diff --git a/src/FirmwarePlugin/APM/APMParameterFactMetaData.Sub.4.1.xml b/src/FirmwarePlugin/APM/APMParameterFactMetaData.Sub.4.1.xml
index 3717fa2..3fb0b59 100644
--- a/src/FirmwarePlugin/APM/APMParameterFactMetaData.Sub.4.1.xml
+++ b/src/FirmwarePlugin/APM/APMParameterFactMetaData.Sub.4.1.xml
@@ -146,6 +146,7 @@
 <param humanName="Angle Max" name="ArduSub:ANGLE_MAX" documentation="Maximum lean angle in all flight modes" user="Advanced">
 <field name="Units">cdeg</field>
 <field name="UnitText">centidegrees</field>
+<field name="Increment">10</field>
 <field name="Range">1000 8000</field>
 </param>
 <param humanName="EKF Failsafe Action" name="ArduSub:FS_EKF_ACTION" documentation="Controls the action that will be taken when an EKF failsafe is invoked" user="Advanced">
@@ -236,7 +237,9 @@
 </values>
 </param>
 </parameters>
-</vehicles><libraries><parameters name="AHRS_">
+</vehicles>
+<libraries>
+<parameters name="AHRS_">
 <param humanName="AHRS GPS gain" name="AHRS_GPS_GAIN" documentation="This controls how much to use the GPS to correct the attitude. This should never be set to zero for a plane as it would result in the plane losing control in turns. For a plane please use the default value of 1.0." user="Advanced">
 <field name="Range">0.0 1.0</field>
 <field name="Increment">.01</field>
@@ -255,7 +258,7 @@
 <field name="Range">0.1 0.4</field>
 <field name="Increment">.01</field>
 </param>
-<param humanName="Maximum wind" name="AHRS_WIND_MAX" documentation="This sets the maximum allowable difference between ground speed and airspeed. This allows the plane to cope with a failing airspeed sensor. A value of zero means to use the airspeed as is." user="Advanced">
+<param humanName="Maximum wind" name="AHRS_WIND_MAX" documentation="This sets the maximum allowable difference between ground speed and airspeed. This allows the plane to cope with a failing airspeed sensor. A value of zero means to use the airspeed as is. See ARSPD_OPTIONS and ARSPD_MAX_WIND to disable airspeed sensors." user="Advanced">
 <field name="Range">0 127</field>
 <field name="Units">m/s</field>
 <field name="UnitText">meters per second</field>
@@ -338,6 +341,7 @@
 <value code="0">Disabled</value>
 <value code="2">Enable EKF2</value>
 <value code="3">Enable EKF3</value>
+<value code="11">ExternalAHRS</value>
 </values>
 </param>
 <param humanName="Board orientation roll offset" name="AHRS_CUSTOM_ROLL" documentation="Autopilot mounting position roll offset. Positive values = roll right, negative values = roll left. This parameter is only used when AHRS_ORIENTATION is set to CUSTOM." user="Advanced">
@@ -375,30 +379,135 @@
 <param humanName="Required mission items" name="ARMING_MIS_ITEMS" documentation="Bitmask of mission items that are required to be planned in order to arm the aircraft" user="Advanced">
 <field name="Bitmask">0:Land,1:VTOL Land,2:DO_LAND_START,3:Takeoff,4:VTOL Takeoff,5:Rallypoint</field>
 </param>
-<param humanName="Arm Checks to Perform (bitmask)" name="ARMING_CHECK" documentation="Checks prior to arming motor. This is a bitmask of checks that will be performed before allowing arming. The default is no checks, allowing arming at any time. You can select whatever checks you prefer by adding together the values of each check type to set this parameter. For example, to only allow arming when you have GPS lock and no RC failsafe you would set ARMING_CHECK to 72. For most users it is recommended that you set this to 1 to enable all checks." user="Standard">
+<param humanName="Arm Checks to Perform (bitmask)" name="ARMING_CHECK" documentation="Checks prior to arming motor. This is a bitmask of checks that will be performed before allowing arming. For most users it is recommended to leave this at the default of 1 (all checks enabled). You can select whatever checks you prefer by adding together the values of each check type to set this parameter. For example, to only allow arming when you have GPS lock and no RC failsafe you would set ARMING_CHECK to 72." user="Standard">
+<field name="Bitmask">0:All,1:Barometer,2:Compass,3:GPS lock,4:INS,5:Parameters,6:RC Channels,7:Board voltage,8:Battery Level,10:Logging Available,11:Hardware safety switch,12:GPS Configuration,13:System,14:Mission,15:Rangefinder,16:Camera,17:AuxAuth,18:VisualOdometry,19:FFT</field>
+</param>
+</parameters>
+<parameters name="ARSPD">
+<param humanName="Airspeed type" name="ARSPD_TYPE" documentation="Type of airspeed sensor" user="Standard">
+<values>
+<value code="0">None</value>
+<value code="1">I2C-MS4525D0</value>
+<value code="2">Analog</value>
+<value code="3">I2C-MS5525</value>
+<value code="4">I2C-MS5525 (0x76)</value>
+<value code="5">I2C-MS5525 (0x77)</value>
+<value code="6">I2C-SDP3X</value>
+<value code="7">I2C-DLVR-5in</value>
+<value code="8">UAVCAN</value>
+<value code="9">I2C-DLVR-10in</value>
+<value code="10">I2C-DLVR-20in</value>
+<value code="11">I2C-DLVR-30in</value>
+<value code="12">I2C-DLVR-60in</value>
+<value code="13">NMEA water speed</value>
+<value code="14">MSP</value>
+<value code="15">ASP5033</value>
+</values>
+</param>
+<param humanName="Airspeed use" name="ARSPD_USE" documentation="Enables airspeed use for automatic throttle modes and replaces control from THR_TRIM. Continues to display and log airspeed if set to 0. Uses airspeed for control if set to 1. Only uses airspeed when throttle = 0 if set to 2 (useful for gliders with airspeed sensors behind propellers)." user="Standard">
+<values>
+<value code="0">DoNotUse</value>
+<value code="1">Use</value>
+<value code="2">UseWhenZeroThrottle</value>
+</values>
+</param>
+<param humanName="Airspeed offset" name="ARSPD_OFFSET" documentation="Airspeed calibration offset" user="Advanced">
+<field name="Increment">0.1</field>
+</param>
+<param humanName="Airspeed ratio" name="ARSPD_RATIO" documentation="Calibrates pitot tube pressure to velocity. Increasing this value will indicate a higher airspeed at any given dynamic pressure." user="Advanced">
