diff --git a/core/frontend/src/components/vehiclesetup/configuration/lights.vue b/core/frontend/src/components/vehiclesetup/configuration/lights.vue
index 1397d78389..bcd46e4e82 100644
--- a/core/frontend/src/components/vehiclesetup/configuration/lights.vue
+++ b/core/frontend/src/components/vehiclesetup/configuration/lights.vue
@@ -47,8 +47,10 @@
 
 <script lang="ts">
 import mavlink2rest from '@/libs/MAVLink2Rest'
+import ardupilot_capabilities from '@/store/ardupilot_capabilities'
 import autopilot_data from '@/store/autopilot'
 import Parameter, { printParam } from '@/types/autopilot/parameter'
+import { SERVO_FUNCTION } from '@/types/autopilot/parameter-sub-enums'
 
 enum Lights {
   Lights1 = 59, // RCIN9
@@ -66,6 +68,9 @@ export default {
     }
   },
   computed: {
+    supports_light_functions(): boolean {
+      return ardupilot_capabilities.firmware_supports_light_functions
+    },
     light_steps(): Parameter | undefined {
       return autopilot_data.parameter('JS_LIGHTS_STEPS')
     },
@@ -78,6 +83,12 @@ export default {
     lights2_param(): Parameter | undefined {
       return this.servo_params.filter((param) => param.value === Lights.Lights2)[0]
     },
+    new_lights1_value(): SERVO_FUNCTION {
+      return this.supports_light_functions ? SERVO_FUNCTION.LIGHTS1 : SERVO_FUNCTION.RCIN9
+    },
+    new_lights2_value(): SERVO_FUNCTION {
+      return this.supports_light_functions ? SERVO_FUNCTION.LIGHTS2 : SERVO_FUNCTION.RCIN10
+    },
   },
   watch: {
     steps_param(new_value: Parameter | undefined) {
@@ -99,10 +110,10 @@ export default {
       this.lights2_new_param = new_value?.name
     },
     lights1_new_param(new_param_name: string | undefined) {
-      this.setLights(new_param_name, Lights.Lights1)
+      this.setLights(new_param_name, this.new_lights1_value)
     },
     lights2_new_param(new_param_name: string | undefined) {
-      this.setLights(new_param_name, Lights.Lights2)
+      this.setLights(new_param_name, this.new_lights2_value)
     },
   },
   mounted() {
@@ -111,7 +122,7 @@ export default {
     this.steps_new_value = this.light_steps?.value ?? 0
   },
   methods: {
-    setLights(new_param_name: string | undefined, lights: Lights) {
+    setLights(new_param_name: string | undefined, lights: SERVO_FUNCTION) {
       if (new_param_name) {
         // reset any other parameter using lights1 to undefined
         for (const old_param of this.servo_params) {
diff --git a/core/frontend/src/components/vehiclesetup/overview/gripper.vue b/core/frontend/src/components/vehiclesetup/overview/gripper.vue
index 91798af7f2..ad786476c7 100644
--- a/core/frontend/src/components/vehiclesetup/overview/gripper.vue
+++ b/core/frontend/src/components/vehiclesetup/overview/gripper.vue
@@ -1,5 +1,5 @@
 <template>
-  <v-card class="ma-2 pa-2">
+  <v-card class="ma-2 pa-2" max-width="250px">
     <v-card-title class="align-center">
       Gripper
     </v-card-title>
@@ -14,15 +14,19 @@
     <v-card-text v-else>
       {{ toBoardFriendlyChannel(`SERVO${gripper}_FUNCTION`) }}
     </v-card-text>
+    <v-card-text v-if="misconfigured_gripper" class="red--text">
+      {{ misconfigured_gripper }}
+    </v-card-text>
   </v-card>
 </template>
 
 <script lang="ts">
 import Vue from 'vue'
 
+import ardupilot_capabilities from '@/store/ardupilot_capabilities'
 import autopilot_data from '@/store/autopilot'
 import autopilot from '@/store/autopilot_manager'
-import { BTN_FUNCTION } from '@/types/autopilot/parameter-sub-enums'
+import { BTN_FUNCTION, SERVO_FUNCTION } from '@/types/autopilot/parameter-sub-enums'
 
 import toBoardFriendlyChannel from './common'
 
