diff --git a/src/VehicleSetup/FirmwareImage.cc b/src/VehicleSetup/FirmwareImage.cc
index 20841df..782ef70 100644
--- a/src/VehicleSetup/FirmwareImage.cc
+++ b/src/VehicleSetup/FirmwareImage.cc
@@ -19,6 +19,7 @@
 #include "QGCApplication.h"
 #include "FirmwarePlugin.h"
 #include "ParameterManager.h"
+#include "Bootloader.h"
 
 #include <QDebug>
 #include <QFile>
@@ -236,7 +237,8 @@ bool FirmwareImage::_px4Load(const QString& imageFilename)
     }
 
     uint32_t firmwareBoardId = (uint32_t)px4Json.value(_jsonBoardIdKey).toInt();
-    if (firmwareBoardId != _boardId) {
+    uint32_t actualBoardId = _boardId == Bootloader::boardIDPX4FMUV3 ? Bootloader::boardIDPX4FMUV2 : _boardId;;
+    if (firmwareBoardId != actualBoardId) {
         emit statusMessage(QString("Downloaded firmware board id does not match hardware board id: %1 != %2").arg(firmwareBoardId).arg(_boardId));
         return false;
     }