diff --git a/src/FactSystem/FactControls/FactComboBox.qml b/src/FactSystem/FactControls/FactComboBox.qml
index 7c61bd4278cc099ff2841ecc5b2b0d14117caae2..d56bbf11fc4ffc2a7c5115e76d7cd103639f6333 100644
--- a/src/FactSystem/FactControls/FactComboBox.qml
+++ b/src/FactSystem/FactControls/FactComboBox.qml
@@ -10,7 +10,7 @@ QGCComboBox {
     property Fact fact: Fact { }
     property bool indexModel: true  ///< true: model must be specifed, selected index is fact value, false: use enum meta data
 
-    model: fact.enumStrings
+    model: fact ? fact.enumStrings : null
 
     currentIndex: indexModel ? fact.value : fact.enumIndex
 
diff --git a/src/FirmwarePlugin/APM/APMFirmwarePlugin.h b/src/FirmwarePlugin/APM/APMFirmwarePlugin.h
index 56f935aa8ea089264a6cb1e39d2b5689d4109a2f..80a20945ca672d566e4f619087070f0cc7a1084d 100644
--- a/src/FirmwarePlugin/APM/APMFirmwarePlugin.h
+++ b/src/FirmwarePlugin/APM/APMFirmwarePlugin.h
@@ -79,7 +79,7 @@ public:
     bool        setFlightMode(const QString& flightMode, uint8_t* base_mode, uint32_t* custom_mode) final;
     bool        isGuidedMode(const Vehicle* vehicle) const final;
     void        pauseVehicle(Vehicle* vehicle);
-    int         manualControlReservedButtonCount(void) final;
+    int         manualControlReservedButtonCount(void);
     bool        adjustIncomingMavlinkMessage(Vehicle* vehicle, mavlink_message_t* message) final;
     void        adjustOutgoingMavlinkMessage(Vehicle* vehicle, mavlink_message_t* message) final;
     void        initializeVehicle(Vehicle* vehicle) final;
diff --git a/src/FirmwarePlugin/APM/ArduSubFirmwarePlugin.cc b/src/FirmwarePlugin/APM/ArduSubFirmwarePlugin.cc
index e6fad43ea24d8abd36b2a6f1cb382fc2d6c25d81..ea1538a9e473525da69ae6ff0e82c4c9e750bcc9 100644
--- a/src/FirmwarePlugin/APM/ArduSubFirmwarePlugin.cc
+++ b/src/FirmwarePlugin/APM/ArduSubFirmwarePlugin.cc
@@ -47,3 +47,8 @@ ArduSubFirmwarePlugin::ArduSubFirmwarePlugin(void)
     supportedFlightModes << APMSubMode(APMSubMode::ALT_HOLD  ,true);
     setSupportedModes(supportedFlightModes);
 }
+
+int ArduSubFirmwarePlugin::manualControlReservedButtonCount(void)
+{
+    return 0;
+}
diff --git a/src/FirmwarePlugin/APM/ArduSubFirmwarePlugin.h b/src/FirmwarePlugin/APM/ArduSubFirmwarePlugin.h
index 1030a459dc7ad9227f8aacd9370014a3c37591b2..a927a44d9edd004754206324bb5544fa334d2a6d 100644
--- a/src/FirmwarePlugin/APM/ArduSubFirmwarePlugin.h
+++ b/src/FirmwarePlugin/APM/ArduSubFirmwarePlugin.h
@@ -67,6 +67,7 @@ public:
     ArduSubFirmwarePlugin(void);
 
     // Overrides from FirmwarePlugin
+    int manualControlReservedButtonCount(void);
 
 };
 
diff --git a/src/Joystick/Joystick.cc b/src/Joystick/Joystick.cc
index 725019b026ab493a4c25dc2b0d398af3d56395de..93dc847dabe5105dbb52dd2f055a7c10cff812e6 100644
--- a/src/Joystick/Joystick.cc
+++ b/src/Joystick/Joystick.cc
@@ -284,7 +284,7 @@ void Joystick::run(void)
             throttle =  std::max(-1.0f, std::min(tanf(asinf(throttle_limited)), 1.0f));
 