+<field name="Increment">0.1</field>
+</param>
+<param humanName="Airspeed pin" name="ARSPD_PIN" documentation="The pin number that the airspeed sensor is connected to for analog sensors. Set to 15 on the Pixhawk for the analog airspeed port. " user="Advanced">
+</param>
+<param humanName="Automatic airspeed ratio calibration" name="ARSPD_AUTOCAL" documentation="Enables automatic adjustment of ARSPD_RATIO during a calibration flight based on estimation of ground speed and true airspeed. New ratio saved every 2 minutes if change is &gt; 5%. Should not be left enabled." user="Advanced">
+</param>
+<param humanName="Control pitot tube order" name="ARSPD_TUBE_ORDER" documentation="Changes the pitot tube order to specify the dynamic pressure side of the sensor. Accepts either if set to 2. Accepts only one side if set to 0 or 1 and can help detect excessive pressure on the static port without indicating positive airspeed." user="Advanced">
+</param>
+<param humanName="Skip airspeed calibration on startup" name="ARSPD_SKIP_CAL" documentation="This parameter allows you to skip airspeed offset calibration on startup, instead using the offset from the last calibration. This may be desirable if the offset variance between flights for your sensor is low and you want to avoid having to cover the pitot tube on each boot." user="Advanced">
+<values>
+<value code="0">Disable</value>
+<value code="1">Enable</value>
+</values>
+</param>
+<param humanName="The PSI range of the device" name="ARSPD_PSI_RANGE" documentation="This parameter allows you to to set the PSI (pounds per square inch) range for your sensor. You should not change this unless you examine the datasheet for your device" user="Advanced">
+</param>
+<param humanName="Airspeed I2C bus" name="ARSPD_BUS" documentation="Bus number of the I2C bus where the airspeed sensor is connected" user="Advanced">
+<values>
+<value code="0">Bus0(internal)</value>
+<value code="1">Bus1(external)</value>
+<value code="2">Bus2(auxillary)</value>
+</values>
+</param>
+<param humanName="Primary airspeed sensor" name="ARSPD_PRIMARY" documentation="This selects which airspeed sensor will be the primary if multiple sensors are found" user="Advanced">
+<values>
+<value code="0">FirstSensor</value>
+<value code="1">2ndSensor</value>
+</values>
+</param>
+<param humanName="Airspeed options bitmask" name="ARSPD_OPTIONS" documentation="Bitmask of options to use with airspeed. Disable and/or re-enable sensor based on the difference between airspeed and ground speed based on ARSPD_WIND_MAX threshold, if set" user="Advanced">
+<field name="Bitmask">0:Disable sensor, 1:Re-enable sensor</field>
+</param>
+<param humanName="Maximum airspeed and ground speed difference" name="ARSPD_WIND_MAX" documentation="If the difference between airspeed and ground speed is greater than this value the sensor will be marked unhealthy. Using ARSPD_OPTION this health value can be used to disable the sensor." user="Advanced">
+<field name="Units">m/s</field>
+<field name="UnitText">meters per second</field>
+</param>
+<param humanName="Airspeed and ground speed difference that gives a warning" name="ARSPD_WIND_WARN" documentation="If the difference between airspeed and ground speed is greater than this value the sensor will issue a warning. If 0 ARSPD_WIND_MAX is used." user="Advanced">
+<field name="Units">m/s</field>
+<field name="UnitText">meters per second</field>
+</param>
+<param humanName="Second Airspeed type" name="ARSPD2_TYPE" documentation="Type of 2nd airspeed sensor" user="Standard">
 <values>
 <value code="0">None</value>
-<value code="1">All</value>
-<value code="2">Barometer</value>
-<value code="4">Compass</value>
-<value code="8">GPS Lock</value>
-<value code="16">INS(INertial Sensors - accels &amp; gyros)</value>
-<value code="32">Parameters(unused)</value>
-<value code="64">RC Channels</value>
-<value code="128">Board voltage</value>
-<value code="256">Battery Level</value>
-<value code="512">Airspeed</value>
-<value code="1024">LoggingAvailable</value>
-<value code="2048">Hardware safety switch</value>
-<value code="4096">GPS configuration</value>
-<value code="8192">System</value>
-<value code="16384">Mission</value>
-<value code="32768">RangeFinder</value>
-<value code="65536">Camera</value>
-<value code="131072">AuxAuth</value>
-<value code="524288">FFT</value>
-</values>
-<field name="Bitmask">0:All,1:Barometer,2:Compass,3:GPS lock,4:INS,5:Parameters,6:RC Channels,7:Board voltage,8:Battery Level,9:Airspeed,10:Logging Available,11:Hardware safety switch,12:GPS Configuration,13:System,14:Mission,15:Rangefinder,16:Camera,17:AuxAuth,19:FFT</field>
+<value code="1">I2C-MS4525D0</value>
+<value code="2">Analog</value>
+<value code="3">I2C-MS5525</value>
+<value code="4">I2C-MS5525 (0x76)</value>
+<value code="5">I2C-MS5525 (0x77)</value>
+<value code="6">I2C-SDP3X</value>
+<value code="7">I2C-DLVR-5in</value>
+<value code="8">UAVCAN</value>
+<value code="9">I2C-DLVR-10in</value>
+<value code="10">I2C-DLVR-20in</value>
+<value code="11">I2C-DLVR-30in</value>
+<value code="12">I2C-DLVR-60in</value>
+<value code="13">NMEA water speed</value>
+<value code="14">MSP</value>
+<value code="15">ASP5033</value>
+</values>
+</param>
+<param humanName="Enable use of 2nd airspeed sensor" name="ARSPD2_USE" documentation="use airspeed for flight control. When set to 0 airspeed sensor can be logged and displayed on a GCS but won't be used for flight. When set to 1 it will be logged and used. When set to 2 it will be only used when the throttle is zero, which can be useful in gliders with airspeed sensors behind a propeller" user="Standard">
+<values>
+<value code="0">Don't Use</value>
+<value code="1">use</value>
+<value code="2">UseWhenZeroThrottle</value>
+</values>
+</param>
+<param humanName="Airspeed offset for 2nd airspeed sensor" name="ARSPD2_OFFSET" documentation="Airspeed calibration offset" user="Advanced">
+<field name="Increment">0.1</field>
+</param>
