diff --git a/src/API/QGCCorePlugin.cc b/src/API/QGCCorePlugin.cc
index f1c4d4332605..d3b4fc6903f4 100644
--- a/src/API/QGCCorePlugin.cc
+++ b/src/API/QGCCorePlugin.cc
@@ -10,6 +10,7 @@
 #endif
 #endif
 #include "FactMetaData.h"
+#include "FirmwarePluginManager.h"
 #include "QGCMAVLink.h"
 #include "HorizontalFactValueGrid.h"
 #include "InstrumentValueData.h"
@@ -181,6 +182,18 @@ QString QGCCorePlugin::showAdvancedUIMessage() const
               "Are you sure you want to enable Advanced Mode?");
 }
 
+bool QGCCorePlugin::showInitialSetupVehiclePreferences() const
+{
+    const QList<QGCMAVLink::FirmwareClass_t> supportedFirmwareClasses = FirmwarePluginManager::instance()->supportedFirmwareClasses();
+    return supportedFirmwareClasses.count() != 1 ||
+           FirmwarePluginManager::instance()->supportedVehicleClasses(supportedFirmwareClasses[0]).count() != 1;
+}
+
+bool QGCCorePlugin::showInitialSetupMeasurementUnits() const
+{
+    return true;
+}
+
 void QGCCorePlugin::factValueGridCreateDefaultSettings(FactValueGrid* factValueGrid)
 {
 #if defined(Q_OS_ANDROID) || defined(Q_OS_IOS)
@@ -339,6 +352,15 @@ const QVariantList &QGCCorePlugin::toolBarIndicators()
     return toolBarIndicatorList;
 }
 
+QList<int> QGCCorePlugin::firstRunPromptStdIds()
+{
+    if (showInitialSetupVehiclePreferences() || showInitialSetupMeasurementUnits()) {
+        return { kInitialSetupPromptId };
+    }
+
+    return {};
+}
+
 QVariantList QGCCorePlugin::firstRunPromptsToShow()
 {
     QList<int> rgIdsToShow;
diff --git a/src/API/QGCCorePlugin.h b/src/API/QGCCorePlugin.h
index d3d46d84212d..4804cced5b2b 100644
--- a/src/API/QGCCorePlugin.h
+++ b/src/API/QGCCorePlugin.h
@@ -41,6 +41,8 @@ class QGCCorePlugin : public QObject
     Q_MOC_INCLUDE("QmlObjectListModel.h")
     Q_PROPERTY(bool showAdvancedUI                      READ showAdvancedUI                     WRITE _setShowAdvancedUI    NOTIFY showAdvancedUIChanged)
     Q_PROPERTY(bool showTouchAreas                      READ showTouchAreas                     WRITE _setShowTouchAreas    NOTIFY showTouchAreasChanged)
+    Q_PROPERTY(bool showInitialSetupVehiclePreferences  READ showInitialSetupVehiclePreferences                              CONSTANT)
+    Q_PROPERTY(bool showInitialSetupMeasurementUnits    READ showInitialSetupMeasurementUnits                                CONSTANT)
     Q_PROPERTY(int defaultSettings                      READ defaultSettings                                                CONSTANT)
     Q_PROPERTY(int initialSetupPromptId                 MEMBER kInitialSetupPromptId                                       CONSTANT)
     Q_PROPERTY(const QGCOptions *options                READ options                                                        CONSTANT)
@@ -85,6 +87,12 @@ class QGCCorePlugin : public QObject
     /// @return The message to show to the user when they are prompted to confirm turning on advanced ui.
     virtual QString showAdvancedUIMessage() const;
 
+    /// @return true if the initial setup prompt should show vehicle preferences.
+    virtual bool showInitialSetupVehiclePreferences() const;
+
+    /// @return true if the initial setup prompt should show measurement units.
+    virtual bool showInitialSetupMeasurementUnits() const;
+
     /// @return An instance of an alternate position source (or NULL if not available)
     virtual QGeoPositionInfoSource *createPositionSource(QObject *parent) { Q_UNUSED(parent); return nullptr; }
 
@@ -186,7 +194,7 @@ class QGCCorePlugin : public QObject
     /// Returns the standard list of first run prompt ids for possible display. Actual display is based on the
     /// current AppSettings::firstRunPromptIds value. The order of this list also determines the order the prompts
     /// will be displayed in.
-    virtual QList<int> firstRunPromptStdIds() { return QList<int>({ kInitialSetupPromptId }); }
+    virtual QList<int> firstRunPromptStdIds();
 
     /// Returns the custom build list of first run prompt ids for possible display. Actual display is based on the
     /// current AppSettings::firstRunPromptIds value. The order of this list also determines the order the prompts
diff --git a/src/FirstRunPromptDialogs/InitialSetupPrompt.qml b/src/FirstRunPromptDialogs/InitialSetupPrompt.qml
index af6912964cb7..94783eee6a17 100644
--- a/src/FirstRunPromptDialogs/InitialSetupPrompt.qml
+++ b/src/FirstRunPromptDialogs/InitialSetupPrompt.qml
@@ -53,6 +53,7 @@ FirstRunPrompt {
         SettingsGroupLayout {
             Layout.fillWidth: true
             Layout.maximumWidth: _descriptionWidth
+            visible: QGroundControl.corePlugin.showInitialSetupVehiclePreferences
             heading: qsTr("Vehicle Preferences")
             headingDescription: qsTr("Select the firmware and vehicle type you typically use.")
 
@@ -76,6 +77,7 @@ FirstRunPrompt {
         SettingsGroupLayout {
             Layout.fillWidth: true
             Layout.maximumWidth: _descriptionWidth
+            visible: QGroundControl.corePlugin.showInitialSetupMeasurementUnits
             heading: qsTr("Measurement Units")
             headingDescription: qsTr("Choose the measurement units you want to use. You can also change it later in General Settings.")