diff --git a/.github/workflows/python_tests.yml b/.github/workflows/python_tests.yml
index fd73e0357..7df579b46 100644
--- a/.github/workflows/python_tests.yml
+++ b/.github/workflows/python_tests.yml
@@ -28,7 +28,7 @@ jobs:
       - name: Set up Python 3.11
         uses: actions/setup-python@v4
         with:
-          python-version: "3.11"
+          python-version: '3.11'
 
       - name: Install dependencies
         working-directory: radio
@@ -39,4 +39,5 @@ jobs:
 
       - name: Test with pytest
         working-directory: radio
+        timeout-minutes: 25
         run: pytest --log-cli-level=DEBUG
diff --git a/gcs/src/components/dashboard/statusMessages.jsx b/gcs/src/components/dashboard/statusMessages.jsx
index d6655e9e5..89df73d8e 100644
--- a/gcs/src/components/dashboard/statusMessages.jsx
+++ b/gcs/src/components/dashboard/statusMessages.jsx
@@ -68,9 +68,11 @@ export default function StatusMessages(props) {
               key={index}
               className={getMessageOutsideVisibilityClassNames()}
             >
-              <p className="text-gray-400">
-                {moment.unix(message.timestamp).format("HH:mm:ss")}
-              </p>
+              {message.timestamp !== null && (
+                <p className="text-gray-400">
+                  {moment.unix(message.timestamp).format("HH:mm:ss")}
+                </p>
+              )}
               <p className={getSeverityClassNames(message.severity)}>
                 {message.text}
               </p>
diff --git a/gcs/src/dashboard.jsx b/gcs/src/dashboard.jsx
index fdc080a95..68dc2bc44 100644
--- a/gcs/src/dashboard.jsx
+++ b/gcs/src/dashboard.jsx
@@ -236,45 +236,45 @@ export default function Dashboard() {
         {/* Video Widget for RTSP streams */}
         <VideoWidget telemetryPanelWidth={telemetryPanelSize.width} />
 
-        {connectedToDrone && (
-          <div className="absolute bottom-0 right-0 z-20">
-            <ResizableBox
-              height={messagesPanelSize.height}
-              width={messagesPanelSize.width}
-              minConstraints={[600, 150]}
-              maxConstraints={[viewportWidth - 200, viewportHeight - 200]}
-              resizeHandles={["nw"]}
-              handle={(_, ref) => (
-                <span className={"custom-handle-nw"} ref={ref} />
-              )}
-              handleSize={[32, 32]}
-              onResize={(_, { size }) => {
-                setMessagesPanelSize({ width: size.width, height: size.height })
-              }}
-            >
-              <>
-                {/* Show a "Waiting for message area" */}
-                {statustextMessages.length == 0 && (
-                  <StatusMessages
-                    messages={[
-                      {
-                        timestamp: "0",
-                        text: `Waiting for messages from ${aircraftTypeString}`,
-                        severity: 7,
-                      },
-                    ]}
-                    className={`bg-[${tailwindColors.falcongrey["TRANSLUCENT"]}] h-full lucent max-w-1/2 object-fill text-xl`}
-                  />
-                )}
-                {/* Show real messages */}
+        <div className="absolute bottom-0 right-0 z-20">
+          <ResizableBox
+            height={messagesPanelSize.height}
+            width={messagesPanelSize.width}
+            minConstraints={[600, 150]}
+            maxConstraints={[viewportWidth - 200, viewportHeight - 200]}
+            resizeHandles={["nw"]}
+            handle={(_, ref) => (
+              <span className={"custom-handle-nw"} ref={ref} />
+            )}
+            handleSize={[32, 32]}
+            onResize={(_, { size }) => {
+              setMessagesPanelSize({ width: size.width, height: size.height })
+            }}
+          >
+            <>
+              {/* Show a "Waiting for message area" */}
+              {statustextMessages.length == 0 && (
                 <StatusMessages
-                  messages={statustextMessages}
+                  messages={[
+                    {
+                      timestamp: null,
+                      text: connectedToDrone
+                        ? `Waiting for messages from ${aircraftTypeString}`
+                        : "Not connected to drone",
+                      severity: 7,
+                    },
+                  ]}
                   className={`bg-[${tailwindColors.falcongrey["TRANSLUCENT"]}] h-full lucent max-w-1/2 object-fill text-xl`}
                 />
-              </>
-            </ResizableBox>
-          </div>
-        )}
+              )}
+              {/* Show real messages */}
+              <StatusMessages
+                messages={statustextMessages}
+                className={`bg-[${tailwindColors.falcongrey["TRANSLUCENT"]}] h-full lucent max-w-1/2 object-fill text-xl`}
+              />
+            </>
+          </ResizableBox>
+        </div>
       </div>
     </Layout>
   )
diff --git a/gcs/src/redux/middleware/socketMiddleware.js b/gcs/src/redux/middleware/socketMiddleware.js
index 0d07608d7..666b43be1 100644
--- a/gcs/src/redux/middleware/socketMiddleware.js
+++ b/gcs/src/redux/middleware/socketMiddleware.js
@@ -55,6 +55,7 @@ import {
   setDroneAircraftType,
   setEkfStatusReportData,
   setExtraData,
+  setFlightSwVersion,
   setGpsData,
   setGpsRawIntData,
   setGuidedModePinData,
@@ -97,7 +98,7 @@ import {
   setShownParams,
   updateParamValue,
 } from "../slices/paramsSlice.js"
-import { pushMessage } from "../slices/statusTextSlice.js"
+import { pushMessage, resetMessages } from "../slices/statusTextSlice.js"
 import { handleEmitters } from "./emitters.js"
 
 const SocketEvents = Object.freeze({
@@ -341,6 +342,8 @@ const socketMiddleware = (store) => {
           if (msg.aircraft_type !== 1 && msg.aircraft_type !== 2) {
             showErrorNotification("Aircraft not of type quadcopter or plane")
           }
+
+          store.dispatch(setFlightSwVersion(msg.flight_sw_version))
           store.dispatch(setConnected(true))
           store.dispatch(setConnecting(false))
           store.dispatch(setConnectionModal(false))
@@ -351,6 +354,7 @@ const socketMiddleware = (store) => {
           store.dispatch(setAutoPilotRebootModalOpen(false))
           store.dispatch(setShouldFetchAllMissionsOnDashboard(true))
           store.dispatch(setShowMotorTestWarningModal(true))
+          store.dispatch(resetMessages())
         })
 
         // Link stats
diff --git a/gcs/src/redux/slices/droneInfoSlice.js b/gcs/src/redux/slices/droneInfoSlice.js
index bb7b8bcfe..859f13814 100644
--- a/gcs/src/redux/slices/droneInfoSlice.js
+++ b/gcs/src/redux/slices/droneInfoSlice.js
@@ -9,6 +9,7 @@ import {
 const droneInfoSlice = createSlice({
   name: "droneInfo",
   initialState: {
+    flightSwVersion: "",
     attitudeData: {
       roll: 0.0,
       pitch: 0.0,
@@ -85,6 +86,9 @@ const droneInfoSlice = createSlice({
     },
   },
   reducers: {
+    setFlightSwVersion: (state, action) => {
+      state.flightSwVersion = action.payload
+    },
     setHeartbeatData: (state, action) => {
       if (
         action.payload.base_mode & 128 &&
@@ -225,6 +229,8 @@ const droneInfoSlice = createSlice({
     },
   },
   selectors: {
+    selectFlightSwVersion: (state) => state.flightSwVersion,
+
     selectAttitude: (state) => state.attitudeData,
     selectTelemetry: (state) => state.telemetryData,
 
@@ -263,6 +269,7 @@ const droneInfoSlice = createSlice({
 })
 
 export const {
+  setFlightSwVersion,
   setHeartbeatData,
   soundPlayed,
   changeExtraData,
@@ -335,6 +342,7 @@ export const selectFlightModeString = createSelector(
 )
 
 export const {
+  selectFlightSwVersion,
   selectAttitude,
   selectTelemetry,
   selectGPS,
diff --git a/gcs/src/redux/slices/statusTextSlice.js b/gcs/src/redux/slices/statusTextSlice.js
index d916906b8..917e217d7 100644
--- a/gcs/src/redux/slices/statusTextSlice.js
+++ b/gcs/src/redux/slices/statusTextSlice.js
@@ -7,6 +7,9 @@ const statusTextSlice = createSlice({
     pushMessage: (state, action) => {
       state.messages.unshift(action.payload)
     },
+    resetMessages: (state) => {
+      state.messages = []
+    },
   },
   selectors: {
     selectMessages: (state) => {
@@ -15,7 +18,7 @@ const statusTextSlice = createSlice({
   },
 })
 
-export const { pushMessage } = statusTextSlice.actions
+export const { pushMessage, resetMessages } = statusTextSlice.actions
 export const { selectMessages } = statusTextSlice.selectors
 
 export default statusTextSlice
diff --git a/radio/app/drone.py b/radio/app/drone.py
index e13af736b..f64936f92 100644
--- a/radio/app/drone.py
+++ b/radio/app/drone.py
@@ -24,7 +24,13 @@
 from app.controllers.paramsController import ParamsController
 from app.controllers.rcController import RcController
 from app.customTypes import Number, Response, VehicleType
-from app.utils import commandAccepted, getVehicleType, sendingCommandLock
+from app.utils import (
+    commandAccepted,
+    decodeFlightSwVersion,
+    getFlightSwVersionString,
+    getVehicleType,
+    sendingCommandLock,
+)
 
 # Constants
 
@@ -127,7 +133,13 @@ def __init__(
 
         try:
             self.sendConnectionStatusUpdate(0)
-            self.master: mavutil.mavserial = mavutil.mavlink_connection(port, baud=baud)
+            # Source system and component set to GCS values
+            self.master: mavutil.mavserial = mavutil.mavlink_connection(
+                port,
+                baud=baud,
+                source_system=255,
+                source_component=mavutil.mavlink.MAV_COMP_ID_MISSIONPLANNER,
+            )
         except Exception as e:
             self.logger.exception(traceback.format_exc())
             self.master = None
@@ -175,6 +187,7 @@ def __init__(
         self.message_listeners: Dict[str, Callable] = {}
         self.message_queue: Queue = Queue()
         self.log_message_queue: Queue = Queue()
+
         self.log_directory = Path.home().joinpath("FGCS", "logs")
         self.log_directory.mkdir(parents=True, exist_ok=True)
         self.current_log_file: Optional[Path] = None
@@ -183,12 +196,43 @@ def __init__(
 
         self.sendConnectionStatusUpdate(2)
 
-        self.is_active = Event()
-        self.is_active.set()
-        self.is_listening = False
+        # To ensure that only one command is sent at a time and we wait for a
+        # response before sending another command, a thread-safe lock is used
+        self.sending_command_lock = Lock()
 
         self.forwarding_address: Optional[str] = None
         self.forwarding_connection: Optional[mavutil.mavlink_connection] = None
+
+        self.is_active = Event()
+        self.is_active.set()
+        self.is_listening: bool = False
+
+        self.armed = False
+        self.capabilities: Optional[list[str]] = None
+        self.flight_sw_version: Optional[tuple[int, int, int, int]] = None
+
+        self.getAutopilotVersion()
+
+        if self.flight_sw_version is None:
+            self.logger.error("Could not determine flight software version")
+            self.master.close()
+            self.master = None
+            self.connectionError = "Could not determine flight software version"
+            return
+
+        self.logger.info(
+            f"Flight software version: {getFlightSwVersionString(self.flight_sw_version)}"
+        )
+
+        if self.flight_sw_version[0] != 4:
+            self.logger.error("Unsupported flight software version")
+            self.master.close()
+            self.master = None
+            self.connectionError = f"Unsupported flight software version {getFlightSwVersionString(self.flight_sw_version)}. Only version 4.x.x is supported."
+            return
+
+        self.stopAllDataStreams()
+
         if forwarding_address is not None:
             try:
                 start_forwarding_result = self.startForwardingToAddress(
@@ -201,12 +245,25 @@ def __init__(
             except Exception as e:
                 self.logger.error(f"Failed to start forwarding: {e}", exc_info=True)
 
