diff --git a/libs/mavlink/include/mavlink/v2.0 b/libs/mavlink/include/mavlink/v2.0
index 494fd857a34..97c50e12876 160000
--- a/libs/mavlink/include/mavlink/v2.0
+++ b/libs/mavlink/include/mavlink/v2.0
@@ -1 +1 @@
-Subproject commit 494fd857a34267d01c2d3c2d601ecfa651f73489
+Subproject commit 97c50e128768c9b95c5542b8fc751198b1af96da
diff --git a/src/AutoPilotPlugins/PX4/PX4FlightBehavior.cc b/src/AutoPilotPlugins/PX4/PX4FlightBehavior.cc
index e9a60998df7..1a852e80466 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_RESERVED4:
         case MAV_TYPE_VTOL_RESERVED5:
             qmlFile = "";
             break;
diff --git a/src/AutoPilotPlugins/PX4/PX4TuningComponent.cc b/src/AutoPilotPlugins/PX4/PX4TuningComponent.cc
index 7ff63c69e58..53c9eae178e 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_RESERVED4:
         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 e14b4da5aa1..d404c70b7f9 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_RESERVED4:
         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_RESERVED4:
     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 7c5ec838514..7f2cdef3c86 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_RESERVED4:
         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 1c8d40b0923..78d23cc310a 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_RESERVED4:
         case MAV_TYPE_VTOL_RESERVED5:
             vehicleName = "ArduPlane";
             break;
diff --git a/src/Vehicle/RemoteIDManager.cc b/src/Vehicle/RemoteIDManager.cc
index d3e0dec7fef..11ad0f30c72 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_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;
@@ -137,19 +137,19 @@ void RemoteIDManager::_handleArmStatus(mavlink_message_t& message)
         qCDebug(RemoteIDManagerLog) << "Arm status GOOD TO ARM.";
     }
 
-//    if (armStatus.status == MAV_ODID_PRE_ARM_FAIL_GENERIC) {
-//        _armStatusGood = false;
-//        _armStatusError = QString::fromLocal8Bit(armStatus.error);
-//        // Check if the error is because of missing basic id
-//        if (armStatus.error == QString("missing basic_id message")) {
-//            _basicIDGood = false;
-//            qCDebug(RemoteIDManagerLog) << "Arm status error, basic_id is not set in RID device nor in GCS!";
-//            emit basicIDGoodChanged();
-//        }
-//        emit armStatusGoodChanged();
-//        emit armStatusErrorChanged();
-//        qCDebug(RemoteIDManagerLog) << "Arm status error:" << _armStatusError;
-//    }
+    if (armStatus.status == MAV_ODID_PRE_ARM_FAIL_GENERIC) {
+        _armStatusGood = false;
+        _armStatusError = QString::fromLocal8Bit(armStatus.error);
+        // Check if the error is because of missing basic id
+        if (armStatus.error == QString("missing basic_id message")) {
+            _basicIDGood = false;
+            qCDebug(RemoteIDManagerLog) << "Arm status error, basic_id is not set in RID device nor in GCS!";
+            emit basicIDGoodChanged();
+        }
+        emit armStatusGoodChanged();
+        emit armStatusErrorChanged();
+        qCDebug(RemoteIDManagerLog) << "Arm status error:" << _armStatusError;
+    }
 }
 
 // Function that sends messages periodically
@@ -427,4 +427,4 @@ void RemoteIDManager::_updateLastGCSPositionInfo(QGeoPositionInfo update)
     if (update.isValid()) {
         _lastGeoPositionTimeStamp = update.timestamp().toUTC();
     }
-}
+}
\ No newline at end of file
diff --git a/src/Vehicle/Vehicle.cc b/src/Vehicle/Vehicle.cc
index 9885a80e7a6..8ae6b6b9d27 100644
--- a/src/Vehicle/Vehicle.cc
+++ b/src/Vehicle/Vehicle.cc
@@ -2559,7 +2559,7 @@ QString Vehicle::vehicleTypeName() const {
         { 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_RESERVED4,  tr("VTOL reserved 4")},
         { 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/LinkManager.cc b/src/comm/LinkManager.cc
index 42618867e4b..5b41952f4f4 100644
--- a/src/comm/LinkManager.cc
+++ b/src/comm/LinkManager.cc
@@ -1073,22 +1073,22 @@ void LinkManager::_updateAirLinkState(const QString &login, const QString &pass)
 
 void LinkManager::sendLoginMsgToAirLink(LinkInterface* link, const QString &login)
 {
-    __mavlink_airlink_auth_t auth;
-    uint8_t buffer[MAVLINK_MAX_PACKET_LEN];
-    mavlink_message_t mavmsg;
+//    __mavlink_airlink_auth_t auth;
+//    uint8_t buffer[MAVLINK_MAX_PACKET_LEN];
+//    mavlink_message_t mavmsg;
 
-    const QString pass = qgcApp()->toolbox()->settingsManager()->appSettings()->passAirLink()->rawValueString();
+//    const QString pass = qgcApp()->toolbox()->settingsManager()->appSettings()->passAirLink()->rawValueString();
 
-    memset(&auth.login, 0, sizeof(auth.login));
-    memset(&auth.password, 0, sizeof(auth.password));
-    strcpy(auth.login, login.toUtf8().constData());
-    strcpy(auth.password, pass.toUtf8().constData());
+//    memset(&auth.login, 0, sizeof(auth.login));
+//    memset(&auth.password, 0, sizeof(auth.password));
+//    strcpy(auth.login, login.toUtf8().constData());
+//    strcpy(auth.password, pass.toUtf8().constData());
 
-    mavlink_msg_airlink_auth_pack(0, 0, &mavmsg, auth.login, auth.password);
-    uint16_t len = mavlink_msg_to_send_buffer(buffer, &mavmsg);
-    link->writeBytesThreadSafe((const char *)buffer, len);
+//    mavlink_msg_airlink_auth_pack(0, 0, &mavmsg, auth.login, auth.password);
+//    uint16_t len = mavlink_msg_to_send_buffer(buffer, &mavmsg);
+//    link->writeBytesThreadSafe((const char *)buffer, len);
 
-    qDebug() << (link->isConnected() ? "Connected" : "Not connected");
-    qDebug() << login.toUtf8().constData();
-    qDebug() << pass.toUtf8().constData();
+//    qDebug() << (link->isConnected() ? "Connected" : "Not connected");
+//    qDebug() << login.toUtf8().constData();
+//    qDebug() << pass.toUtf8().constData();
 }
diff --git a/src/comm/QGCMAVLink.cc b/src/comm/QGCMAVLink.cc
index e02fd48a456..59f9240bf87 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_RESERVED4:
     case MAV_TYPE_VTOL_RESERVED5:
         return VehicleClassVTOL;
     case MAV_TYPE_FIXED_WING: