diff --git a/src/VehicleSetup/Bootloader.h b/src/VehicleSetup/Bootloader.h
index ccd0355f6aaa9e116e1420eb190a6f8094ee1d14..dce4c85be2707c49d066ee924f7f67935173cf00 100644
--- a/src/VehicleSetup/Bootloader.h
+++ b/src/VehicleSetup/Bootloader.h
@@ -76,6 +76,7 @@ public:
     // Supported bootloader board ids
     static const int boardIDPX4FMUV1 = 5;   ///< PX4 V1 board
     static const int boardIDPX4FMUV2 = 9;   ///< PX4 V2 board
+    static const int boardIDPX4FMUV4 = 11;   ///< PX4 V4 board
     static const int boardIDPX4Flow = 6;    ///< PX4 Flow board
     static const int boardIDAeroCore = 98;  ///< Gumstix AeroCore board
     static const int boardID3DRRadio = 78;  ///< 3DR Radio
diff --git a/src/VehicleSetup/FirmwareUpgradeController.cc b/src/VehicleSetup/FirmwareUpgradeController.cc
index c6a01bf28efc7d5a2f54ed940535f264b6b21995..94c4b14cf79708100c87b8625f38566e4fa3ad90 100644
--- a/src/VehicleSetup/FirmwareUpgradeController.cc
+++ b/src/VehicleSetup/FirmwareUpgradeController.cc
@@ -187,6 +187,13 @@ void FirmwareUpgradeController::_initFirmwareHash()
         return;
     }
 
+    //////////////////////////////////// PX4FMUV4 firmwares //////////////////////////////////////////////////
+    FirmwareToUrlElement_t rgPX4FMV4FirmwareArray[] = {
+        { AutoPilotStackPX4, StableFirmware,    DefaultVehicleFirmware, "http://px4-travis.s3.amazonaws.com/Firmware/stable/px4fmu-v4_default.px4"},
+        { AutoPilotStackPX4, BetaFirmware,      DefaultVehicleFirmware, "http://px4-travis.s3.amazonaws.com/Firmware/beta/px4fmu-v4_default.px4"},
+        { AutoPilotStackPX4, DeveloperFirmware, DefaultVehicleFirmware, "http://px4-travis.s3.amazonaws.com/Firmware/master/px4fmu-v4_default.px4"},
+    };
+
     //////////////////////////////////// PX4FMUV2 firmwares //////////////////////////////////////////////////
     FirmwareToUrlElement_t rgPX4FMV2FirmwareArray[] = {
         { AutoPilotStackPX4, StableFirmware,    DefaultVehicleFirmware, "http://px4-travis.s3.amazonaws.com/Firmware/stable/px4fmu-v2_default.px4"},
@@ -273,6 +280,12 @@ void FirmwareUpgradeController::_initFirmwareHash()
     };
 
     // populate hashes now
+    int size = sizeof(rgPX4FMV4FirmwareArray)/sizeof(rgPX4FMV4FirmwareArray[0]);
+    for (int i = 0; i < size; i++) {
+        const FirmwareToUrlElement_t& element = rgPX4FMV4FirmwareArray[i];
+        _rgPX4FMUV4Firmware.insert(FirmwareIdentifier(element.stackType, element.firmwareType, element.vehicleType), element.url);
+    }
+
     int size = sizeof(rgPX4FMV2FirmwareArray)/sizeof(rgPX4FMV2FirmwareArray[0]);
     for (int i = 0; i < size; i++) {
         const FirmwareToUrlElement_t& element = rgPX4FMV2FirmwareArray[i];
@@ -333,6 +346,10 @@ void FirmwareUpgradeController::_getFirmwareFile(FirmwareIdentifier firmwareId)
         case Bootloader::boardIDPX4FMUV2:
             prgFirmware = _rgPX4FMUV2Firmware;
             break;
+
+        case Bootloader::boardIDPX4FMUV4:
+            prgFirmware = _rgPX4FMUV4Firmware;
+            break;
             
         case Bootloader::boardIDAeroCore:
             prgFirmware = _rgAeroCoreFirmware;
diff --git a/src/VehicleSetup/FirmwareUpgradeController.h b/src/VehicleSetup/FirmwareUpgradeController.h
index d7f7c9d22d20d4fd6f7a4b08a8ea0d4d9730b362..b65b09eb03dcadbaff31d515ba3ebad25016c36f 100644
--- a/src/VehicleSetup/FirmwareUpgradeController.h
+++ b/src/VehicleSetup/FirmwareUpgradeController.h
@@ -177,6 +177,7 @@ private:
     QString _portDescription;
 
     // firmware hashes
+    QHash<FirmwareIdentifier, QString> _rgPX4FMUV4Firmware;
     QHash<FirmwareIdentifier, QString> _rgPX4FMUV2Firmware;
     QHash<FirmwareIdentifier, QString> _rgAeroCoreFirmware;
     QHash<FirmwareIdentifier, QString> _rgPX4FMUV1Firmware;