diff --git a/src/FirmwarePlugin/PX4/PX4FirmwarePlugin.cc b/src/FirmwarePlugin/PX4/PX4FirmwarePlugin.cc
index d04eb8682ee882d99409d498f75ddd66d51a6953..1a7fa10953c17eba92a642067c58feda5f4266ce 100644
--- a/src/FirmwarePlugin/PX4/PX4FirmwarePlugin.cc
+++ b/src/FirmwarePlugin/PX4/PX4FirmwarePlugin.cc
@@ -452,12 +452,15 @@ void PX4FirmwarePlugin::guidedModeChangeAltitude(Vehicle* vehicle, double altitu
 
 void PX4FirmwarePlugin::startMission(Vehicle* vehicle)
 {
-    if (!_armVehicleAndValidate(vehicle)) {
-        qgcApp()->showMessage(tr("Unable to start mission: Vehicle failed to arm."));
-        return;
-    }
 
-    _setFlightModeAndValidate(vehicle, missionFlightMode());
+    if (_setFlightModeAndValidate(vehicle, missionFlightMode())) {
+        if (!_armVehicleAndValidate(vehicle)) {
+            qgcApp()->showMessage(tr("Unable to start mission: Vehicle rejected arming."));
+            return;
+        }
+    } else {
+        qgcApp()->showMessage(tr("Unable to start mission: Vehicle not ready."));
+    }
 }
 
 void PX4FirmwarePlugin::setGuidedMode(Vehicle* vehicle, bool guidedMode)