundspeed) ? 0 : vfrHud.groundspeed);
     _climbRateFact.setRawValue(qIsNaN(vfrHud.climb) ? 0 : vfrHud.climb);
+    _throttlePctFact.setRawValue(vfrHud.throttle);
 }
 
 void Vehicle::_handleEstimatorStatus(mavlink_message_t& message)
diff --git a/src/VehicleSetup/FirmwareUpgradeController.cc b/src/VehicleSetup/FirmwareUpgradeController.cc
index 6d923b8edc723e5ea862e7b7577369e3c339b17f..f35f87f965f400c6dcccb0db95f20853cabd4bdc 100644
--- a/src/VehicleSetup/FirmwareUpgradeController.cc
+++ b/src/VehicleSetup/FirmwareUpgradeController.cc
@@ -267,6 +267,13 @@ void FirmwareUpgradeController::_initFirmwareHash()
         { AutoPilotStackPX4, BetaFirmware,      DefaultVehicleFirmware, "http://px4-travis.s3.amazonaws.com/Firmware/beta/omnibus_f4sd_default.px4"},
         { AutoPilotStackPX4, DeveloperFirmware, DefaultVehicleFirmware, "http://px4-travis.s3.amazonaws.com/Firmware/master/omnibus_f4sd_default.px4"},
     };
+    
+    //////////////////////////////////// FMUK66V3 firmwares //////////////////////////////////////////////////
+    FirmwareToUrlElement_t rgFMUK66V3FirmwareArray[] = {
+        { AutoPilotStackPX4, StableFirmware,    DefaultVehicleFirmware, "http://px4-travis.s3.amazonaws.com/Firmware/stable/nxp_fmuk66-v3_default.px4"},
+        { AutoPilotStackPX4, BetaFirmware,      DefaultVehicleFirmware, "http://px4-travis.s3.amazonaws.com/Firmware/beta/nxp_fmuk66-v3_default.px4"},
+        { AutoPilotStackPX4, DeveloperFirmware, DefaultVehicleFirmware, "http://px4-travis.s3.amazonaws.com/Firmware/master/nxp_fmuk66-v3_default.px4"},
+    };
 
     /////////////////////////////// px4flow firmwares ///////////////////////////////////////
     FirmwareToUrlElement_t rgPX4FLowFirmwareArray[] = {
@@ -454,6 +461,12 @@ void FirmwareUpgradeController::_initFirmwareHash()
         const FirmwareToUrlElement_t& element = rgOmnibusF4SDFirmwareArray[i];
         _rgOmnibusF4SDFirmware.insert(FirmwareIdentifier(element.stackType, element.firmwareType, element.vehicleType), element.url);
     }
+    
+    size = sizeof(rgFMUK66V3FirmwareArray)/sizeof(rgFMUK66V3FirmwareArray[0]);
+    for (int i = 0; i < size; i++) {
+        const FirmwareToUrlElement_t& element = rgFMUK66V3FirmwareArray[i];
+        _rgFMUK66V3Firmware.insert(FirmwareIdentifier(element.stackType, element.firmwareType, element.vehicleType), element.url);
+    }
 
     size = sizeof(rgPX4FLowFirmwareArray)/sizeof(rgPX4FLowFirmwareArray[0]);
     for (int i = 0; i < size; i++) {