+<param humanName="Airspeed ratio for 2nd airspeed sensor" name="ARSPD2_RATIO" documentation="Airspeed calibration ratio" user="Advanced">
+<field name="Increment">0.1</field>
+</param>
+<param humanName="Airspeed pin for 2nd airspeed sensor" name="ARSPD2_PIN" documentation="Pin number indicating location of analog airspeed sensors. Pixhawk/Cube if set to 15. " user="Advanced">
+</param>
+<param humanName="Automatic airspeed ratio calibration for 2nd airspeed sensor" name="ARSPD2_AUTOCAL" documentation="If this is enabled then the autopilot will automatically adjust the ARSPD_RATIO during flight, based upon an estimation filter using ground speed and true airspeed. The automatic calibration will save the new ratio to EEPROM every 2 minutes if it changes by more than 5%. This option should be enabled for a calibration flight then disabled again when calibration is complete. Leaving it enabled all the time is not recommended." user="Advanced">
+</param>
+<param humanName="Control pitot tube order of 2nd airspeed sensor" name="ARSPD2_TUBE_ORDR" documentation="This parameter allows you to control whether the order in which the tubes are attached to your pitot tube matters. If you set this to 0 then the top connector on the sensor needs to be the dynamic pressure. If set to 1 then the bottom connector needs to be the dynamic pressure. If set to 2 (the default) then the airspeed driver will accept either order. The reason you may wish to specify the order is it will allow your airspeed sensor to detect if the aircraft it receiving excessive pressure on the static port, which would otherwise be seen as a positive airspeed." user="Advanced">
+</param>
+<param humanName="Skip airspeed calibration on startup for 2nd sensor" name="ARSPD2_SKIP_CAL" documentation="This parameter allows you to skip airspeed offset calibration on startup, instead using the offset from the last calibration. This may be desirable if the offset variance between flights for your sensor is low and you want to avoid having to cover the pitot tube on each boot." user="Advanced">
+<values>
+<value code="0">Disable</value>
+<value code="1">Enable</value>
+</values>
+</param>
+<param humanName="The PSI range of the device for 2nd sensor" name="ARSPD2_PSI_RANGE" documentation="This parameter allows you to to set the PSI (pounds per square inch) range for your sensor. You should not change this unless you examine the datasheet for your device" user="Advanced">
+</param>
+<param humanName="Airspeed I2C bus for 2nd sensor" name="ARSPD2_BUS" documentation="The bus number of the I2C bus to look for the sensor on" user="Advanced">
+<values>
+<value code="0">Bus0(internal)</value>
+<value code="1">Bus1(external)</value>
+<value code="2">Bus2(auxillary)</value>
+</values>
 </param>
 </parameters>
 <parameters name="ATC_">
@@ -525,8 +634,6 @@
 <param humanName="Roll axis rate controller I gain maximum" name="ATC_RAT_RLL_IMAX" documentation="Roll axis rate controller I gain maximum.  Constrains the maximum motor output that the I gain will output" user="Standard">
 <field name="Range">0 1</field>
 <field name="Increment">0.01</field>
-<field name="Units">%</field>
-<field name="UnitText">percent</field>
 </param>
 <param humanName="Roll axis rate controller D gain" name="ATC_RAT_RLL_D" documentation="Roll axis rate controller D gain.  Compensates for short-term change in desired roll rate vs actual roll rate" user="Standard">
 <field name="Range">0.0 0.02</field>
@@ -554,6 +661,10 @@
 <field name="Units">Hz</field>
 <field name="UnitText">hertz</field>
 </param>
+<param humanName="Roll slew rate limit" name="ATC_RAT_RLL_SMAX" documentation="Sets an upper limit on the slew rate produced by the combined P and D gains. If the amplitude of the control action produced by the rate feedback exceeds this value, then the D+P gain is reduced to respect the limit. This limits the amplitude of high frequency oscillations caused by an excessive gain. The limit should be set to no more than 25% of the actuators maximum slew rate to allow for load effects. Note: The gain will not be reduced to less than 10% of the nominal value. A value of zero will disable this feature." user="Advanced">
+<field name="Range">0 200</field>
+<field name="Increment">0.5</field>
+</param>
 <param humanName="Pitch axis rate controller P gain" name="ATC_RAT_PIT_P" documentation="Pitch axis rate controller P gain.  Converts the difference between desired pitch rate and actual pitch rate into a motor speed output" user="Standard">
 <field name="Range">0.0 0.30</field>
 <field name="Increment">0.005</field>
@@ -565,8 +676,6 @@
 <param humanName="Pitch axis rate controller I gain maximum" name="ATC_RAT_PIT_IMAX" documentation="Pitch axis rate controller I gain maximum.  Constrains the maximum motor output that the I gain will output" user="Standard">
 <field name="Range">0 1</field>
 <field name="Increment">0.01</field>
-<field name="Units">%</field>
-<field name="UnitText">percent</field>
 </param>
 <param humanName="Pitch axis rate controller D gain" name="ATC_RAT_PIT_D" documentation="Pitch axis rate controller D gain.  Compensates for short-term change in desired pitch rate vs actual pitch rate" user="Standard">
 <field name="Range">0.0 0.02</field>
@@ -594,6 +703,10 @@
 <field name="Units">Hz</field>
 <field name="UnitText">hertz</field>
 </param>
+<param humanName="Pitch slew rate limit" name="ATC_RAT_PIT_SMAX" documentation="Sets an upper limit on the slew rate produced by the combined P and D gains. If the amplitude of the control action produced by the rate feedback exceeds this value, then the D+P gain is reduced to respect the limit. This limits the amplitude of high frequency oscillations caused by an excessive gain. The limit should be set to no more than 25% of the actuators maximum slew rate to allow for load effects. Note: The gain will not be reduced to less than 10% of the nominal value. A value of zero will disable this feature." user="Advanced">
+<field name="Range">0 200</field>
