diff --git a/core/frontend/src/components/autopilot/EndpointManager.vue b/core/frontend/src/components/autopilot/EndpointManager.vue
index 9a4af9f5e7..0e42430c75 100644
--- a/core/frontend/src/components/autopilot/EndpointManager.vue
+++ b/core/frontend/src/components/autopilot/EndpointManager.vue
@@ -65,14 +65,36 @@
         subtitle="Fetching available endpoints..."
       />
     </v-container>
-    <v-card
+    <v-container
       v-else
       class="d-flex align-center justify-center pa-6"
     >
-      <p class="text-h6">
-        No endpoints available.
-      </p>
-    </v-card>
+      <v-card
+        v-if="!autopilot_board_is_running"
+        class="d-flex align-center justify-center pa-6"
+      >
+        <div class="d-flex flex-column align-center justify-center">
+          <p class="mb-2">
+            Autopilot must be running to create endpoints.
+          </p>
+          <p class="mb-0">
+            You can start it in the
+            <router-link to="autopilot">
+              Autopilot Firmware
+            </router-link>
+            tab.
+          </p>
+        </div>
+      </v-card>
+      <v-card
+        v-else
+        class="d-flex align-center justify-center pa-6"
+      >
+        <p class="text-h6">
+          No endpoints available.
+        </p>
+      </v-card>
+    </v-container>
 
     <v-fab-transition>
       <v-btn
@@ -85,6 +107,7 @@
         bottom
         right
         class="v-btn--example"
+        :disabled="!autopilot_board_is_running"
         @click="openCreationDialog"
       >
         <v-icon>mdi-plus</v-icon>
@@ -103,13 +126,14 @@ import Vue from 'vue'
 
 import Notifier from '@/libs/notifier'
 import { OneMoreTime } from '@/one-more-time'
+import autopilot_data from '@/store/autopilot'
 import autopilot from '@/store/autopilot_manager'
 import { AutopilotEndpoint } from '@/types/autopilot'
 import { autopilot_service } from '@/types/frontend_services'
 import back_axios from '@/utils/api'
 
 import SpinningLogo from '../common/SpinningLogo.vue'
-import { fetchAvailableEndpoints } from './AutopilotManagerUpdater'
+import { fetchAvailableEndpoints, fetchCurrentBoard } from './AutopilotManagerUpdater'
 import EndpointCard from './EndpointCard.vue'
 import CreationDialog from './EndpointCreationDialog.vue'
 
@@ -128,7 +152,10 @@ export default Vue.extend({
       selected_router: '',
       available_routers: [] as string[],
       updating_router: false,
+      heartbeat_expired: false,
+      heartbeat_timeout: null as number | null,
       fetch_available_endpoints_task: new OneMoreTime({ delay: 5000, disposeWith: this }),
+      fetch_current_board_task: new OneMoreTime({ delay: 5000, disposeWith: this }),
     }
   },
   computed: {
@@ -141,9 +168,29 @@ export default Vue.extend({
     are_endpoints_available(): boolean {
       return !this.available_endpoints.isEmpty()
     },
+    autopilot_board_is_running(): boolean {
+      return autopilot.current_board !== null && !this.heartbeat_expired && this.heartbeat_age() < 3000
+    },
+  },
+  watch: {
+    'autopilot_data.last_heartbeat_date': function onHeartbeatDateChange() {
+      if (this.heartbeat_timeout) {
+        clearTimeout(this.heartbeat_timeout)
+      }
+      this.heartbeat_expired = false
+      this.heartbeat_timeout = setTimeout(() => {
+        this.heartbeat_expired = true
+      }, 3000)
+    },
+  },
+  beforeDestroy() {
+    if (this.heartbeat_timeout) {
+      clearTimeout(this.heartbeat_timeout)
+    }
   },
   mounted() {
     this.fetch_available_endpoints_task.setAction(fetchAvailableEndpoints)
+    this.fetch_current_board_task.setAction(fetchCurrentBoard)
     this.fetchAvailableRouters()
     this.fetchCurrentRouter()
   },
@@ -206,6 +253,9 @@ export default Vue.extend({
           notifier.pushBackError('AUTOPILOT_ENDPOINT_CREATE_FAIL', error, true)
         })
     },
+    heartbeat_age(): number {
+      return new Date().valueOf() - autopilot_data.last_heartbeat_date.getTime()
+    },
   },
 })
 </script>
diff --git a/core/frontend/src/components/health/HealthTrayMenu.vue b/core/frontend/src/components/health/HealthTrayMenu.vue
index cce1cff5cb..1a4c669c3b 100644
--- a/core/frontend/src/components/health/HealthTrayMenu.vue
+++ b/core/frontend/src/components/health/HealthTrayMenu.vue
@@ -170,7 +170,6 @@ export default Vue.extend({
   data() {
     return {
       time_limit_heartbeat: 3000,
-      last_heartbeat_date: new Date(),
     }
   },
   computed: {
@@ -238,12 +237,12 @@ export default Vue.extend({
       autopilot_data.setSystemId(message?.header.system_id)
       autopilot_data.setAutopilotType(message?.message.autopilot.type)
       autopilot_data.setVehicleArmed(Boolean(message?.message.base_mode.bits & MavModeFlag.MAV_MODE_FLAG_SAFETY_ARMED))
-      this.last_heartbeat_date = new Date()
+      autopilot_data.setLastHeartbeatDate(new Date())
     }).setFrequency(0)
   },
   methods: {
     heartbeat_age(): number {
-      return new Date().valueOf() - this.last_heartbeat_date.getTime()
+      return new Date().valueOf() - autopilot_data.last_heartbeat_date.getTime()
     },
     is_vehicle(type: string) {
       return [
diff --git a/core/frontend/src/store/autopilot.ts b/core/frontend/src/store/autopilot.ts
index e890f01ec1..ec9522e36e 100644
--- a/core/frontend/src/store/autopilot.ts
+++ b/core/frontend/src/store/autopilot.ts
@@ -55,6 +55,8 @@ class AutopilotStore extends VuexModule {
 
   verhicle_armed = false
 
+  last_heartbeat_date: Date = new Date()
+
   get parameter() {
     return (name: string): Parameter | undefined => this.parameters.find((parameter) => parameter.name === name)
   }
@@ -72,7 +74,6 @@ class AutopilotStore extends VuexModule {
     )
   }
 
-
   get vehicle_type(): string {
     return autopilot_manager.vehicle_type
   }
@@ -173,6 +174,11 @@ class AutopilotStore extends VuexModule {
   setVehicleArmed(armed: boolean): void {
     this.verhicle_armed = armed
   }
+
+  @Mutation
+  setLastHeartbeatDate(date: Date): void {
+    this.last_heartbeat_date = date
+  }
 }
 
 export { AutopilotStore }
diff --git a/core/frontend/src/views/Autopilot.vue b/core/frontend/src/views/Autopilot.vue
index a02c0eb5d8..343338e216 100644
--- a/core/frontend/src/views/Autopilot.vue
+++ b/core/frontend/src/views/Autopilot.vue
@@ -88,7 +88,7 @@
           Change board
         </v-btn>
         <v-btn
-          v-if="settings.is_pirate_mode && board_supports_start_stop"
+          v-if="settings.is_pirate_mode"
           class="ma-1"
           :block="$vuetify.breakpoint.xs"
           color="secondary"
@@ -98,7 +98,7 @@
           Start autopilot
         </v-btn>
         <v-btn
-          v-if="settings.is_pirate_mode && board_supports_start_stop"
+          v-if="settings.is_pirate_mode"
           class="ma-1"
           :block="$vuetify.breakpoint.xs"
           color="secondary"
@@ -174,9 +174,6 @@ export default Vue.extend({
     }
   },
   computed: {
-    board_supports_start_stop(): boolean {
-      return this.current_board?.name !== 'Manual'
-    },
     board_supports_restart(): boolean {
       // this is a mavlink command, all boards should support it
       return true