-        # To ensure that only one command is sent at a time and we wait for a
-        # response before sending another command, a thread-safe lock is used
-        self.sending_command_lock = Lock()
+        self.setupControllers()
 
-        self.armed = False
+        self.is_listening = True
+
+        self.startThread()
+
+        self.sendConnectionStatusUpdate(12)
+
+        self.sendStatusTextMessage(
+            mavutil.mavlink.MAV_SEVERITY_INFO, "FGCS connected to aircraft"
+        )
+
+    def __getNextLogFilePath(self, line: str) -> str:
+        return line.split("==NEXT_FILE==")[-1].split("==END==")[0]
 
+    def __getCurrentDateTimeStr(self) -> str:
+        return time.strftime("%Y-%m-%d_%H-%M-%S", time.localtime())
+
+    def setupControllers(self) -> None:
         self.sendConnectionStatusUpdate(3)
         self.paramsController = ParamsController(self)
 
@@ -234,20 +291,6 @@ def __init__(
         self.sendConnectionStatusUpdate(11)
         self.navController = NavController(self)
 
-        self.stopAllDataStreams()
-
-        self.is_listening = True
-
-        self.startThread()
-
-        self.sendConnectionStatusUpdate(12)
-
-    def __getNextLogFilePath(self, line: str) -> str:
-        return line.split("==NEXT_FILE==")[-1].split("==END==")[0]
-
-    def __getCurrentDateTimeStr(self) -> str:
-        return time.strftime("%Y-%m-%d_%H-%M-%S", time.localtime())
-
     def sendConnectionStatusUpdate(self, msg_index):
         total_msgs = len(self.connection_phases)
         if msg_index < 0 or msg_index >= total_msgs:
@@ -698,7 +741,7 @@ def sendHeartbeatMessage(self) -> None:
                     mavutil.mavlink.MAV_AUTOPILOT_INVALID,
                     0,
                     0,
-                    0,
+                    mavutil.mavlink.MAV_STATE_ACTIVE,
                 )
             except Exception as e:
                 self.logger.error(f"Failed to send heartbeat: {e}", exc_info=True)
@@ -741,6 +784,47 @@ def stopAllThreads(self) -> None:
             if thread is not None and thread.is_alive() and thread is not this_thread:
                 thread.join(timeout=3)
 
+    @sendingCommandLock
+    def getAutopilotVersion(self) -> None:
+        """Get the autopilot version."""
+        was_listening = self.is_listening
+        self.is_listening = False
+
+        self.sendCommand(
+            mavutil.mavlink.MAV_CMD_REQUEST_MESSAGE,
+            param1=mavutil.mavlink.MAVLINK_MSG_ID_AUTOPILOT_VERSION,
+        )
+
+        try:
+            response = self.master.recv_match(
+                type="AUTOPILOT_VERSION", blocking=True, timeout=5
+            )
+            if was_listening:
+                self.is_listening = True
+
+            if response is None:
+                self.logger.error("Failed to get autopilot version: Timeout")
+                return
+
+            capabilities = getattr(response, "capabilities", None)
+            if capabilities is not None:
+                # Decode capabilities bitmask into list of capability names
+                capabilities_map = mavutil.mavlink.enums["MAV_PROTOCOL_CAPABILITY"]
+                self.capabilities = []
+                for capability_value, capability_enum in capabilities_map.items():
+                    if capabilities & capability_value:
+                        self.capabilities.append(capability_enum.name)
+
+            flight_sw_version = getattr(response, "flight_sw_version", None)
+            if flight_sw_version is not None:
+                self.flight_sw_version = decodeFlightSwVersion(flight_sw_version)
+
+        except serial.serialutil.SerialException:
+            if was_listening:
+                self.is_listening = True
+
+            self.logger.error("Failed to get autopilot version due to serial exception")
+
     def rebootAutopilot(self) -> None:
         """Reboot the autopilot."""
         self.is_listening = False
@@ -909,6 +993,18 @@ def sendCommandInt(
             z,
         )
 
+    def sendStatusTextMessage(self, severity: int, text: str) -> None:
+        """Send a status text message to the drone.
+
+        Args:
+            severity (int): The severity of the message
+            text (str): The text of the message
+        """
+        max_len = 50
+        for i in range(0, len(text), max_len):
+            chunk = text[i : i + max_len]
+            self.master.mav.statustext_send(severity, chunk.encode("utf-8"))
+
     def startForwardingToAddress(self, address: str) -> Response:
         """Start forwarding MAVLink messages to a specific address.
 
diff --git a/radio/app/endpoints/comPorts.py b/radio/app/endpoints/comPorts.py
index 2ac7a97d7..e0c054416 100644
--- a/radio/app/endpoints/comPorts.py
+++ b/radio/app/endpoints/comPorts.py
@@ -8,7 +8,12 @@
 import app.droneStatus as droneStatus
 from app import logger, socketio
 from app.drone import Drone
-from app.utils import droneConnectStatusCb, droneErrorCb, getComPortNames
+from app.utils import (
+    droneConnectStatusCb,
+    droneErrorCb,
+    getComPortNames,
+    getFlightSwVersionString,
+)
 
 
 class ConnectionDataType(TypedDict):
@@ -150,7 +155,13 @@ def connectToDrone(data: ConnectionDataType) -> None:
     # Sleeping for buffer time, if errors occur try changing back to 1 second
     time.sleep(0.2)
     logger.debug("Created drone instance")
-    socketio.emit("connected_to_drone", {"aircraft_type": drone.aircraft_type})
+    socketio.emit(
+        "connected_to_drone",
+        {
+            "aircraft_type": drone.aircraft_type,
+            "flight_sw_version": getFlightSwVersionString(drone.flight_sw_version),
+        },
+    )
 
 
 @socketio.on("disconnect_from_drone")
diff --git a/radio/app/endpoints/states.py b/radio/app/endpoints/states.py
index 22268647f..77a535940 100644
--- a/radio/app/endpoints/states.py
+++ b/radio/app/endpoints/states.py
@@ -40,7 +40,6 @@ def set_state(data: SetStateType) -> None:
             "ALTITUDE",
             "NAV_CONTROLLER_OUTPUT",
             "HEARTBEAT",
-            "STATUSTEXT",
             "SYS_STATUS",
             "GPS_RAW_INT",
             "RC_CHANNELS",
@@ -57,6 +56,9 @@ def set_state(data: SetStateType) -> None:
 
     droneStatus.drone.logger.info(f"Changing state to {droneStatus.state}")
 
+    # Always send STATUSTEXT messages
+    droneStatus.drone.addMessageListener("STATUSTEXT", sendMessage)
+
     if droneStatus.state == "dashboard":
         droneStatus.drone.setupDataStreams()
         for message in message_listeners["dashboard"]:
diff --git a/radio/app/utils.py b/radio/app/utils.py
index 428f67aea..49c42a071 100644
--- a/radio/app/utils.py
+++ b/radio/app/utils.py
@@ -1,5 +1,5 @@
 import sys
-from typing import Any, List
+from typing import Any, List, Optional
 
 from pymavlink import mavutil
 from serial.tools import list_ports
@@ -235,3 +235,36 @@ def wrapper(self, *args, **kwargs):
             lock.release()
 
     return wrapper
+
+
+def decodeFlightSwVersion(v: Optional[int]) -> Optional[tuple[int, int, int, int]]:
+    """
+    Decode a packed uint32 flight_sw_version into major.minor.patch and extra byte.
+    Format (conventional MAVLink): [major:8][minor:8][patch:8][extra:8]
+    Returns:
+        A tuple of (major, minor, patch, extra) or None if input is None
+    """
+    if v is None:
+        return None
+    v &= 0xFFFFFFFF
+    major = (v >> 24) & 0xFF
+    minor = (v >> 16) & 0xFF
+    patch = (v >> 8) & 0xFF
+    extra = v & 0xFF
+
+    return (major, minor, patch, extra)
+
+
+def getFlightSwVersionString(v: Optional[tuple[int, int, int, int]]) -> str:
+    """
+    Convert flight_sw_version tuple into a human-readable string.
+    """
+    if v is None:
+        return ""
+
+    major, minor, patch, extra = v
+
+    if extra != 0:
+        return f"{major}.{minor}.{patch} ({extra:02x})"
+    else:
+        return f"{major}.{minor}.{patch}"
diff --git a/radio/tests/__init__.py b/radio/tests/__init__.py
index 7067fb000..9842c6ce7 100644
--- a/radio/tests/__init__.py
+++ b/radio/tests/__init__.py
@@ -9,6 +9,19 @@
 app = create_app(debug=True)
 socketio = socketio
 
+
+@socketio.on("incoming_msg")
+def ignore_incoming_msg(data):
+    """Silently ignore telemetry incoming_msg events during testing"""
+    pass
+
+
+@socketio.on("link_debug_stats")
+def ignore_link_debug_stats(data):
+    """Silently ignore link_debug_stats events during testing"""
+    pass
+
+
 # Create flask/socketio clients to be used in tests
 flask_client: FlaskClient = app.test_client()
 socketio_client: SocketIOTestClient = socketio.test_client(
diff --git a/radio/tests/mission_test_files/test_getCurrentMission_correctFence_result.json b/radio/tests/mission_test_files/test_getCurrentMission_correctFence_result.json
index 519cba6d4..725291dd2 100644
--- a/radio/tests/mission_test_files/test_getCurrentMission_correctFence_result.json
+++ b/radio/tests/mission_test_files/test_getCurrentMission_correctFence_result.json
@@ -14,7 +14,7 @@
       "param3": 0.0,
       "param4": 0.0,
       "seq": 0,
-      "target_component": 0,
+      "target_component": 190,
       "target_system": 255,
       "x": 527814618,
       "y": -7105708,
@@ -32,7 +32,7 @@
       "param3": 0.0,
       "param4": 0.0,
       "seq": 1,
-      "target_component": 0,
+      "target_component": 190,
       "target_system": 255,
       "x": 527810530,
       "y": -7102918,
@@ -50,7 +50,7 @@
       "param3": 0.0,
       "param4": 0.0,
       "seq": 2,
-      "target_component": 0,
+      "target_component": 190,
       "target_system": 255,
       "x": 527800342,
       "y": -7108390,
@@ -68,7 +68,7 @@
       "param3": 0.0,
       "param4": 0.0,
       "seq": 3,
-      "target_component": 0,
+      "target_component": 190,
       "target_system": 255,
       "x": 527818512,
       "y": -7035434,
@@ -86,7 +86,7 @@
       "param3": 0.0,
       "param4": 0.0,
       "seq": 4,
-      "target_component": 0,
+      "target_component": 190,
       "target_system": 255,
       "x": 527830582,
       "y": -7060110,
@@ -104,7 +104,7 @@
       "param3": 0.0,
       "param4": 0.0,
       "seq": 5,
-      "target_component": 0,
+      "target_component": 190,
       "target_system": 255,
       "x": 527825456,
       "y": -7081568,
@@ -122,7 +122,7 @@
       "param3": 0.0,
       "param4": 0.0,
       "seq": 6,
-      "target_component": 0,
+      "target_component": 190,
       "target_system": 255,
       "x": 527796578,
       "y": -7092163,
@@ -140,7 +140,7 @@
       "param3": 0.0,
       "param4": 0.0,
       "seq": 7,
-      "target_component": 0,
+      "target_component": 190,
       "target_system": 255,
       "x": 527801900,
       "y": -7044017,
@@ -158,7 +158,7 @@
       "param3": 0.0,
       "param4": 0.0,
       "seq": 8,
-      "target_component": 0,
+      "target_component": 190,
       "target_system": 255,
       "x": 527828246,
       "y": -7061076,
@@ -176,7 +176,7 @@
       "param3": 0.0,
       "param4": 0.0,
       "seq": 9,
-      "target_component": 0,
+      "target_component": 190,
       "target_system": 255,
       "x": 527818707,
       "y": -7041549,
@@ -194,7 +194,7 @@
       "param3": 0.0,
       "param4": 0.0,
       "seq": 10,
-      "target_component": 0,
+      "target_component": 190,
       "target_system": 255,
       "x": 527814489,
       "y": -7058179,
@@ -212,7 +212,7 @@
       "param3": 0.0,
       "param4": 0.0,
       "seq": 11,
-      "target_component": 0,
+      "target_component": 190,
       "target_system": 255,
       "x": 527821887,
       "y": -7058072,
@@ -230,7 +230,7 @@
       "param3": 0.0,
       "param4": 0.0,
       "seq": 12,
-      "target_component": 0,
+      "target_component": 190,
       "target_system": 255,
       "x": 527826364,
       "y": -7068908,
diff --git a/radio/tests/mission_test_files/test_getCurrentMission_correctMission_result.json b/radio/tests/mission_test_files/test_getCurrentMission_correctMission_result.json
index 0e860cbab..017a018a1 100644
--- a/radio/tests/mission_test_files/test_getCurrentMission_correctMission_result.json
+++ b/radio/tests/mission_test_files/test_getCurrentMission_correctMission_result.json
@@ -14,7 +14,7 @@
       "param3": 0.0,
       "param4": 0.0,
       "seq": 0,
-      "target_component": 0,
+      "target_component": 190,
       "target_system": 255,
       "x": 527805690,
       "y": -7079236,
@@ -23,7 +23,7 @@
     {
       "mavpackettype": "MISSION_ITEM_INT",
       "target_system": 255,
-      "target_component": 0,
+      "target_component": 190,
       "seq": 1,
       "frame": 3,
       "command": 22,
@@ -41,7 +41,7 @@
     {
       "mavpackettype": "MISSION_ITEM_INT",
       "target_system": 255,
-      "target_component": 0,
+      "target_component": 190,
       "seq": 2,
       "frame": 3,
       "command": 16,
@@ -59,7 +59,7 @@
     {
       "mavpackettype": "MISSION_ITEM_INT",
       "target_system": 255,
-      "target_component": 0,
+      "target_component": 190,
       "seq": 3,
       "frame": 3,
       "command": 16,
@@ -77,7 +77,7 @@
     {
       "mavpackettype": "MISSION_ITEM_INT",
       "target_system": 255,
-      "target_component": 0,
+      "target_component": 190,
       "seq": 4,
       "frame": 3,
       "command": 16,
@@ -95,7 +95,7 @@
     {
       "mavpackettype": "MISSION_ITEM_INT",
       "target_system": 255,
-      "target_component": 0,
+      "target_component": 190,
       "seq": 5,
       "frame": 3,
       "command": 16,
@@ -113,7 +113,7 @@
     {
       "mavpackettype": "MISSION_ITEM_INT",
       "target_system": 255,
-      "target_component": 0,
+      "target_component": 190,
       "seq": 6,
       "frame": 3,
       "command": 16,
@@ -131,7 +131,7 @@
     {
       "mavpackettype": "MISSION_ITEM_INT",
       "target_system": 255,
-      "target_component": 0,
+      "target_component": 190,
       "seq": 7,
       "frame": 3,
       "command": 21,
diff --git a/radio/tests/mission_test_files/test_getCurrentMission_correctRally_result.json b/radio/tests/mission_test_files/test_getCurrentMission_correctRally_result.json
index 0fcfa133a..a0dede69e 100644
--- a/radio/tests/mission_test_files/test_getCurrentMission_correctRally_result.json
+++ b/radio/tests/mission_test_files/test_getCurrentMission_correctRally_result.json
@@ -14,7 +14,7 @@
       "param3": 0.0,
       "param4": 0.0,
       "seq": 0,
-      "target_component": 0,
+      "target_component": 190,
       "target_system": 255,
       "x": 527810011,
       "y": -7094872,
@@ -32,7 +32,7 @@
       "param3": 0.0,
       "param4": 0.0,
       "seq": 1,
-      "target_component": 0,
+      "target_component": 190,
       "target_system": 255,
       "x": 527821108,
       "y": -7056785,
diff --git a/radio/tests/mission_test_files/test_getCurrentMission_correctState_result.json b/radio/tests/mission_test_files/test_getCurrentMission_correctState_result.json
index d0ef6a991..1bff5b12f 100644
--- a/radio/tests/mission_test_files/test_getCurrentMission_correctState_result.json
+++ b/radio/tests/mission_test_files/test_getCurrentMission_correctState_result.json
@@ -13,7 +13,7 @@
       "param3": 0.0,
       "param4": 0.0,
       "seq": 0,
-      "target_component": 0,
+      "target_component": 190,
       "target_system": 255,
       "x": 527805690,
       "y": -7079236,
@@ -22,7 +22,7 @@
     {
       "mavpackettype": "MISSION_ITEM_INT",
       "target_system": 255,
-      "target_component": 0,
+      "target_component": 190,
       "seq": 1,
       "frame": 3,
       "command": 22,
@@ -40,7 +40,7 @@
     {
       "mavpackettype": "MISSION_ITEM_INT",
       "target_system": 255,
-      "target_component": 0,
+      "target_component": 190,
       "seq": 2,
       "frame": 3,
       "command": 16,
@@ -58,7 +58,7 @@
     {
       "mavpackettype": "MISSION_ITEM_INT",
       "target_system": 255,
-      "target_component": 0,
+      "target_component": 190,
       "seq": 3,
       "frame": 3,
       "command": 16,
@@ -76,7 +76,7 @@
     {
       "mavpackettype": "MISSION_ITEM_INT",
       "target_system": 255,
-      "target_component": 0,
+      "target_component": 190,
       "seq": 4,
       "frame": 3,
       "command": 16,
@@ -94,7 +94,7 @@
     {
       "mavpackettype": "MISSION_ITEM_INT",
       "target_system": 255,
-      "target_component": 0,
+      "target_component": 190,
       "seq": 5,
       "frame": 3,
       "command": 16,
@@ -112,7 +112,7 @@
     {
       "mavpackettype": "MISSION_ITEM_INT",
       "target_system": 255,
-      "target_component": 0,
+      "target_component": 190,
       "seq": 6,
       "frame": 3,
       "command": 16,
@@ -130,7 +130,7 @@
     {
       "mavpackettype": "MISSION_ITEM_INT",
       "target_system": 255,
-      "target_component": 0,
+      "target_component": 190,
       "seq": 7,
       "frame": 3,
       "command": 21,
@@ -159,7 +159,7 @@
       "param3": 0.0,
       "param4": 0.0,
       "seq": 0,
-      "target_component": 0,
+      "target_component": 190,
       "target_system": 255,
       "x": 527814618,
       "y": -7105708,
@@ -177,7 +177,7 @@
       "param3": 0.0,
       "param4": 0.0,
       "seq": 1,
-      "target_component": 0,
+      "target_component": 190,
       "target_system": 255,
       "x": 527810530,
       "y": -7102918,
@@ -195,7 +195,7 @@
       "param3": 0.0,
       "param4": 0.0,
       "seq": 2,
-      "target_component": 0,
+      "target_component": 190,
       "target_system": 255,
       "x": 527800342,
       "y": -7108390,
@@ -213,7 +213,7 @@
       "param3": 0.0,
       "param4": 0.0,
       "seq": 3,
-      "target_component": 0,
+      "target_component": 190,
       "target_system": 255,
       "x": 527818512,
       "y": -7035434,
@@ -231,7 +231,7 @@
       "param3": 0.0,
       "param4": 0.0,
       "seq": 4,
-      "target_component": 0,
+      "target_component": 190,
       "target_system": 255,
       "x": 527830582,
       "y": -7060110,
@@ -249,7 +249,7 @@
       "param3": 0.0,
       "param4": 0.0,
       "seq": 5,
-      "target_component": 0,
+      "target_component": 190,
       "target_system": 255,
       "x": 527825456,
       "y": -7081568,
@@ -267,7 +267,7 @@
       "param3": 0.0,
       "param4": 0.0,
       "seq": 6,
-      "target_component": 0,
+      "target_component": 190,
       "target_system": 255,
       "x": 527796578,
       "y": -7092163,
@@ -285,7 +285,7 @@
       "param3": 0.0,
       "param4": 0.0,
       "seq": 7,
-      "target_component": 0,
+      "target_component": 190,
       "target_system": 255,
       "x": 527801900,
       "y": -7044017,
@@ -303,7 +303,7 @@
       "param3": 0.0,
       "param4": 0.0,
       "seq": 8,
-      "target_component": 0,
+      "target_component": 190,
       "target_system": 255,
       "x": 527828246,
       "y": -7061076,
@@ -321,7 +321,7 @@
       "param3": 0.0,
       "param4": 0.0,
       "seq": 9,
-      "target_component": 0,
+      "target_component": 190,
       "target_system": 255,
       "x": 527818707,
       "y": -7041549,
@@ -339,7 +339,7 @@
       "param3": 0.0,
       "param4": 0.0,
       "seq": 10,
-      "target_component": 0,
+      "target_component": 190,
       "target_system": 255,
       "x": 527814489,
       "y": -7058179,
@@ -357,7 +357,7 @@
       "param3": 0.0,
       "param4": 0.0,
       "seq": 11,
-      "target_component": 0,
+      "target_component": 190,
       "target_system": 255,
       "x": 527821887,
       "y": -7058072,
@@ -375,7 +375,7 @@
       "param3": 0.0,
       "param4": 0.0,
       "seq": 12,
-      "target_component": 0,
+      "target_component": 190,
       "target_system": 255,
       "x": 527826364,
       "y": -7068908,
@@ -395,7 +395,7 @@
       "param3": 0.0,
       "param4": 0.0,
       "seq": 0,
-      "target_component": 0,
+      "target_component": 190,
       "target_system": 255,
       "x": 527810011,
       "y": -7094872,
@@ -413,7 +413,7 @@
       "param3": 0.0,
       "param4": 0.0,
       "seq": 1,
-      "target_component": 0,
+      "target_component": 190,
       "target_system": 255,
       "x": 527821108,
       "y": -7056785,
diff --git a/radio/tests/mission_test_files/test_writeCurrentMission_uploadFenceSuccess_data.json b/radio/tests/mission_test_files/test_writeCurrentMission_uploadFenceSuccess_data.json
index 460a0305f..21d225173 100644
--- a/radio/tests/mission_test_files/test_writeCurrentMission_uploadFenceSuccess_data.json
+++ b/radio/tests/mission_test_files/test_writeCurrentMission_uploadFenceSuccess_data.json
@@ -13,7 +13,7 @@
       "param3": 0.0,
       "param4": 0.0,
       "seq": 0,
-      "target_component": 0,
+      "target_component": 190,
       "target_system": 255,
       "x": 527814618,
       "y": -7105708,
@@ -31,7 +31,7 @@
       "param3": 0.0,
       "param4": 0.0,
       "seq": 1,
-      "target_component": 0,
+      "target_component": 190,
       "target_system": 255,
       "x": 527810530,
       "y": -7102918,
@@ -49,7 +49,7 @@
       "param3": 0.0,
       "param4": 0.0,
       "seq": 2,
-      "target_component": 0,
+      "target_component": 190,
       "target_system": 255,
       "x": 527800342,
       "y": -7108390,
@@ -67,7 +67,7 @@
       "param3": 0.0,
       "param4": 0.0,
       "seq": 3,
-      "target_component": 0,
+      "target_component": 190,
       "target_system": 255,
       "x": 527818512,
       "y": -7035434,
@@ -85,7 +85,7 @@
       "param3": 0.0,
       "param4": 0.0,
       "seq": 4,
-      "target_component": 0,
+      "target_component": 190,
       "target_system": 255,
       "x": 527830582,
       "y": -7060110,
@@ -103,7 +103,7 @@
       "param3": 0.0,
       "param4": 0.0,
       "seq": 5,
-      "target_component": 0,
+      "target_component": 190,
       "target_system": 255,
       "x": 527825456,
       "y": -7081568,
@@ -121,7 +121,7 @@
       "param3": 0.0,
       "param4": 0.0,
       "seq": 6,
-      "target_component": 0,
+      "target_component": 190,
       "target_system": 255,
       "x": 527796578,
       "y": -7092163,
@@ -139,7 +139,7 @@
       "param3": 0.0,
       "param4": 0.0,
       "seq": 7,
-      "target_component": 0,
+      "target_component": 190,
       "target_system": 255,
       "x": 527801900,
       "y": -7044017,
@@ -157,7 +157,7 @@
       "param3": 0.0,
       "param4": 0.0,
       "seq": 8,
-      "target_component": 0,
+      "target_component": 190,
       "target_system": 255,
       "x": 527828246,
       "y": -7061076,
@@ -175,7 +175,7 @@
       "param3": 0.0,
       "param4": 0.0,
       "seq": 9,
-      "target_component": 0,
+      "target_component": 190,
       "target_system": 255,
       "x": 527818707,
       "y": -7041549,
@@ -193,7 +193,7 @@
       "param3": 0.0,
       "param4": 0.0,
       "seq": 10,
-      "target_component": 0,
+      "target_component": 190,
       "target_system": 255,
       "x": 527814489,
       "y": -7058179,
@@ -211,7 +211,7 @@
       "param3": 0.0,
       "param4": 0.0,
       "seq": 11,
-      "target_component": 0,
+      "target_component": 190,
       "target_system": 255,
       "x": 527821887,
       "y": -7058072,
@@ -229,7 +229,7 @@
       "param3": 0.0,
       "param4": 0.0,
       "seq": 12,
-      "target_component": 0,
+      "target_component": 190,
       "target_system": 255,
       "x": 527826364,
       "y": -7068908,
diff --git a/radio/tests/mission_test_files/test_writeCurrentMission_uploadMissionSuccess_data.json b/radio/tests/mission_test_files/test_writeCurrentMission_uploadMissionSuccess_data.json
index 1070d0f12..8e91611c9 100644
--- a/radio/tests/mission_test_files/test_writeCurrentMission_uploadMissionSuccess_data.json
+++ b/radio/tests/mission_test_files/test_writeCurrentMission_uploadMissionSuccess_data.json
@@ -13,7 +13,7 @@
       "param3": 0.0,
       "param4": 0.0,
       "seq": 0,
-      "target_component": 0,
+      "target_component": 190,
       "target_system": 255,
       "x": 527805690,
       "y": -7079236,
@@ -22,7 +22,7 @@
     {
       "mavpackettype": "MISSION_ITEM_INT",
       "target_system": 255,
-      "target_component": 0,
+      "target_component": 190,
       "seq": 1,
       "frame": 3,
       "command": 22,
@@ -40,7 +40,7 @@
     {
       "mavpackettype": "MISSION_ITEM_INT",
       "target_system": 255,
-      "target_component": 0,
+      "target_component": 190,
       "seq": 2,
       "frame": 3,
       "command": 16,
@@ -58,7 +58,7 @@
     {
       "mavpackettype": "MISSION_ITEM_INT",
       "target_system": 255,
-      "target_component": 0,
+      "target_component": 190,
       "seq": 3,
       "frame": 3,
       "command": 16,
@@ -76,7 +76,7 @@
     {
       "mavpackettype": "MISSION_ITEM_INT",
       "target_system": 255,
-      "target_component": 0,
+      "target_component": 190,
       "seq": 4,
       "frame": 3,
       "command": 16,
@@ -94,7 +94,7 @@
     {
       "mavpackettype": "MISSION_ITEM_INT",
       "target_system": 255,
-      "target_component": 0,
+      "target_component": 190,
       "seq": 5,
       "frame": 3,
       "command": 16,
@@ -112,7 +112,7 @@
     {
       "mavpackettype": "MISSION_ITEM_INT",
       "target_system": 255,
-      "target_component": 0,
+      "target_component": 190,
       "seq": 6,
       "frame": 3,
       "command": 16,
@@ -130,7 +130,7 @@
     {
       "mavpackettype": "MISSION_ITEM_INT",
       "target_system": 255,
-      "target_component": 0,
+      "target_component": 190,
       "seq": 7,
       "frame": 3,
       "command": 21,
diff --git a/radio/tests/mission_test_files/test_writeCurrentMission_uploadRallySuccess_data.json b/radio/tests/mission_test_files/test_writeCurrentMission_uploadRallySuccess_data.json
index 53f2143b8..2ebc37df3 100644
--- a/radio/tests/mission_test_files/test_writeCurrentMission_uploadRallySuccess_data.json
+++ b/radio/tests/mission_test_files/test_writeCurrentMission_uploadRallySuccess_data.json
@@ -13,7 +13,7 @@
       "param3": 0.0,
       "param4": 0.0,
       "seq": 0,
-      "target_component": 0,
+      "target_component": 190,
       "target_system": 255,
       "x": 527810011,
       "y": -7094872,
@@ -31,7 +31,7 @@
       "param3": 0.0,
       "param4": 0.0,
       "seq": 1,
-      "target_component": 0,
+      "target_component": 190,
       "target_system": 255,
       "x": 527821108,
       "y": -7056785,
diff --git a/radio/tests/test_comPorts.py b/radio/tests/test_comPorts.py
index aacfec510..3f27f0243 100644
--- a/radio/tests/test_comPorts.py
+++ b/radio/tests/test_comPorts.py
@@ -109,7 +109,10 @@ def test_connectToDrone_validConnection() -> None:
     socketio_client.emit(
         "connect_to_drone", {"connectionType": connectionType, "port": VALID_DRONE_PORT}
     )
-    assert socketio_client.get_received()[-1]["args"][0] == {"aircraft_type": 2}
+    assert socketio_client.get_received()[-1]["args"][0] == {
+        "flight_sw_version": "4.7.0",
+        "aircraft_type": 2,
+    }
     assert droneStatus.drone is not None
     assert droneStatus.drone.port == VALID_DRONE_PORT
     assert droneStatus.drone.baud == 57600
@@ -119,7 +122,10 @@ def test_connectToDrone_validConnection() -> None:
         "connect_to_drone",
         {"connectionType": connectionType, "port": VALID_DRONE_PORT, "baud": 9600},
     )
-    assert socketio_client.get_received()[-1]["args"][0] == {"aircraft_type": 2}
+    assert socketio_client.get_received()[-1]["args"][0] == {
+        "flight_sw_version": "4.7.0",
+        "aircraft_type": 2,
+    }
     assert droneStatus.drone is not None
     assert droneStatus.drone.baud == 9600
 
@@ -170,7 +176,10 @@ def test_disconnectFromDrone() -> None:
         "connect_to_drone",
         {"connectionType": connectionType, "port": VALID_DRONE_PORT, "baud": 9600},
     )
-    assert socketio_client.get_received()[-1]["args"][0] == {"aircraft_type": 2}
+    assert socketio_client.get_received()[-1]["args"][0] == {
+        "flight_sw_version": "4.7.0",
+        "aircraft_type": 2,
+    }
 
     socketio_client.emit("disconnect_from_drone")
     assert socketio_client.get_received()[0]["name"] == "disconnected_from_drone"
diff --git a/radio/tests/test_states.py b/radio/tests/test_states.py
index c539a241c..878983804 100644
--- a/radio/tests/test_states.py
+++ b/radio/tests/test_states.py
@@ -1,17 +1,9 @@
-import time
-
-import pytest
 from flask_socketio import SocketIOTestClient
 
 from . import falcon_test
 from .helpers import NoDrone, send_and_recieve
 
 
-def stream_is_active(msg):
-    # TODO: THIS DOESNT WORK YAYYYYYYYYYYYYY
-    return True
-
-
 @falcon_test(pass_drone_status=True)
 def test_setState(socketio_client: SocketIOTestClient, droneStatus) -> None:
     # Failure on no drone connection
@@ -25,6 +17,8 @@ def test_setState(socketio_client: SocketIOTestClient, droneStatus) -> None:
         "message": "Request to endpoint set_state missing value for parameter: state."
     }
 
+    # TODO: These values don't seem right to me, they don't include the STATUSTEXT listener?
+
     # Success on changing state to dashboard
     socketio_client.emit("set_state", {"state": "dashboard"})
     assert len(socketio_client.get_received()) == 0
@@ -34,24 +28,25 @@ def test_setState(socketio_client: SocketIOTestClient, droneStatus) -> None:
 
     socketio_client.emit("set_state", {"state": "graphs"})
     assert len(socketio_client.get_received()) == 0
-    assert len(droneStatus.drone.message_listeners) == 3
+    assert len(droneStatus.drone.message_listeners) == 4
 
     droneStatus.drone.message_listeners = {}
 
     socketio_client.emit("set_state", {"state": "config.flight_modes"})
     assert len(socketio_client.get_received()) == 0
-    assert len(droneStatus.drone.message_listeners) == 2
+    assert len(droneStatus.drone.message_listeners) == 3
 
     droneStatus.drone.message_listeners = {}
 
     socketio_client.emit("set_state", {"state": "config.rc"})
     assert len(socketio_client.get_received()) == 0
-    assert len(droneStatus.drone.message_listeners) == 2
+    assert len(droneStatus.drone.message_listeners) == 3
 
     droneStatus.drone.message_listeners = {}
 
-    pytest.skip(reason="Issues with parameterController to be fixed in alpha 0.1.8")
-    socketio_client.emit("set_state", {"state": "params"})
-    time.sleep(15)
-    assert len(socketio_client.get_received()[-1]["args"][0]) == 1400
-    assert len(droneStatus.drone.message_listeners) == 0
+    # TODO: Sort this out
+    # pytest.skip(reason="Issues with parameterController to be fixed in alpha 0.1.8")
+    # socketio_client.emit("set_state", {"state": "params"})
+    # time.sleep(15)
+    # assert len(socketio_client.get_received()[-1]["args"][0]) == 1400
+    # assert len(droneStatus.drone.message_listeners) == 1