+<field name="Increment">0.5</field>
+</param>
 <param humanName="Yaw axis rate controller P gain" name="ATC_RAT_YAW_P" documentation="Yaw axis rate controller P gain.  Converts the difference between desired yaw rate and actual yaw rate into a motor speed output" user="Standard">
 <field name="Range">0.0 0.50</field>
 <field name="Increment">0.005</field>
@@ -605,8 +718,6 @@
 <param humanName="Yaw axis rate controller I gain maximum" name="ATC_RAT_YAW_IMAX" documentation="Yaw axis rate controller I gain maximum.  Constrains the maximum motor output that the I gain will output" user="Standard">
 <field name="Range">0 1</field>
 <field name="Increment">0.01</field>
-<field name="Units">%</field>
-<field name="UnitText">percent</field>
 </param>
 <param humanName="Yaw axis rate controller D gain" name="ATC_RAT_YAW_D" documentation="Yaw axis rate controller D gain.  Compensates for short-term change in desired yaw rate vs actual yaw rate" user="Standard">
 <field name="Range">0.000 0.02</field>
@@ -634,6 +745,10 @@
 <field name="Units">Hz</field>
 <field name="UnitText">hertz</field>
 </param>
+<param humanName="Yaw slew rate limit" name="ATC_RAT_YAW_SMAX" documentation="Sets an upper limit on the slew rate produced by the combined P and D gains. If the amplitude of the control action produced by the rate feedback exceeds this value, then the D+P gain is reduced to respect the limit. This limits the amplitude of high frequency oscillations caused by an excessive gain. The limit should be set to no more than 25% of the actuators maximum slew rate to allow for load effects. Note: The gain will not be reduced to less than 10% of the nominal value. A value of zero will disable this feature." user="Advanced">
+<field name="Range">0 200</field>
+<field name="Increment">0.5</field>
+</param>
 <param humanName="Throttle Mix Minimum" name="ATC_THR_MIX_MIN" documentation="Throttle vs attitude control prioritisation used when landing (higher values mean we prioritise attitude control over throttle)" user="Advanced">
 <field name="Range">0.1 0.25</field>
 </param>
@@ -664,14 +779,6 @@
 </parameters>
 <parameters name="AVOID_">
 <param humanName="Avoidance control enable/disable" name="AVOID_ENABLE" documentation="Enabled/disable avoidance input sources" user="Standard">
-<values>
-<value code="0">None</value>
-<value code="1">UseFence</value>
-<value code="2">UseProximitySensor</value>
-<value code="3">UseFence and UseProximitySensor</value>
-<value code="4">UseBeaconFence</value>
-<value code="7">All</value>
-</values>
 <field name="Bitmask">0:UseFence,1:UseProximitySensor,2:UseBeaconFence</field>
 </param>
 <param humanName="Avoidance distance margin in GPS modes" name="AVOID_MARGIN" documentation="Vehicle will attempt to stay at least this distance (in meters) from objects while in GPS modes" user="Standard">
@@ -684,6 +791,157 @@
 <field name="UnitText">meters per second</field>
 <field name="Range">0 2</field>
 </param>
+<param humanName="Avoidance maximum acceleration" name="AVOID_ACCEL_MAX" documentation="Maximum acceleration with which obstacles will be avoided with. Set zero to disable acceleration limits" user="Standard">
+<field name="Units">m/s/s</field>
+<field name="UnitText">meters per square second</field>
+<field name="Range">0 9</field>
+</param>
+<param humanName="Avoidance deadzone between stopping and backing away from obstacle" name="AVOID_BACKUP_DZ" documentation="Distance beyond AVOID_MARGIN parameter, after which vehicle will backaway from obstacles. Increase this parameter if you see vehicle going back and forth in front of obstacle." user="Standard">
+<field name="Units">m</field>
+<field name="UnitText">meters</field>
+<field name="Range">0 2</field>
+</param>
+</parameters>
+<parameters name="BARO">
+<param humanName="Ground Pressure" name="BARO1_GND_PRESS" documentation="calibrated ground pressure in Pascals" user="Advanced">
+<field name="Units">Pa</field>
+<field name="UnitText">pascal</field>
+<field name="Increment">1</field>
+<field name="ReadOnly">True</field>
+<field name="Volatile">True</field>
+</param>
+<param humanName="ground temperature" name="BARO_GND_TEMP" documentation="User provided ambient ground temperature in degrees Celsius. This is used to improve the calculation of the altitude the vehicle is at. This parameter is not persistent and will be reset to 0 every time the vehicle is rebooted. A value of 0 means use the internal measurement ambient temperature." user="Advanced">
+<field name="Units">degC</field>
+<field name="UnitText">degrees Celsius</field>
+<field name="Increment">1</field>
+<field name="Volatile">True</field>
+</param>
+<param humanName="altitude offset" name="BARO_ALT_OFFSET" documentation="altitude offset in meters added to barometric altitude. This is used to allow for automatic adjustment of the base barometric altitude by a ground station equipped with a barometer. The value is added to the barometric altitude read by the aircraft. It is automatically reset to 0 when the barometer is calibrated on each reboot or when a preflight calibration is performed." user="Advanced">
+<field name="Units">m</field>
+<field name="UnitText">meters</field>
+<field name="Increment">0.1</field>
+</param>
+<param humanName="Primary barometer" name="BARO_PRIMARY" documentation="This selects which barometer will be the primary if multiple barometers are found" user="Advanced">
+<values>
+<value code="0">FirstBaro</value>
+<value code="1">2ndBaro</value>
+<value code="2">3rdBaro</value>
+</values>
+</param>
+<param humanName="External baro bus" name="BARO_EXT_BUS" documentation="This selects the bus number for looking for an I2C barometer. When set to -1 it will probe all external i2c buses based on the GND_PROBE_EXT parameter." user="Advanced">
+<values>
+<value code="-1">Disabled</value>
+<value code="0">Bus0</value>
+<value code="1">Bus1</value>
+</values>
+</param>
