diff --git a/src/AutoPilotPlugins/APM/APMSafetyComponent.h b/src/AutoPilotPlugins/APM/APMSafetyComponent.h
index 805e97e..bf06820 100644
--- a/src/AutoPilotPlugins/APM/APMSafetyComponent.h
+++ b/src/AutoPilotPlugins/APM/APMSafetyComponent.h
@@ -45,7 +45,8 @@ public:
     QUrl setupSource(void) const final;
     QUrl summaryQmlSource(void) const final;
     QString prerequisiteSetup(void) const final;
-    
+    bool allowSetupWhileArmed(void) const final { return true; }
+
 private:
     const QString   _name;
     QVariantList    _summaryItems;
diff --git a/src/AutoPilotPlugins/APM/APMTuningComponent.h b/src/AutoPilotPlugins/APM/APMTuningComponent.h
index 90fcfe5..ac18f0b 100644
--- a/src/AutoPilotPlugins/APM/APMTuningComponent.h
+++ b/src/AutoPilotPlugins/APM/APMTuningComponent.h
@@ -45,7 +45,8 @@ public:
     QUrl setupSource(void) const final;
     QUrl summaryQmlSource(void) const final;
     QString prerequisiteSetup(void) const final;
-    
+    bool allowSetupWhileArmed(void) const final { return true; }
+
 private:
     const QString   _name;
     QVariantList    _summaryItems;
diff --git a/src/AutoPilotPlugins/PX4/PX4TuningComponent.h b/src/AutoPilotPlugins/PX4/PX4TuningComponent.h
index 89aeb40..599b287 100644
--- a/src/AutoPilotPlugins/PX4/PX4TuningComponent.h
+++ b/src/AutoPilotPlugins/PX4/PX4TuningComponent.h
@@ -34,18 +34,19 @@ public:
     PX4TuningComponent(Vehicle* vehicle, AutoPilotPlugin* autopilot, QObject* parent = NULL);
     
     // Virtuals from VehicleComponent
-    virtual QStringList setupCompleteChangedTriggerList(void) const;
+    QStringList setupCompleteChangedTriggerList(void) const final;
     
     // 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;
-    virtual QString prerequisiteSetup(void) const;
-    
+    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 prerequisiteSetup(void) const final;
+    bool allowSetupWhileArmed(void) const final { return true; }
+
 private:
     const QString   _name;
 };
diff --git a/src/AutoPilotPlugins/PX4/PX4TuningComponentCopter.qml b/src/AutoPilotPlugins/PX4/PX4TuningComponentCopter.qml
index ae3e511..9ec2de8 100644
--- a/src/AutoPilotPlugins/PX4/PX4TuningComponentCopter.qml
+++ b/src/AutoPilotPlugins/PX4/PX4TuningComponentCopter.qml
@@ -27,7 +27,8 @@ import QtQuick.Controls     1.4
 import QGroundControl.Controls  1.0
 
 FactSliderPanel {
-    anchors.fill: parent
+    anchors.fill:   parent
+    panelTitle:     "Tuning"
 
     sliderModel: ListModel {
         ListElement {
diff --git a/src/AutoPilotPlugins/PX4/SafetyComponent.h b/src/AutoPilotPlugins/PX4/SafetyComponent.h
index 9cbf37e..77208b6 100644
--- a/src/AutoPilotPlugins/PX4/SafetyComponent.h
+++ b/src/AutoPilotPlugins/PX4/SafetyComponent.h
@@ -39,18 +39,19 @@ public:
     SafetyComponent(Vehicle* vehicle, AutoPilotPlugin* autopilot, QObject* parent = NULL);
     
     // Virtuals from VehicleComponent
-    virtual QStringList setupCompleteChangedTriggerList(void) const;
+    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;
-    virtual QString prerequisiteSetup(void) const;
-    
+    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 prerequisiteSetup(void) const final;
+    bool allowSetupWhileArmed(void) const final { return true; }
+
 private:
     const QString   _name;
     QVariantList    _summaryItems;
diff --git a/src/VehicleSetup/SetupView.qml b/src/VehicleSetup/SetupView.qml
index fb030cd..cb4ee37 100644
--- a/src/VehicleSetup/SetupView.qml
+++ b/src/VehicleSetup/SetupView.qml
@@ -101,7 +101,7 @@ Rectangle {
 
     function showVehicleComponentPanel(vehicleComponent)
     {
-        if (multiVehicleManager.activeVehicle.armed) {
+        if (multiVehicleManager.activeVehicle.armed && !vehicleComponent.allowSetupWhileArmed) {
             _messagePanelText = _armedVehicleText
             panelLoader.sourceComponent = messagePanelComponent
         } else {
diff --git a/src/VehicleSetup/VehicleComponent.cc b/src/VehicleSetup/VehicleComponent.cc
index 4331692..a011634 100644
--- a/src/VehicleSetup/VehicleComponent.cc
+++ b/src/VehicleSetup/VehicleComponent.cc
@@ -73,3 +73,9 @@ 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 3e4fba2..7a2f9fc 100644
--- a/src/VehicleSetup/VehicleComponent.h
+++ b/src/VehicleSetup/VehicleComponent.h
@@ -42,14 +42,15 @@ class VehicleComponent : public QObject
 {
     Q_OBJECT
     
-    Q_PROPERTY(QString name READ name CONSTANT)
-    Q_PROPERTY(QString description READ description CONSTANT)
-    Q_PROPERTY(bool requiresSetup READ requiresSetup CONSTANT)
-    Q_PROPERTY(bool setupComplete READ setupComplete STORED false NOTIFY setupCompleteChanged)
-    Q_PROPERTY(QString iconResource READ iconResource CONSTANT)
-    Q_PROPERTY(QUrl setupSource READ setupSource CONSTANT)
-    Q_PROPERTY(QUrl summaryQmlSource READ summaryQmlSource CONSTANT)
-    Q_PROPERTY(QString prerequisiteSetup READ prerequisiteSetup)
+    Q_PROPERTY(QString  name                    READ name                   CONSTANT)
+    Q_PROPERTY(QString  description             READ description            CONSTANT)
+    Q_PROPERTY(bool     requiresSetup           READ requiresSetup          CONSTANT)
+    Q_PROPERTY(bool     setupComplete           READ setupComplete          STORED false NOTIFY setupCompleteChanged)
+    Q_PROPERTY(QString  iconResource            READ iconResource           CONSTANT)
+    Q_PROPERTY(QUrl     setupSource             READ setupSource            CONSTANT)
+    Q_PROPERTY(QUrl     summaryQmlSource        READ summaryQmlSource       CONSTANT)
+    Q_PROPERTY(QString  prerequisiteSetup       READ prerequisiteSetup      CONSTANT)
+    Q_PROPERTY(bool     allowSetupWhileArmed    READ allowSetupWhileArmed   CONSTANT)
     
 public:
     VehicleComponent(Vehicle* vehicle, AutoPilotPlugin* autopilot, QObject* parent = NULL);
@@ -63,6 +64,9 @@ public:
     virtual QUrl setupSource(void) const = 0;
     virtual QUrl summaryQmlSource(void) const = 0;
     virtual QString prerequisiteSetup(void) const = 0;
+
+    // @return true: Setup panel can be shown while vehicle is armed
+    virtual bool allowSetupWhileArmed(void) const;
     
     virtual void addSummaryQmlComponent(QQmlContext* context, QQuickItem* parent);