diff --git a/src/AutoPilotPlugins/APM/APMPowerComponent.h b/src/AutoPilotPlugins/APM/APMPowerComponent.h
index bf92677..e033041 100644
--- a/src/AutoPilotPlugins/APM/APMPowerComponent.h
+++ b/src/AutoPilotPlugins/APM/APMPowerComponent.h
@@ -20,18 +20,19 @@ class APMPowerComponent : public VehicleComponent
 public:
     APMPowerComponent(Vehicle* vehicle, AutoPilotPlugin* autopilot, QObject* parent = NULL);
     
-    // Virtuals from VehicleComponent
-    QStringList setupCompleteChangedTriggerList(void) const final;
+    // Overrides from VehicleComponent
+    QStringList setupCompleteChangedTriggerList(void) const override;
     
     // Virtuals from VehicleComponent
-    QString     name                    (void) const final;
-    QString     description             (void) const final;
-    QString     iconResource            (void) const final;
-    bool        requiresSetup           (void) const final;
-    bool        setupComplete           (void) const final;
-    QUrl        setupSource             (void) const final;
-    QUrl        summaryQmlSource        (void) const final;
-    
+    QString name                    (void) const override;
+    QString description             (void) const override;
+    QString iconResource            (void) const override;
+    bool    requiresSetup           (void) const override;
+    bool    setupComplete           (void) const override;
+    QUrl    setupSource             (void) const override;
+    QUrl    summaryQmlSource        (void) const override;
+    bool    allowSetupWhileArmed    (void) const override { return true; }
+
 private:
     const QString   _name;
     QVariantList    _summaryItems;
diff --git a/src/AutoPilotPlugins/Common/SetupPage.qml b/src/AutoPilotPlugins/Common/SetupPage.qml
index a2912e3..82dc1dd 100644
--- a/src/AutoPilotPlugins/Common/SetupPage.qml
+++ b/src/AutoPilotPlugins/Common/SetupPage.qml
@@ -23,7 +23,7 @@ import QGroundControl.Controllers   1.0
 QGCView {
     id:             setupView
     viewPanel:      setupPanel
-    enabled:        !_shouldDisableWhenArmed
+    enabled:        !_disableDueToArmed && !_disableDueToFlying
 
     property alias  pageComponent:      pageLoader.sourceComponent
     property string pageName:           vehicleComponent ? vehicleComponent.name : ""
@@ -31,13 +31,16 @@ QGCView {
     property real   availableWidth:     width - pageLoader.x
     property real   availableHeight:    height - pageLoader.y
 
-    property bool _vehicleArmed:         QGroundControl.multiVehicleManager.activeVehicle ? QGroundControl.multiVehicleManager.activeVehicle.armed : false
-    property bool _shouldDisableWhenArmed: _vehicleArmed ? (vehicleComponent ? !vehicleComponent.allowSetupWhileArmed : false) : false
+    property var    _activeVehicle:         QGroundControl.multiVehicleManager.activeVehicle
+    property bool   _vehicleArmed:          _activeVehicle ? _activeVehicle.armed : false
+    property bool   _vehicleFlying:         _activeVehicle ? _activeVehicle.flying : false
+    property bool   _disableDueToArmed:     vehicleComponent ? (!vehicleComponent.allowSetupWhileArmed && _vehicleArmed) : false
+    property bool   _disableDueToFlying:    vehicleComponent ? (!vehicleComponent.allowSetupWhileFlying && _vehicleFlying) : false
+    property string _disableReason:         _disableDueToArmed ? qsTr("armed") : qsTr("flying")
 
     property real _margins:             ScreenTools.defaultFontPixelHeight * 0.5
     property string _pageTitle:         qsTr("%1 Setup").arg(pageName)
 
-
     QGCPalette { id: qgcPal; colorGroupEnabled: setupPanel.enabled }
 
     QGCViewPanel {
@@ -57,7 +60,7 @@ QGCView {
 
                 QGCLabel {
                     font.pointSize: ScreenTools.largeFontPointSize
-                    text:           _shouldDisableWhenArmed ? _pageTitle + "<font color=\"red\">" + qsTr(" (Disabled while the vehicle is armed)") + "</font>" : _pageTitle
+                    text:           !setupView.enabled ? _pageTitle + "<font color=\"red\">" + qsTr(" (Disabled while the vehicle is %1)").arg(_disableReason) + "</font>" : _pageTitle
                     visible:        !ScreenTools.isShortScreen
                 }
 
@@ -78,7 +81,7 @@ QGCView {
             // Overlay to display when vehicle is armed and this setup page needs
             // to be disabled
             Rectangle {
-                visible:            _shouldDisableWhenArmed
+                visible:            !setupView.enabled
                 anchors.fill:       pageLoader
                 color:              "black"
                 opacity:            0.5
diff --git a/src/AutoPilotPlugins/PX4/PowerComponent.h b/src/AutoPilotPlugins/PX4/PowerComponent.h
index fb4835d..9be937d 100644
--- a/src/AutoPilotPlugins/PX4/PowerComponent.h
+++ b/src/AutoPilotPlugins/PX4/PowerComponent.h
@@ -24,18 +24,19 @@ class PowerComponent : public VehicleComponent
 public:
     PowerComponent(Vehicle* vehicle, AutoPilotPlugin* autopilot, QObject* parent = NULL);
     
-    // Virtuals from VehicleComponent
+    // Overrides from VehicleComponent
     virtual QStringList setupCompleteChangedTriggerList(void) const;
     
-    // Virtuals from VehicleComponent
-    virtual QString     name                    (void) const;
-    virtual QString     description             (void) const;
-    virtual QString     iconResource            (void) const;
-    virtual bool        requiresSetup           (void) const;
-    virtual bool        setupComplete           (void) const;
-    virtual QUrl        setupSource             (void) const;
-    virtual QUrl        summaryQmlSource        (void) const;
-    
+    // Overrides from VehicleComponent
+    QString name                    (void) const override;
+    QString description             (void) const override;
+    QString iconResource            (void) const override;
+    bool    requiresSetup           (void) const override;
+    bool    setupComplete           (void) const override;
+    QUrl    setupSource             (void) const override;
+    QUrl    summaryQmlSource        (void) const override;
+    bool    allowSetupWhileArmed    (void) const override { return true; }
+
 private:
     const QString   _name;
     QVariantList    _summaryItems;
diff --git a/src/VehicleSetup/VehicleComponent.cc b/src/VehicleSetup/VehicleComponent.cc
index 3afc798..071940b 100644
--- a/src/VehicleSetup/VehicleComponent.cc
+++ b/src/VehicleSetup/VehicleComponent.cc
@@ -66,9 +66,3 @@ void VehicleComponent::_triggerUpdated(QVariant /*value*/)
 {
     emit setupCompleteChanged(setupComplete());
 }
-
-bool VehicleComponent::allowSetupWhileArmed(void) const
-{
-    // Default is to not allow setup while armed
-    return false;
-}
diff --git a/src/VehicleSetup/VehicleComponent.h b/src/VehicleSetup/VehicleComponent.h
index f452467..9b6488e 100644
--- a/src/VehicleSetup/VehicleComponent.h
+++ b/src/VehicleSetup/VehicleComponent.h
@@ -37,7 +37,8 @@ class VehicleComponent : public QObject
     Q_PROPERTY(QUrl     setupSource             READ setupSource            NOTIFY setupSourceChanged)
     Q_PROPERTY(QUrl     summaryQmlSource        READ summaryQmlSource       CONSTANT)
     Q_PROPERTY(bool     allowSetupWhileArmed    READ allowSetupWhileArmed   CONSTANT)
-    
+    Q_PROPERTY(bool     allowSetupWhileFlying   READ allowSetupWhileFlying  CONSTANT)
+
 public:
     VehicleComponent(Vehicle* vehicle, AutoPilotPlugin* autopilot, QObject* parent = NULL);
     ~VehicleComponent();
@@ -51,8 +52,11 @@ public:
     virtual QUrl summaryQmlSource(void) const = 0;
 
     // @return true: Setup panel can be shown while vehicle is armed
-    virtual bool allowSetupWhileArmed(void) const;
+    virtual bool allowSetupWhileArmed(void) const { return false; } // Defaults to false
     
+    // @return true: Setup panel can be shown while vehicle is flying (and armed)
+    virtual bool allowSetupWhileFlying(void) const { return false; } // Defaults to false
+
     virtual void addSummaryQmlComponent(QQmlContext* context, QQuickItem* parent);
     
     /// @brief Returns an list of parameter names for which a change should cause the setupCompleteChanged