@@ -39,18 +43,52 @@ export default Vue.extend({
 
       // we cannot directly detect a gripper, so we search for a channel with the min/max momentary actions
       // instead
-      const channel1 = [BTN_FUNCTION.SERVO_1_MIN_MOMENTARY, BTN_FUNCTION.SERVO_1_MAX_MOMENTARY]
-      const channel2 = [BTN_FUNCTION.SERVO_2_MIN_MOMENTARY, BTN_FUNCTION.SERVO_2_MAX_MOMENTARY]
-      const channel3 = [BTN_FUNCTION.SERVO_3_MIN_MOMENTARY, BTN_FUNCTION.SERVO_3_MAX_MOMENTARY]
+      const channel1 = [
+        BTN_FUNCTION.SERVO_1_MIN_MOMENTARY,
+        BTN_FUNCTION.SERVO_1_MAX_MOMENTARY,
+        BTN_FUNCTION.SERVO_1_MIN_TOGGLE,
+        BTN_FUNCTION.SERVO_1_MAX_TOGGLE,
+        BTN_FUNCTION.SERVO_1_MIN,
+        BTN_FUNCTION.SERVO_1_MAX,
+      ]
+      const channel2 = [
+        BTN_FUNCTION.SERVO_2_MIN_MOMENTARY,
+        BTN_FUNCTION.SERVO_2_MAX_MOMENTARY,
+        BTN_FUNCTION.SERVO_2_MIN_TOGGLE,
+        BTN_FUNCTION.SERVO_2_MAX_TOGGLE,
+        BTN_FUNCTION.SERVO_2_MIN,
+        BTN_FUNCTION.SERVO_2_MAX,
+      ]
+      const channel3 = [
+        BTN_FUNCTION.SERVO_3_MIN_MOMENTARY,
+        BTN_FUNCTION.SERVO_3_MAX_MOMENTARY,
+        BTN_FUNCTION.SERVO_3_MIN_TOGGLE,
+        BTN_FUNCTION.SERVO_3_MAX_TOGGLE,
+        BTN_FUNCTION.SERVO_3_MIN,
+        BTN_FUNCTION.SERVO_3_MAX,
+      ]
+      const channel4 = [
+        BTN_FUNCTION.SERVO_4_MIN_MOMENTARY,
+        BTN_FUNCTION.SERVO_4_MAX_MOMENTARY,
+        BTN_FUNCTION.SERVO_4_MIN_TOGGLE,
+        BTN_FUNCTION.SERVO_4_MAX_TOGGLE,
+        BTN_FUNCTION.SERVO_4_MIN,
+        BTN_FUNCTION.SERVO_4_MAX,
+      ]
+      const channel5 = [
+        BTN_FUNCTION.SERVO_5_MIN_MOMENTARY,
+        BTN_FUNCTION.SERVO_5_MAX_MOMENTARY,
+        BTN_FUNCTION.SERVO_5_MIN_TOGGLE,
+        BTN_FUNCTION.SERVO_5_MAX_TOGGLE,
+        BTN_FUNCTION.SERVO_5_MIN,
+        BTN_FUNCTION.SERVO_5_MAX,
+      ]
+      const channels = [channel1, channel2, channel3, channel4, channel5]
       for (const param of btn_params) {
-        if (channel1.includes(param.value)) {
-          return 9
-        }
-        if (channel2.includes(param.value)) {
-          return 10
-        }
-        if (channel3.includes(param.value)) {
-          return 11
+        for (const [index, channel] of channels.entries()) {
+          if (channel.includes(param.value)) {
+            return index + 1
+          }
         }
       }
       return null
@@ -58,6 +96,42 @@ export default Vue.extend({
     boardType() {
       return autopilot.current_board?.name
     },
+    configured_actuators(): number[] {
+      const actuator_functions = [
+        SERVO_FUNCTION.ACTUATOR1,
+        SERVO_FUNCTION.ACTUATOR2,
+        SERVO_FUNCTION.ACTUATOR3,
+        SERVO_FUNCTION.ACTUATOR4,
+        SERVO_FUNCTION.ACTUATOR5,
+        SERVO_FUNCTION.ACTUATOR6,
+      ]
+      return autopilot_data.parameterRegex('^SERVO(\\d+)_FUNCTION$')
+        .filter((param) => actuator_functions.includes(param.value))
+        .map((param) => actuator_functions.indexOf(param.value) + 1)
+    },
+
+    misconfigured_gripper(): string | null {
+      if (this.gripper === 'MAVLink') {
+        return null
+      }
+      if (!ardupilot_capabilities.firmware_supports_actuators) {
+        if (this.gripper === null) {
+          return 'No gripper configured.'
+        }
+        return null
+      }
+      if (this.gripper === null) {
+        return 'No gripper configured.'
+      }
+      if (this.configured_actuators.includes(this.gripper)) {
+        if (!this.configured_actuators.includes(this.gripper + 1)) {
+          return `Gripper is configured on Actuator ${this.gripper},`
+            + ` but no Output PWM is configured for Actuator ${this.gripper + 1}.`
+        }
+        return null
+      }
+      return null
+    },
   },
   methods: {
     toBoardFriendlyChannel(servo: string): string {
diff --git a/core/frontend/src/store/ardupilot_capabilities.ts b/core/frontend/src/store/ardupilot_capabilities.ts
new file mode 100644
index 0000000000..6205068d14
--- /dev/null
+++ b/core/frontend/src/store/ardupilot_capabilities.ts
@@ -0,0 +1,29 @@
+import {
+  getModule,
+Module, VuexModule,
+} from 'vuex-module-decorators'
+
+import store from '@/store'
+import autopilot_data from "./autopilot"
+
+@Module({
+  dynamic: true,
+  store,
+  name: 'ardupilot_capabilities',
+})
+
+class ArdupilotCapabilitiesStore extends VuexModule {
+
+  get firmware_supports_actuators(): boolean {
+    return autopilot_data.parameter('ACTUATOR1_INC') !== undefined
+  }
+
+  get firmware_supports_light_functions(): boolean {
+    // TODO: light functions were introduced at the same time as actuators
+    return autopilot_data.parameter('ACTUATOR1_INC') !== undefined
+  }
+}
+export { ArdupilotCapabilitiesStore }
+
+const ardupilot_capabilities: ArdupilotCapabilitiesStore = getModule(ArdupilotCapabilitiesStore)
+export default ardupilot_capabilities