+<param humanName="Specific Gravity (For water depth measurement)" name="BARO_SPEC_GRAV" documentation="This sets the specific gravity of the fluid when flying an underwater ROV.">
+<field name="Values">1.0:Freshwater,1.024:Saltwater</field>
+</param>
+<param humanName="Ground Pressure" name="BARO2_GND_PRESS" documentation="calibrated ground pressure in Pascals" user="Advanced">
+<field name="Units">Pa</field>
+<field name="UnitText">pascal</field>
+<field name="Increment">1</field>
+<field name="ReadOnly">True</field>
+<field name="Volatile">True</field>
+</param>
+<param humanName="Absolute Pressure" name="BARO3_GND_PRESS" documentation="calibrated ground pressure in Pascals" user="Advanced">
+<field name="Units">Pa</field>
+<field name="UnitText">pascal</field>
+<field name="Increment">1</field>
+<field name="ReadOnly">True</field>
+<field name="Volatile">True</field>
+</param>
+<param humanName="Range in which sample is accepted" name="BARO_FLTR_RNG" documentation="This sets the range around the average value that new samples must be within to be accepted. This can help reduce the impact of noise on sensors that are on long I2C cables. The value is a percentage from the average value. A value of zero disables this filter.">
+<field name="Units">%</field>
+<field name="UnitText">percent</field>
+<field name="Range">0 100</field>
+<field name="Increment">1</field>
+</param>
+<param humanName="External barometers to probe" name="BARO_PROBE_EXT" documentation="This sets which types of external i2c barometer to look for. It is a bitmask of barometer types. The I2C buses to probe is based on GND_EXT_BUS. If BARO_EXT_BUS is -1 then it will probe all external buses, otherwise it will probe just the bus number given in GND_EXT_BUS." user="Advanced">
+<field name="Bitmask">0:BMP085,1:BMP280,2:MS5611,3:MS5607,4:MS5637,5:FBM320,6:DPS280,7:LPS25H,8:Keller,9:MS5837,10:BMP388,11:SPL06,12:MSP</field>
+</param>
+<param humanName="Baro ID" name="BARO1_DEVID" documentation="Barometer sensor ID, taking into account its type, bus and instance" user="Advanced">
+<field name="ReadOnly">True</field>
+</param>
+<param humanName="Baro ID2" name="BARO2_DEVID" documentation="Barometer2 sensor ID, taking into account its type, bus and instance" user="Advanced">
+<field name="ReadOnly">True</field>
+</param>
+<param humanName="Baro ID3" name="BARO3_DEVID" documentation="Barometer3 sensor ID, taking into account its type, bus and instance" user="Advanced">
+<field name="ReadOnly">True</field>
+</param>
+</parameters>
+<parameters name="BARO1_WCF_">
+<param humanName="Wind coefficient enable" name="BARO1_WCF_ENABLE" documentation="This enables the use of wind coefficients for barometer compensation" user="Advanced">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="Pressure error coefficient in positive X direction (forward)" name="BARO1_WCF_FWD" documentation="This is the ratio of static pressure error to dynamic pressure generated by a positive wind relative velocity along the X body axis. If the baro height estimate rises during forwards flight, then this will be a negative number. Multirotors can use this feature only if using EKF3 and if the EK3_BCOEF_X and EK3_BCOEF_Y parameters have been tuned." user="Advanced">
+<field name="Range">-1.0 1.0</field>
+<field name="Increment">0.05</field>
+</param>
+<param humanName="Pressure error coefficient in negative X direction (backwards)" name="BARO1_WCF_BCK" documentation="This is the ratio of static pressure error to dynamic pressure generated by a negative wind relative velocity along the X body axis. If the baro height estimate rises during backwards flight, then this will be a negative number. Multirotors can use this feature only if using EKF3 and if the EK3_BCOEF_X and EK3_BCOEF_Y parameters have been tuned." user="Advanced">
+<field name="Range">-1.0 1.0</field>
+<field name="Increment">0.05</field>
+</param>
+<param humanName="Pressure error coefficient in positive Y direction (right)" name="BARO1_WCF_RGT" documentation="This is the ratio of static pressure error to dynamic pressure generated by a positive wind relative velocity along the Y body axis. If the baro height estimate rises during sideways flight to the right, then this should be a negative number. Multirotors can use this feature only if using EKF3 and if the EK3_BCOEF_X and EK3_BCOEF_Y parameters have been tuned." user="Advanced">
+<field name="Range">-1.0 1.0</field>
+<field name="Increment">0.05</field>
+</param>
+<param humanName="Pressure error coefficient in negative Y direction (left)" name="BARO1_WCF_LFT" documentation="This is the ratio of static pressure error to dynamic pressure generated by a negative wind relative velocity along the Y body axis. If the baro height estimate rises during sideways flight to the left, then this should be a negative number. Multirotors can use this feature only if using EKF3 and if the EK3_BCOEF_X and EK3_BCOEF_Y parameters have been tuned." user="Advanced">
+<field name="Range">-1.0 1.0</field>
+<field name="Increment">0.05</field>
+</param>
+</parameters>
+<parameters name="BARO2_WCF_">
+<param humanName="Wind coefficient enable" name="BARO2_WCF_ENABLE" documentation="This enables the use of wind coefficients for barometer compensation" user="Advanced">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="Pressure error coefficient in positive X direction (forward)" name="BARO2_WCF_FWD" documentation="This is the ratio of static pressure error to dynamic pressure generated by a positive wind relative velocity along the X body axis. If the baro height estimate rises during forwards flight, then this will be a negative number. Multirotors can use this feature only if using EKF3 and if the EK3_BCOEF_X and EK3_BCOEF_Y parameters have been tuned." user="Advanced">
+<field name="Range">-1.0 1.0</field>
+<field name="Increment">0.05</field>
+</param>
