diff --git a/libs/mavlink/include/mavlink/v2.0 b/libs/mavlink/include/mavlink/v2.0
index 97c50e1..55988d1 160000
--- a/libs/mavlink/include/mavlink/v2.0
+++ b/libs/mavlink/include/mavlink/v2.0
@@ -1 +1 @@
-Subproject commit 97c50e128768c9b95c5542b8fc751198b1af96da
+Subproject commit 55988d1ec99761b9c5e447a51dcb258161672805
diff --git a/src/AutoPilotPlugins/PX4/PX4FlightBehavior.cc b/src/AutoPilotPlugins/PX4/PX4FlightBehavior.cc
index 1a852e8..3cd44b3 100644
--- a/src/AutoPilotPlugins/PX4/PX4FlightBehavior.cc
+++ b/src/AutoPilotPlugins/PX4/PX4FlightBehavior.cc
@@ -69,7 +69,7 @@ QUrl PX4FlightBehavior::setupSource() const
         case MAV_TYPE_VTOL_TILTROTOR:
         case MAV_TYPE_VTOL_FIXEDROTOR:
         case MAV_TYPE_VTOL_TAILSITTER:
-        case MAV_TYPE_VTOL_RESERVED4:
+        case MAV_TYPE_VTOL_TILTWING:
         case MAV_TYPE_VTOL_RESERVED5:
             qmlFile = "";
             break;
diff --git a/src/AutoPilotPlugins/PX4/PX4TuningComponent.cc b/src/AutoPilotPlugins/PX4/PX4TuningComponent.cc
index 53c9eae..ec315d5 100644
--- a/src/AutoPilotPlugins/PX4/PX4TuningComponent.cc
+++ b/src/AutoPilotPlugins/PX4/PX4TuningComponent.cc
@@ -69,7 +69,7 @@ QUrl PX4TuningComponent::setupSource(void) const
         case MAV_TYPE_VTOL_TILTROTOR:
         case MAV_TYPE_VTOL_FIXEDROTOR:
         case MAV_TYPE_VTOL_TAILSITTER:
-        case MAV_TYPE_VTOL_RESERVED4:
+        case MAV_TYPE_VTOL_TILTWING:
         case MAV_TYPE_VTOL_RESERVED5:
             qmlFile = "qrc:/qml/PX4TuningComponentVTOL.qml";
             break;
diff --git a/src/FirmwarePlugin/APM/APMFirmwarePlugin.cc b/src/FirmwarePlugin/APM/APMFirmwarePlugin.cc
index d404c70..185a521 100644
--- a/src/FirmwarePlugin/APM/APMFirmwarePlugin.cc
+++ b/src/FirmwarePlugin/APM/APMFirmwarePlugin.cc
@@ -476,7 +476,7 @@ void APMFirmwarePlugin::initializeVehicle(Vehicle* vehicle)
         case MAV_TYPE_VTOL_TILTROTOR:
         case MAV_TYPE_VTOL_FIXEDROTOR:
         case MAV_TYPE_VTOL_TAILSITTER:
-        case MAV_TYPE_VTOL_RESERVED4:
+        case MAV_TYPE_VTOL_TILTWING:
         case MAV_TYPE_VTOL_RESERVED5:
         case MAV_TYPE_FIXED_WING:
             vehicle->setFirmwareVersion(3, 9, 0);
@@ -699,7 +699,7 @@ QString APMFirmwarePlugin::_internalParameterMetaDataFile(Vehicle* vehicle)
     case MAV_TYPE_VTOL_TILTROTOR:
     case MAV_TYPE_VTOL_FIXEDROTOR:
     case MAV_TYPE_VTOL_TAILSITTER:
-    case MAV_TYPE_VTOL_RESERVED4:
+    case MAV_TYPE_VTOL_TILTWING:
     case MAV_TYPE_VTOL_RESERVED5:
     case MAV_TYPE_FIXED_WING:
         if (vehicle->versionCompare(4, 2, 0) >= 0) {
diff --git a/src/FirmwarePlugin/APM/APMFirmwarePluginFactory.cc b/src/FirmwarePlugin/APM/APMFirmwarePluginFactory.cc
index 7f2cdef..d6b9f1f 100644
--- a/src/FirmwarePlugin/APM/APMFirmwarePluginFactory.cc
+++ b/src/FirmwarePlugin/APM/APMFirmwarePluginFactory.cc
@@ -51,7 +51,7 @@ FirmwarePlugin* APMFirmwarePluginFactory::firmwarePluginForAutopilot(MAV_AUTOPIL
         case MAV_TYPE_VTOL_TILTROTOR:
         case MAV_TYPE_VTOL_FIXEDROTOR:
         case MAV_TYPE_VTOL_TAILSITTER:
-        case MAV_TYPE_VTOL_RESERVED4:
+        case MAV_TYPE_VTOL_TILTWING:
         case MAV_TYPE_VTOL_RESERVED5:
         case MAV_TYPE_FIXED_WING:
             if (!_arduPlanePluginInstance) {
diff --git a/src/FirmwarePlugin/APM/APMParameterMetaData.cc b/src/FirmwarePlugin/APM/APMParameterMetaData.cc
index 78d23cc..4ad0055 100644
--- a/src/FirmwarePlugin/APM/APMParameterMetaData.cc
+++ b/src/FirmwarePlugin/APM/APMParameterMetaData.cc
