diff --git a/src/AutoPilotPlugins/PX4/ActuatorComponent.qml b/src/AutoPilotPlugins/PX4/ActuatorComponent.qml
index 68cc175..9de170b 100644
--- a/src/AutoPilotPlugins/PX4/ActuatorComponent.qml
+++ b/src/AutoPilotPlugins/PX4/ActuatorComponent.qml
@@ -286,7 +286,7 @@ SetupPage {
                                                 model:              actionGroup.actions
                                                 QGCMenuItem {
                                                     text:           object.label
-                                                    onTriggered:	object.trigger()
+                                                    onTriggered:    object.trigger()
                                                 }
                                                 onObjectAdded:      actionMenu.insertItem(index, object)
                                                 onObjectRemoved:    actionMenu.removeItem(object)
@@ -354,6 +354,7 @@ SetupPage {
                             QGCButton {
                                 text:          qsTr("Identify & Assign Motors")
                                 visible:       !actuators.motorAssignmentActive && selActuatorOutput.actuatorOutput.groupsVisible
+                                enabled:       actuators.motorAssignmentEnabled
                                 onClicked: {
                                     var success = actuators.initMotorAssignment()
                                     if (success) {
diff --git a/src/Vehicle/Actuators/Actuators.cc b/src/Vehicle/Actuators/Actuators.cc
index 06cd17e..292781f 100644
--- a/src/Vehicle/Actuators/Actuators.cc
+++ b/src/Vehicle/Actuators/Actuators.cc
@@ -103,6 +103,9 @@ void Actuators::updateGeometryImage()
 
     _imageRefreshFlag = !_imageRefreshFlag;
     emit imageRefreshFlagChanged();
+
+    _motorAssignmentEnabled = provider->numMotors() > 0;
+    emit motorAssignmentEnabledChanged();
 }
 
 bool Actuators::isMultirotor() const
@@ -674,13 +677,7 @@ bool Actuators::showUi() const
 bool Actuators::initMotorAssignment()
 {
     GeometryImage::VehicleGeometryImageProvider* provider = GeometryImage::VehicleGeometryImageProvider::instance();
-    int numMotors = 0;
-    QList<ActuatorGeometry>& actuators = provider->actuators();
-    for (const auto& actuator : actuators) {
-        if (actuator.type == ActuatorGeometry::Type::Motor) {
-            ++numMotors;
-        }
-    }
+    int numMotors = provider->numMotors();
 
     // get the minimum function for motors
     bool ret = false;
diff --git a/src/Vehicle/Actuators/Actuators.h b/src/Vehicle/Actuators/Actuators.h
index 2f552a6..350e50f 100644
--- a/src/Vehicle/Actuators/Actuators.h
+++ b/src/Vehicle/Actuators/Actuators.h
@@ -33,6 +33,7 @@ public:
     Q_PROPERTY(bool imageRefreshFlag                       READ imageRefreshFlag          NOTIFY imageRefreshFlagChanged)
     Q_PROPERTY(bool hasUnsetRequiredFunctions              READ hasUnsetRequiredFunctions NOTIFY hasUnsetRequiredFunctionsChanged)
     Q_PROPERTY(bool motorAssignmentActive                  READ motorAssignmentActive     NOTIFY motorAssignmentActiveChanged)
+    Q_PROPERTY(bool motorAssignmentEnabled                 READ motorAssignmentEnabled    NOTIFY motorAssignmentEnabledChanged)
     Q_PROPERTY(QString motorAssignmentMessage              READ motorAssignmentMessage    NOTIFY motorAssignmentMessageChanged)
 
     Q_PROPERTY(ActuatorTesting::ActuatorTest* actuatorTest                      READ actuatorTest              CONSTANT)
@@ -75,6 +76,7 @@ public:
     Q_INVOKABLE void spinCurrentMotor() { _motorAssignment.spinCurrentMotor(); }
     Q_INVOKABLE void abortMotorAssignment();
     bool motorAssignmentActive() const { return _motorAssignment.active(); }
+    bool motorAssignmentEnabled() const { return _motorAssignmentEnabled; }
     const QString& motorAssignmentMessage() const { return _motorAssignment.message(); }
 
 public slots:
@@ -86,6 +88,7 @@ signals:
     void imageRefreshFlagChanged();
     void hasUnsetRequiredFunctionsChanged();
     void motorAssignmentActiveChanged();
+    void motorAssignmentEnabledChanged();
     void motorAssignmentMessageChanged();
     void actuatorActionsChanged();
 
@@ -112,6 +115,7 @@ private:
     ActuatorTesting::ActuatorTest _actuatorTest;
     Mixer::Mixers _mixer;
     MotorAssignment _motorAssignment;
+    bool _motorAssignmentEnabled{false};
     bool _hasUnsetRequiredFunctions{false};
     bool _imageRefreshFlag{false}; ///< indicator to QML to reload the image
     int _selectedActuatorOutput{0};
diff --git a/src/Vehicle/Actuators/GeometryImage.cc b/src/Vehicle/Actuators/GeometryImage.cc
index bd7a819..e83c2b4 100644
--- a/src/Vehicle/Actuators/GeometryImage.cc
+++ b/src/Vehicle/Actuators/GeometryImage.cc
@@ -415,3 +415,14 @@ int VehicleGeometryImageProvider::getHighlightedMotorIndexAtPos(const QPointF &p
     }
     return -1;
 }
+
+int VehicleGeometryImageProvider::numMotors() const
+{
+    int numMotors = 0;
+    for (const auto& actuator : _actuators) {
+        if (actuator.type == ActuatorGeometry::Type::Motor) {
+            ++numMotors;
+        }
+    }
+    return numMotors;
+}
diff --git a/src/Vehicle/Actuators/GeometryImage.h b/src/Vehicle/Actuators/GeometryImage.h
index 34a0b1b..5e0021c 100644
--- a/src/Vehicle/Actuators/GeometryImage.h
+++ b/src/Vehicle/Actuators/GeometryImage.h
@@ -50,6 +50,8 @@ public:
 
     QList<ActuatorGeometry>& actuators() { return _actuators; }
 
+    int numMotors() const;
+
 private:
     VehicleGeometryImageProvider();
     ~VehicleGeometryImageProvider() = default;