             // Adjust throttle to 0:1 range
-            if (_throttleMode == ThrottleModeCenterZero) {
+            if (_throttleMode == ThrottleModeCenterZero && !_activeVehicle->sub()) {
                 throttle = std::max(0.0f, throttle);
             } else {
                 throttle = (throttle + 1.0f) / 2.0f;
diff --git a/src/VehicleSetup/JoystickConfig.qml b/src/VehicleSetup/JoystickConfig.qml
index 79f8ce119274e265176373fbaa310eeb7fcb0f09..c53a742739e0dc6bec54b0204c3f352f3edc9252 100644
--- a/src/VehicleSetup/JoystickConfig.qml
+++ b/src/VehicleSetup/JoystickConfig.qml
@@ -18,6 +18,7 @@ import QGroundControl.Controls      1.0
 import QGroundControl.ScreenTools   1.0
 import QGroundControl.Controllers   1.0
 import QGroundControl.FactSystem    1.0
+import QGroundControl.FactControls  1.0
 
 /// Joystick Config
 QGCView {
@@ -380,6 +381,7 @@ QGCView {
 
                         Column {
                             spacing: ScreenTools.defaultFontPixelHeight / 3
+                            visible: !_activeVehicle.sub
 
                             ExclusiveGroup { id: throttleModeExclusiveGroup }
 
@@ -447,6 +449,9 @@ QGCView {
                             if (buttonActionRepeater.itemAt(index)) {
                                 buttonActionRepeater.itemAt(index).pressed = pressed
                             }
+                            if (subButtonActionRepeater.itemAt(index)) {
+                                subButtonActionRepeater.itemAt(index).pressed = pressed
+                            }
                         }
                     }
 
@@ -469,7 +474,7 @@ QGCView {
 
                             Row {
                                 spacing: ScreenTools.defaultFontPixelWidth
-                                visible: _activeVehicle.manualControlReservedButtonCount == -1 ? false : modelData >= _activeVehicle.manualControlReservedButtonCount
+                                visible: (_activeVehicle.manualControlReservedButtonCount == -1 ? false : modelData >= _activeVehicle.manualControlReservedButtonCount) && !_activeVehicle.sub
 
                                 property bool pressed
 
@@ -508,6 +513,71 @@ QGCView {
                                 }
                             }
                         } // Repeater
+
+                        Row {
+                            spacing: ScreenTools.defaultFontPixelWidth
+                            visible: _activeVehicle.sub
+
+                            QGCLabel {
+                                horizontalAlignment:    Text.AlignHCenter
+                                width:                  ScreenTools.defaultFontPixelHeight * 1.5
+                                text:                   qsTr("#")
+                            }
+
+                            QGCLabel {
+                                width:                  ScreenTools.defaultFontPixelWidth * 15
+                                text:                   qsTr("Function: ")
+                            }
+
+                            QGCLabel {
+                                width:                  ScreenTools.defaultFontPixelWidth * 15
+                                text:                   qsTr("Shift Function: ")
+                            }
+                        } // Row
+
+                        Repeater {
+                            id:     subButtonActionRepeater
+                            model:  _activeJoystick.totalButtonCount
+
+                            Row {
+                                spacing: ScreenTools.defaultFontPixelWidth
+                                visible: _activeVehicle.sub
+
+                                property bool pressed
+
+                                Rectangle {
+                                    anchors.verticalCenter:     parent.verticalCenter
+                                    width:                      ScreenTools.defaultFontPixelHeight * 1.5
+                                    height:                     width
+                                    border.width:               1
+                                    border.color:               qgcPal.text
+                                    color:                      pressed ? qgcPal.buttonHighlight : qgcPal.button
+
+
+                                    QGCLabel {
+                                        anchors.fill:           parent
+                                        color:                  pressed ? qgcPal.buttonHighlightText : qgcPal.buttonText
+                                        horizontalAlignment:    Text.AlignHCenter
+                                        verticalAlignment:      Text.AlignVCenter
+                                        text:                   modelData
+                                    }
+                                }
+
+                                FactComboBox {
+                                    id:         mainSubButtonActionCombo
+                                    width:      ScreenTools.defaultFontPixelWidth * 15
+                                    fact:       controller.parameterExists(-1, "BTN"+index+"_FUNCTION") ? controller.getParameterFact(-1, "BTN" + index + "_FUNCTION") : null;
+                                    indexModel: false
+                                }
+
+                                FactComboBox {
+                                    id:         shiftSubButtonActionCombo
+                                    width:      ScreenTools.defaultFontPixelWidth * 15
+                                    fact:       controller.parameterExists(-1, "BTN"+index+"_SFUNCTION") ? controller.getParameterFact(-1, "BTN" + index + "_SFUNCTION") : null;
+                                    indexModel: false
+                                }
+                            } // Row
+                        } // Repeater
                     } // Column
                 } // Column - right setting column
             } // Row - Settings