diff --git a/src/FirmwarePlugin/FirmwarePlugin.cc b/src/FirmwarePlugin/FirmwarePlugin.cc
index 904d898..2f5d552 100644
--- a/src/FirmwarePlugin/FirmwarePlugin.cc
+++ b/src/FirmwarePlugin/FirmwarePlugin.cc
@@ -841,27 +841,22 @@ bool FirmwarePlugin::_armVehicleAndValidate(Vehicle* vehicle)
         return true;
     }
 
-    bool armedChanged = false;
+    bool vehicleArmed = false;
 
-    // We try arming 3 times
-    for (int retries=0; retries<3; retries++) {
-        vehicle->setArmed(true);
+    // Only try arming the vehicle a single time. Doing retries on arming with a delay can lead to safety issues.
+    vehicle->setArmed(true, false /* showError */);
 
-        // Wait for vehicle to return armed state for 3 seconds
-        for (int i=0; i<30; i++) {
-            if (vehicle->armed()) {
-                armedChanged = true;
-                break;
-            }
-            QGC::SLEEP::msleep(100);
-            qgcApp()->processEvents(QEventLoop::ExcludeUserInputEvents);
-        }
-        if (armedChanged) {
+    // Wait 1000 msecs for vehicle to arm
+    for (int i=0; i<10; i++) {
+        if (vehicle->armed()) {
+            vehicleArmed = true;
             break;
         }
+        QGC::SLEEP::msleep(100);
+        qgcApp()->processEvents(QEventLoop::ExcludeUserInputEvents);
     }
 
-    return armedChanged;
+    return vehicleArmed;
 }
 
 bool FirmwarePlugin::_setFlightModeAndValidate(Vehicle* vehicle, const QString& flightMode)
diff --git a/src/FirmwarePlugin/PX4/PX4FirmwarePlugin.cc b/src/FirmwarePlugin/PX4/PX4FirmwarePlugin.cc
index e939aaa..a6e28c8 100644
--- a/src/FirmwarePlugin/PX4/PX4FirmwarePlugin.cc
+++ b/src/FirmwarePlugin/PX4/PX4FirmwarePlugin.cc
@@ -389,7 +389,7 @@ void PX4FirmwarePlugin::_mavCommandResult(int vehicleId, int component, int comm
         // They are trying to disarm.
         disconnect(vehicle, &Vehicle::mavCommandResult, this, &PX4FirmwarePlugin::_mavCommandResult);
         if (!vehicle->armed()) {
-            vehicle->setArmed(true);
+            vehicle->setArmedShowError(true);
         }
     }
 }
diff --git a/src/Joystick/Joystick.cc b/src/Joystick/Joystick.cc
index 4f70fd3..e5d9e58 100644
--- a/src/Joystick/Joystick.cc
+++ b/src/Joystick/Joystick.cc
@@ -683,7 +683,7 @@ void Joystick::startPolling(Vehicle* vehicle)
     if (vehicle) {
         // If a vehicle is connected, disconnect it
         if (_activeVehicle) {
-            disconnect(this, &Joystick::setArmed,           _activeVehicle, &Vehicle::setArmed);
+            disconnect(this, &Joystick::setArmed,           _activeVehicle, &Vehicle::setArmedShowError);
             disconnect(this, &Joystick::setVtolInFwdFlight, _activeVehicle, &Vehicle::setVtolInFwdFlight);
             disconnect(this, &Joystick::setFlightMode,      _activeVehicle, &Vehicle::setFlightMode);
             disconnect(this, &Joystick::gimbalPitchStep,    _activeVehicle, &Vehicle::gimbalPitchStep);
@@ -705,7 +705,7 @@ void Joystick::startPolling(Vehicle* vehicle)
         // Only connect the new vehicle if it wants joystick data
         if (vehicle->joystickEnabled()) {
             _pollingStartedForCalibration = false;
-            connect(this, &Joystick::setArmed,           _activeVehicle, &Vehicle::setArmed);
+            connect(this, &Joystick::setArmed,           _activeVehicle, &Vehicle::setArmedShowError);
             connect(this, &Joystick::setVtolInFwdFlight, _activeVehicle, &Vehicle::setVtolInFwdFlight);
             connect(this, &Joystick::setFlightMode,      _activeVehicle, &Vehicle::setFlightMode);
             connect(this, &Joystick::gimbalPitchStep,    _activeVehicle, &Vehicle::gimbalPitchStep);
@@ -725,7 +725,7 @@ void Joystick::stopPolling(void)
 {
     if (isRunning()) {
         if (_activeVehicle && _activeVehicle->joystickEnabled()) {
-            disconnect(this, &Joystick::setArmed,           _activeVehicle, &Vehicle::setArmed);
+            disconnect(this, &Joystick::setArmed,           _activeVehicle, &Vehicle::setArmedShowError);
             disconnect(this, &Joystick::setVtolInFwdFlight, _activeVehicle, &Vehicle::setVtolInFwdFlight);
             disconnect(this, &Joystick::setFlightMode,      _activeVehicle, &Vehicle::setFlightMode);
             disconnect(this, &Joystick::gimbalPitchStep,    _activeVehicle, &Vehicle::gimbalPitchStep);
diff --git a/src/Vehicle/Vehicle.cc b/src/Vehicle/Vehicle.cc
index 1ce7f42..d25c9da 100644
--- a/src/Vehicle/Vehicle.cc
+++ b/src/Vehicle/Vehicle.cc
@@ -1851,12 +1851,12 @@ QGeoCoordinate Vehicle::homePosition()
     return _homePosition;
 }
 