@@ -90,7 +90,7 @@ QString APMParameterMetaData::mavTypeToString(MAV_TYPE vehicleTypeEnum)
         case MAV_TYPE_VTOL_TILTROTOR:
         case MAV_TYPE_VTOL_FIXEDROTOR:
         case MAV_TYPE_VTOL_TAILSITTER:
-        case MAV_TYPE_VTOL_RESERVED4:
+        case MAV_TYPE_VTOL_TILTWING:
         case MAV_TYPE_VTOL_RESERVED5:
             vehicleName = "ArduPlane";
             break;
diff --git a/src/Vehicle/RemoteIDManager.cc b/src/Vehicle/RemoteIDManager.cc
index 11ad0f3..f88fc3a 100644
--- a/src/Vehicle/RemoteIDManager.cc
+++ b/src/Vehicle/RemoteIDManager.cc
@@ -126,7 +126,7 @@ void RemoteIDManager::_handleArmStatus(mavlink_message_t& message)
     mavlink_open_drone_id_arm_status_t armStatus;
     mavlink_msg_open_drone_id_arm_status_decode(&message, &armStatus);
 
-    if (armStatus.status == MAV_ODID_GOOD_TO_ARM && !_armStatusGood) {
+    if (armStatus.status == MAV_ODID_ARM_STATUS_GOOD_TO_ARM && !_armStatusGood) {
         // If good to arm, even if basic ID is not set on GCS, it was set by remoteID parameters, so GCS one would be optional in this case
         if (!_basicIDGood) {
             _basicIDGood = true;
@@ -137,7 +137,7 @@ void RemoteIDManager::_handleArmStatus(mavlink_message_t& message)
         qCDebug(RemoteIDManagerLog) << "Arm status GOOD TO ARM.";
     }
 
-    if (armStatus.status == MAV_ODID_PRE_ARM_FAIL_GENERIC) {
+    if (armStatus.status == MAV_ODID_ARM_STATUS_PRE_ARM_FAIL_GENERIC) {
         _armStatusGood = false;
         _armStatusError = QString::fromLocal8Bit(armStatus.error);
         // Check if the error is because of missing basic id
diff --git a/src/Vehicle/Vehicle.cc b/src/Vehicle/Vehicle.cc
index 1813d7a..91280aa 100644
--- a/src/Vehicle/Vehicle.cc
+++ b/src/Vehicle/Vehicle.cc
@@ -2570,14 +2570,14 @@ QString Vehicle::vehicleTypeName() const {
         { MAV_TYPE_OCTOROTOR,       tr("Octorotor")},
         { MAV_TYPE_TRICOPTER,       tr("Octorotor")},
         { MAV_TYPE_FLAPPING_WING,   tr("Flapping wing")},
-        { MAV_TYPE_KITE,            tr("Flapping wing")},
+        { MAV_TYPE_KITE,            tr("Kite")},
         { MAV_TYPE_ONBOARD_CONTROLLER, tr("Onboard companion controller")},
         { MAV_TYPE_VTOL_TAILSITTER_DUOROTOR,   tr("Two-rotor VTOL using control surfaces in vertical operation in addition. Tailsitter")},
         { MAV_TYPE_VTOL_TAILSITTER_QUADROTOR,  tr("Quad-rotor VTOL using a V-shaped quad config in vertical operation. Tailsitter")},
         { MAV_TYPE_VTOL_TILTROTOR,  tr("Tiltrotor VTOL")},
         { MAV_TYPE_VTOL_FIXEDROTOR,  tr("VTOL Fixedrotor")},
         { MAV_TYPE_VTOL_TAILSITTER,  tr("VTOL Tailsitter")},
-        { MAV_TYPE_VTOL_RESERVED4,  tr("VTOL reserved 4")},
+        { MAV_TYPE_VTOL_TILTWING,   tr("VTOL Tiltwing")},
         { MAV_TYPE_VTOL_RESERVED5,  tr("VTOL reserved 5")},
         { MAV_TYPE_GIMBAL,          tr("Onboard gimbal")},
         { MAV_TYPE_ADSB,            tr("Onboard ADSB peripheral")},
diff --git a/src/comm/QGCMAVLink.cc b/src/comm/QGCMAVLink.cc
index 59f9240..2f20bc2 100644
--- a/src/comm/QGCMAVLink.cc
+++ b/src/comm/QGCMAVLink.cc
@@ -130,7 +130,7 @@ QGCMAVLink::VehicleClass_t QGCMAVLink::vehicleClass(MAV_TYPE mavType)
     case MAV_TYPE_VTOL_TILTROTOR:
     case MAV_TYPE_VTOL_FIXEDROTOR:
     case MAV_TYPE_VTOL_TAILSITTER:
-    case MAV_TYPE_VTOL_RESERVED4:
+    case MAV_TYPE_VTOL_TILTWING:
     case MAV_TYPE_VTOL_RESERVED5:
         return VehicleClassVTOL;
     case MAV_TYPE_FIXED_WING: