diff --git a/src/FirmwarePlugin/APM/APMFirmwarePlugin.cc b/src/FirmwarePlugin/APM/APMFirmwarePlugin.cc
index a9b993f72d3647e7d32846c3e6a0f3dfe92811e3..5298480d04ca72fe2d588aa23faa43f678018c54 100644
--- a/src/FirmwarePlugin/APM/APMFirmwarePlugin.cc
+++ b/src/FirmwarePlugin/APM/APMFirmwarePlugin.cc
@@ -354,6 +354,13 @@ bool APMFirmwarePlugin::_handleIncomingStatusText(Vehicle* vehicle, mavlink_mess
                 int supportedMinorNumber = -1;
 
                 switch (vehicle->vehicleType()) {
+                case MAV_TYPE_VTOL_DUOROTOR:
+                case MAV_TYPE_VTOL_QUADROTOR:
+                case MAV_TYPE_VTOL_TILTROTOR:
+                case MAV_TYPE_VTOL_RESERVED2:
+                case MAV_TYPE_VTOL_RESERVED3:
+                case MAV_TYPE_VTOL_RESERVED4:
+                case MAV_TYPE_VTOL_RESERVED5:
                 case MAV_TYPE_FIXED_WING:
                     supportedMajorNumber = 3;
                     supportedMinorNumber = 4;
@@ -602,6 +609,13 @@ void APMFirmwarePlugin::initializeVehicle(Vehicle* vehicle)
         case MAV_TYPE_HELICOPTER:
             vehicle->setFirmwareVersion(3, 4, 0);
             break;
+        case MAV_TYPE_VTOL_DUOROTOR:
+        case MAV_TYPE_VTOL_QUADROTOR:
+        case MAV_TYPE_VTOL_TILTROTOR:
+        case MAV_TYPE_VTOL_RESERVED2:
+        case MAV_TYPE_VTOL_RESERVED3:
+        case MAV_TYPE_VTOL_RESERVED4:
+        case MAV_TYPE_VTOL_RESERVED5:
         case MAV_TYPE_FIXED_WING:
             vehicle->setFirmwareVersion(3, 5, 0);
             break;
@@ -774,6 +788,13 @@ QString APMFirmwarePlugin::internalParameterMetaDataFile(Vehicle* vehicle)
             }
         }
         return QStringLiteral(":/FirmwarePlugin/APM/APMParameterFactMetaData.Copter.3.5.xml");
+    case MAV_TYPE_VTOL_DUOROTOR:
+    case MAV_TYPE_VTOL_QUADROTOR:
+    case MAV_TYPE_VTOL_TILTROTOR:
+    case MAV_TYPE_VTOL_RESERVED2:
+    case MAV_TYPE_VTOL_RESERVED3:
+    case MAV_TYPE_VTOL_RESERVED4:
+    case MAV_TYPE_VTOL_RESERVED5:
     case MAV_TYPE_FIXED_WING:
         if (majorVersion < 3) {
             return QStringLiteral(":/FirmwarePlugin/APM/APMParameterFactMetaData.Plane.3.3.xml");
diff --git a/src/MissionManager/MissionCommandTreeTest.cc b/src/MissionManager/MissionCommandTreeTest.cc
index 56931d0b3a140ed9e1851593b95a59009c278872..bd16a41f5d9cd9595379deaa78a6b93f12a58947 100644
--- a/src/MissionManager/MissionCommandTreeTest.cc
+++ b/src/MissionManager/MissionCommandTreeTest.cc
@@ -195,6 +195,10 @@ void MissionCommandTreeTest::testAllTrees(void)
     // This will cause all of the variants of collapsed trees to be built
     foreach(MAV_AUTOPILOT firmwareType, firmwareList) {
         foreach (MAV_TYPE vehicleType, vehicleList) {
+            if (firmwareType == MAV_AUTOPILOT_ARDUPILOTMEGA && vehicleType == MAV_TYPE_VTOL_QUADROTOR) {
+                // VTOL in ArduPilot shows up as plane so we can test this pair
+                continue;
+            }
             qDebug() << firmwareType << vehicleType;
             Vehicle* vehicle = new Vehicle(firmwareType, vehicleType, qgcApp()->toolbox()->firmwarePluginManager());
             QVERIFY(qgcApp()->toolbox()->missionCommandTree()->getUIInfo(vehicle, MAV_CMD_NAV_WAYPOINT) != NULL);