-void Vehicle::setArmed(bool armed)
+void Vehicle::setArmed(bool armed, bool showError)
 {
     // We specifically use COMMAND_LONG:MAV_CMD_COMPONENT_ARM_DISARM since it is supported by more flight stacks.
     sendMavCommand(_defaultComponentId,
                    MAV_CMD_COMPONENT_ARM_DISARM,
-                   true,    // show error if fails
+                   showError,
                    armed ? 1.0f : 0.0f);
 }
 
diff --git a/src/Vehicle/Vehicle.h b/src/Vehicle/Vehicle.h
index 8bc97de..3a50bb6 100644
--- a/src/Vehicle/Vehicle.h
+++ b/src/Vehicle/Vehicle.h
@@ -145,7 +145,7 @@ public:
     Q_PROPERTY(QGeoCoordinate       coordinate                  READ coordinate                                                     NOTIFY coordinateChanged)
     Q_PROPERTY(QGeoCoordinate       homePosition                READ homePosition                                                   NOTIFY homePositionChanged)
     Q_PROPERTY(QGeoCoordinate       armedPosition               READ armedPosition                                                  NOTIFY armedPositionChanged)
-    Q_PROPERTY(bool                 armed                       READ armed                      WRITE setArmed                      NOTIFY armedChanged)
+    Q_PROPERTY(bool                 armed                       READ armed                      WRITE setArmedShowError             NOTIFY armedChanged)
     Q_PROPERTY(bool                 autoDisarm                  READ autoDisarm                                                     NOTIFY autoDisarmChanged)
     Q_PROPERTY(bool                 flightModeSetAvailable      READ flightModeSetAvailable                                         CONSTANT)
     Q_PROPERTY(QStringList          flightModes                 READ flightModes                                                    NOTIFY flightModesChanged)
@@ -439,8 +439,9 @@ public:
 
     QGeoCoordinate homePosition();
 
-    bool armed      () { return _armed; }
-    void setArmed   (bool armed);
+    bool armed              () { return _armed; }
+    void setArmed           (bool armed, bool showError);
+    void setArmedShowError  (bool armed) { setArmed(armed, true); }
 
     bool flightModeSetAvailable             ();
     QStringList flightModes                 ();
diff --git a/src/qgcunittest/MavlinkLogTest.cc b/src/qgcunittest/MavlinkLogTest.cc
index 1870bc1..f4c1f43 100644
--- a/src/qgcunittest/MavlinkLogTest.cc
+++ b/src/qgcunittest/MavlinkLogTest.cc
@@ -126,7 +126,7 @@ void MavlinkLogTest::_connectLogWorker(bool arm)
     QDir logSaveDir;
     
     if (arm) {
-        qgcApp()->toolbox()->multiVehicleManager()->activeVehicle()->setArmed(true);
+        qgcApp()->toolbox()->multiVehicleManager()->activeVehicle()->setArmedShowError(true);
         QTest::qWait(500); // Wait long enough for heartbeat to come through
         
         // On Disconnect: We should get a getSaveFileName dialog.