+<param humanName="Pressure error coefficient in negative X direction (backwards)" name="BARO2_WCF_BCK" documentation="This is the ratio of static pressure error to dynamic pressure generated by a negative wind relative velocity along the X body axis. If the baro height estimate rises during backwards flight, then this will be a negative number. Multirotors can use this feature only if using EKF3 and if the EK3_BCOEF_X and EK3_BCOEF_Y parameters have been tuned." user="Advanced">
+<field name="Range">-1.0 1.0</field>
+<field name="Increment">0.05</field>
+</param>
+<param humanName="Pressure error coefficient in positive Y direction (right)" name="BARO2_WCF_RGT" documentation="This is the ratio of static pressure error to dynamic pressure generated by a positive wind relative velocity along the Y body axis. If the baro height estimate rises during sideways flight to the right, then this should be a negative number. Multirotors can use this feature only if using EKF3 and if the EK3_BCOEF_X and EK3_BCOEF_Y parameters have been tuned." user="Advanced">
+<field name="Range">-1.0 1.0</field>
+<field name="Increment">0.05</field>
+</param>
+<param humanName="Pressure error coefficient in negative Y direction (left)" name="BARO2_WCF_LFT" documentation="This is the ratio of static pressure error to dynamic pressure generated by a negative wind relative velocity along the Y body axis. If the baro height estimate rises during sideways flight to the left, then this should be a negative number. Multirotors can use this feature only if using EKF3 and if the EK3_BCOEF_X and EK3_BCOEF_Y parameters have been tuned." user="Advanced">
+<field name="Range">-1.0 1.0</field>
+<field name="Increment">0.05</field>
+</param>
+</parameters>
+<parameters name="BARO3_WCF_">
+<param humanName="Wind coefficient enable" name="BARO3_WCF_ENABLE" documentation="This enables the use of wind coefficients for barometer compensation" user="Advanced">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="Pressure error coefficient in positive X direction (forward)" name="BARO3_WCF_FWD" documentation="This is the ratio of static pressure error to dynamic pressure generated by a positive wind relative velocity along the X body axis. If the baro height estimate rises during forwards flight, then this will be a negative number. Multirotors can use this feature only if using EKF3 and if the EK3_BCOEF_X and EK3_BCOEF_Y parameters have been tuned." user="Advanced">
+<field name="Range">-1.0 1.0</field>
+<field name="Increment">0.05</field>
+</param>
+<param humanName="Pressure error coefficient in negative X direction (backwards)" name="BARO3_WCF_BCK" documentation="This is the ratio of static pressure error to dynamic pressure generated by a negative wind relative velocity along the X body axis. If the baro height estimate rises during backwards flight, then this will be a negative number. Multirotors can use this feature only if using EKF3 and if the EK3_BCOEF_X and EK3_BCOEF_Y parameters have been tuned." user="Advanced">
+<field name="Range">-1.0 1.0</field>
+<field name="Increment">0.05</field>
+</param>
+<param humanName="Pressure error coefficient in positive Y direction (right)" name="BARO3_WCF_RGT" documentation="This is the ratio of static pressure error to dynamic pressure generated by a positive wind relative velocity along the Y body axis. If the baro height estimate rises during sideways flight to the right, then this should be a negative number. Multirotors can use this feature only if using EKF3 and if the EK3_BCOEF_X and EK3_BCOEF_Y parameters have been tuned." user="Advanced">
+<field name="Range">-1.0 1.0</field>
+<field name="Increment">0.05</field>
+</param>
+<param humanName="Pressure error coefficient in negative Y direction (left)" name="BARO3_WCF_LFT" documentation="This is the ratio of static pressure error to dynamic pressure generated by a negative wind relative velocity along the Y body axis. If the baro height estimate rises during sideways flight to the left, then this should be a negative number. Multirotors can use this feature only if using EKF3 and if the EK3_BCOEF_X and EK3_BCOEF_Y parameters have been tuned." user="Advanced">
+<field name="Range">-1.0 1.0</field>
+<field name="Increment">0.05</field>
+</param>
 </parameters>
 <parameters name="BATT2_">
 <param humanName="Battery monitoring" name="BATT2_MONITOR" documentation="Controls enabling monitoring of the battery's voltage and current" user="Standard">
@@ -695,7 +953,7 @@
 <value code="6">Bebop</value>
 <value code="7">SMBus-Generic</value>
 <value code="8">UAVCAN-BatteryInfo</value>
-<value code="9">BLHeli ESC</value>
+<value code="9">ESC</value>
 <value code="10">SumOfFollowing</value>
 <value code="11">FuelFlow</value>
 <value code="12">FuelLevelPWM</value>
@@ -703,6 +961,9 @@
 <value code="14">SMBUS-SUI6</value>
 <value code="15">NeoDesign</value>
 <value code="16">SMBus-Maxell</value>
+<value code="17">Generator-Elec</value>
+<value code="18">Generator-Fuel</value>
+<value code="19">Rotoye</value>
 </values>
 <field name="RebootRequired">True</field>
 </param>
@@ -710,6 +971,7 @@
 <values>
 <value code="-1">Disabled</value>
 <value code="2">Pixhawk/Pixracer/Navio2/Pixhawk2_PM1</value>
+<value code="5">Navigator</value>
 <value code="13">Pixhawk2_PM2/CubeOrange_PM2</value>
 <value code="14">CubeOrange</value>
 <value code="16">Durandal</value>
@@ -721,9 +983,9 @@
 <values>
 <value code="-1">Disabled</value>
 <value code="3">Pixhawk/Pixracer/Navio2/Pixhawk2_PM1</value>
+<value code="4">CubeOrange_PM2/Navigator</value>
 <value code="14">Pixhawk2_PM2</value>
 <value code="15">CubeOrange</value>
-<value code="4">CubeOrange_PM2</value>
 <value code="17">Durandal</value>
 <value code="101">PX4-v1</value>
 </values>
@@ -805,6 +1067,9 @@
 <param humanName="Battery monitor I2C bus number" name="BATT2_BUS" documentation="Battery monitor I2C bus number" user="Standard">
 <field name="Range">0 3</field>
 </param>
+<param humanName="Battery monitor options" name="BATT2_OPTIONS" documentation="This sets options to change the behaviour of the battery monitor" user="Advanced">
+<field name="Bitmask">0:Ignore UAVCAN SoC</field>
+</param>
 </parameters>
 <parameters name="BATT3_">
 <param humanName="Battery monitoring" name="BATT3_MONITOR" documentation="Controls enabling monitoring of the battery's voltage and current" user="Standard">
@@ -816,7 +1081,7 @@
 <value code="6">Bebop</value>
 <value code="7">SMBus-Generic</value>
 <value code="8">UAVCAN-BatteryInfo</value>
-<value code="9">BLHeli ESC</value>
+<value code="9">ESC</value>
 <value code="10">SumOfFollowing</value>
 <value code="11">FuelFlow</value>
 <value code="12">FuelLevelPWM</value>
@@ -824,6 +1089,9 @@
 <value code="14">SMBUS-SUI6</value>
 <value code="15">NeoDesign</value>
 <value code="16">SMBus-Maxell</value>
+<value code="17">Generator-Elec</value>
+<value code="18">Generator-Fuel</value>
+<value code="19">Rotoye</value>
 </values>
 <field name="RebootRequired">True</field>
 </param>
@@ -831,6 +1099,7 @@
 <values>
 <value code="-1">Disabled</value>
 <value code="2">Pixhawk/Pixracer/Navio2/Pixhawk2_PM1</value>
+<value code="5">Navigator</value>
 <value code="13">Pixhawk2_PM2/CubeOrange_PM2</value>
 <value code="14">CubeOrange</value>
 <value code="16">Durandal</value>
@@ -842,9 +1111,9 @@
 <values>
 <value code="-1">Disabled</value>
 <value code="3">Pixhawk/Pixracer/Navio2/Pixhawk2_PM1</value>
+<value code="4">CubeOrange_PM2/Navigator</value>
 <value code="14">Pixhawk2_PM2</value>
 <value code="15">CubeOrange</value>
-<value code="4">CubeOrange_PM2</value>
 <value code="17">Durandal</value>
 <value code="101">PX4-v1</value>
 </values>
@@ -926,6 +1195,9 @@
 <param humanName="Battery monitor I2C bus number" name="BATT3_BUS" documentation="Battery monitor I2C bus number" user="Standard">
 <field name="Range">0 3</field>
 </param>
+<param humanName="Battery monitor options" name="BATT3_OPTIONS" documentation="This sets options to change the behaviour of the battery monitor" user="Advanced">
+<field name="Bitmask">0:Ignore UAVCAN SoC</field>
+</param>
 </parameters>
 <parameters name="BATT4_">
 <param humanName="Battery monitoring" name="BATT4_MONITOR" documentation="Controls enabling monitoring of the battery's voltage and current" user="Standard">
@@ -937,7 +1209,7 @@
 <value code="6">Bebop</value>
 <value code="7">SMBus-Generic</value>
 <value code="8">UAVCAN-BatteryInfo</value>
-<value code="9">BLHeli ESC</value>
+<value code="9">ESC</value>
 <value code="10">SumOfFollowing</value>
 <value code="11">FuelFlow</value>
 <value code="12">FuelLevelPWM</value>
@@ -945,6 +1217,9 @@
 <value code="14">SMBUS-SUI6</value>
 <value code="15">NeoDesign</value>
 <value code="16">SMBus-Maxell</value>
+<value code="17">Generator-Elec</value>
+<value code="18">Generator-Fuel</value>
+<value code="19">Rotoye</value>
 </values>
 <field name="RebootRequired">True</field>
 </param>
@@ -952,6 +1227,7 @@
 <values>
 <value code="-1">Disabled</value>
 <value code="2">Pixhawk/Pixracer/Navio2/Pixhawk2_PM1</value>
+<value code="5">Navigator</value>
 <value code="13">Pixhawk2_PM2/CubeOrange_PM2</value>
 <value code="14">CubeOrange</value>
 <value code="16">Durandal</value>
@@ -963,9 +1239,9 @@
 <values>
 <value code="-1">Disabled</value>
 <value code="3">Pixhawk/Pixracer/Navio2/Pixhawk2_PM1</value>
+<value code="4">CubeOrange_PM2/Navigator</value>
 <value code="14">Pixhawk2_PM2</value>
 <value code="15">CubeOrange</value>
-<value code="4">CubeOrange_PM2</value>
 <value code="17">Durandal</value>
 <value code="101">PX4-v1</value>
 </values>
@@ -1047,6 +1323,9 @@
 <param humanName="Battery monitor I2C bus number" name="BATT4_BUS" documentation="Battery monitor I2C bus number" user="Standard">
 <field name="Range">0 3</field>
 </param>
+<param humanName="Battery monitor options" name="BATT4_OPTIONS" documentation="This sets options to change the behaviour of the battery monitor" user="Advanced">
+<field name="Bitmask">0:Ignore UAVCAN SoC</field>
+</param>
 </parameters>
 <parameters name="BATT5_">
 <param humanName="Battery monitoring" name="BATT5_MONITOR" documentation="Controls enabling monitoring of the battery's voltage and current" user="Standard">
@@ -1058,7 +1337,7 @@
 <value code="6">Bebop</value>
 <value code="7">SMBus-Generic</value>
 <value code="8">UAVCAN-BatteryInfo</value>
-<value code="9">BLHeli ESC</value>
+<value code="9">ESC</value>
 <value code="10">SumOfFollowing</value>
 <value code="11">FuelFlow</value>
 <value code="12">FuelLevelPWM</value>
@@ -1066,6 +1345,9 @@
 <value code="14">SMBUS-SUI6</value>
 <value code="15">NeoDesign</value>
 <value code="16">SMBus-Maxell</value>
+<value code="17">Generator-Elec</value>
+<value code="18">Generator-Fuel</value>
+<value code="19">Rotoye</value>
 </values>
 <field name="RebootRequired">True</field>
 </param>
@@ -1073,6 +1355,7 @@
 <values>
 <value code="-1">Disabled</value>
 <value code="2">Pixhawk/Pixracer/Navio2/Pixhawk2_PM1</value>
+<value code="5">Navigator</value>
 <value code="13">Pixhawk2_PM2/CubeOrange_PM2</value>
 <value code="14">CubeOrange</value>
 <value code="16">Durandal</value>
@@ -1084,9 +1367,9 @@
 <values>
 <value code="-1">Disabled</value>
 <value code="3">Pixhawk/Pixracer/Navio2/Pixhawk2_PM1</value>
+<value code="4">CubeOrange_PM2/Navigator</value>
 <value code="14">Pixhawk2_PM2</value>
 <value code="15">CubeOrange</value>
-<value code="4">CubeOrange_PM2</value>
 <value code="17">Durandal</value>
 <value code="101">PX4-v1</value>
 </values>
@@ -1168,6 +1451,9 @@
 <param humanName="Battery monitor I2C bus number" name="BATT5_BUS" documentation="Battery monitor I2C bus number" user="Standard">
 <field name="Range">0 3</field>
 </param>
+<param humanName="Battery monitor options" name="BATT5_OPTIONS" documentation="This sets options to change the behaviour of the battery monitor" user="Advanced">
+<field name="Bitmask">0:Ignore UAVCAN SoC</field>
+</param>
 </parameters>
 <parameters name="BATT6_">
 <param humanName="Battery monitoring" name="BATT6_MONITOR" documentation="Controls enabling monitoring of the battery's voltage and current" user="Standard">
@@ -1179,7 +1465,7 @@
 <value code="6">Bebop</value>
 <value code="7">SMBus-Generic</value>
 <value code="8">UAVCAN-BatteryInfo</value>
-<value code="9">BLHeli ESC</value>
+<value code="9">ESC</value>
 <value code="10">SumOfFollowing</value>
 <value code="11">FuelFlow</value>
 <value code="12">FuelLevelPWM</value>
@@ -1187,6 +1473,9 @@
 <value code="14">SMBUS-SUI6</value>
 <value code="15">NeoDesign</value>
 <value code="16">SMBus-Maxell</value>
+<value code="17">Generator-Elec</value>
+<value code="18">Generator-Fuel</value>
+<value code="19">Rotoye</value>
 </values>
 <field name="RebootRequired">True</field>
 </param>
@@ -1194,6 +1483,7 @@
 <values>
 <value code="-1">Disabled</value>
 <value code="2">Pixhawk/Pixracer/Navio2/Pixhawk2_PM1</value>
+<value code="5">Navigator</value>
 <value code="13">Pixhawk2_PM2/CubeOrange_PM2</value>
 <value code="14">CubeOrange</value>
 <value code="16">Durandal</value>
@@ -1205,9 +1495,9 @@
 <values>
 <value code="-1">Disabled</value>
 <value code="3">Pixhawk/Pixracer/Navio2/Pixhawk2_PM1</value>
+<value code="4">CubeOrange_PM2/Navigator</value>
 <value code="14">Pixhawk2_PM2</value>
 <value code="15">CubeOrange</value>
-<value code="4">CubeOrange_PM2</value>
 <value code="17">Durandal</value>
 <value code="101">PX4-v1</value>
 </values>
@@ -1289,6 +1579,9 @@
 <param humanName="Battery monitor I2C bus number" name="BATT6_BUS" documentation="Battery monitor I2C bus number" user="Standard">
 <field name="Range">0 3</field>
 </param>
+<param humanName="Battery monitor options" name="BATT6_OPTIONS" documentation="This sets options to change the behaviour of the battery monitor" user="Advanced">
+<field name="Bitmask">0:Ignore UAVCAN SoC</field>
+</param>
 </parameters>
 <parameters name="BATT7_">
 <param humanName="Battery monitoring" name="BATT7_MONITOR" documentation="Controls enabling monitoring of the battery's voltage and current" user="Standard">
@@ -1300,7 +1593,7 @@
 <value code="6">Bebop</value>
 <value code="7">SMBus-Generic</value>
 <value code="8">UAVCAN-BatteryInfo</value>
-<value code="9">BLHeli ESC</value>
+<value code="9">ESC</value>
 <value code="10">SumOfFollowing</value>
 <value code="11">FuelFlow</value>
 <value code="12">FuelLevelPWM</value>
@@ -1308,6 +1601,9 @@
 <value code="14">SMBUS-SUI6</value>
 <value code="15">NeoDesign</value>
 <value code="16">SMBus-Maxell</value>
+<value code="17">Generator-Elec</value>
+<value code="18">Generator-Fuel</value>
+<value code="19">Rotoye</value>
 </values>
 <field name="RebootRequired">True</field>
 </param>
@@ -1315,6 +1611,7 @@
 <values>
 <value code="-1">Disabled</value>
 <value code="2">Pixhawk/Pixracer/Navio2/Pixhawk2_PM1</value>
+<value code="5">Navigator</value>
 <value code="13">Pixhawk2_PM2/CubeOrange_PM2</value>
 <value code="14">CubeOrange</value>
 <value code="16">Durandal</value>
@@ -1326,9 +1623,9 @@
 <values>
 <value code="-1">Disabled</value>
 <value code="3">Pixhawk/Pixracer/Navio2/Pixhawk2_PM1</value>
+<value code="4">CubeOrange_PM2/Navigator</value>
 <value code="14">Pixhawk2_PM2</value>
 <value code="15">CubeOrange</value>
-<value code="4">CubeOrange_PM2</value>
 <value code="17">Durandal</value>
 <value code="101">PX4-v1</value>
 </values>
@@ -1410,6 +1707,9 @@
 <param humanName="Battery monitor I2C bus number" name="BATT7_BUS" documentation="Battery monitor I2C bus number" user="Standard">
 <field name="Range">0 3</field>
 </param>
+<param humanName="Battery monitor options" name="BATT7_OPTIONS" documentation="This sets options to change the behaviour of the battery monitor" user="Advanced">
+<field name="Bitmask">0:Ignore UAVCAN SoC</field>
+</param>
 </parameters>
 <parameters name="BATT8_">
 <param humanName="Battery monitoring" name="BATT8_MONITOR" documentation="Controls enabling monitoring of the battery's voltage and current" user="Standard">
@@ -1421,7 +1721,7 @@
 <value code="6">Bebop</value>
 <value code="7">SMBus-Generic</value>
 <value code="8">UAVCAN-BatteryInfo</value>
-<value code="9">BLHeli ESC</value>
+<value code="9">ESC</value>
 <value code="10">SumOfFollowing</value>
 <value code="11">FuelFlow</value>
 <value code="12">FuelLevelPWM</value>
@@ -1429,6 +1729,9 @@
 <value code="14">SMBUS-SUI6</value>
 <value code="15">NeoDesign</value>
 <value code="16">SMBus-Maxell</value>
+<value code="17">Generator-Elec</value>
+<value code="18">Generator-Fuel</value>
+<value code="19">Rotoye</value>
 </values>
 <field name="RebootRequired">True</field>
 </param>
@@ -1436,6 +1739,7 @@
 <values>
 <value code="-1">Disabled</value>
 <value code="2">Pixhawk/Pixracer/Navio2/Pixhawk2_PM1</value>
+<value code="5">Navigator</value>
 <value code="13">Pixhawk2_PM2/CubeOrange_PM2</value>
 <value code="14">CubeOrange</value>
 <value code="16">Durandal</value>
@@ -1447,9 +1751,9 @@
 <values>
 <value code="-1">Disabled</value>
 <value code="3">Pixhawk/Pixracer/Navio2/Pixhawk2_PM1</value>
+<value code="4">CubeOrange_PM2/Navigator</value>
 <value code="14">Pixhawk2_PM2</value>
 <value code="15">CubeOrange</value>
-<value code="4">CubeOrange_PM2</value>
 <value code="17">Durandal</value>
 <value code="101">PX4-v1</value>
 </values>
@@ -1531,6 +1835,9 @@
 <param humanName="Battery monitor I2C bus number" name="BATT8_BUS" documentation="Battery monitor I2C bus number" user="Standard">
 <field name="Range">0 3</field>
 </param>
+<param humanName="Battery monitor options" name="BATT8_OPTIONS" documentation="This sets options to change the behaviour of the battery monitor" user="Advanced">
+<field name="Bitmask">0:Ignore UAVCAN SoC</field>
+</param>
 </parameters>
 <parameters name="BATT9_">
 <param humanName="Battery monitoring" name="BATT9_MONITOR" documentation="Controls enabling monitoring of the battery's voltage and current" user="Standard">
@@ -1542,7 +1849,7 @@
 <value code="6">Bebop</value>
 <value code="7">SMBus-Generic</value>
 <value code="8">UAVCAN-BatteryInfo</value>
-<value code="9">BLHeli ESC</value>
+<value code="9">ESC</value>
 <value code="10">SumOfFollowing</value>
 <value code="11">FuelFlow</value>
 <value code="12">FuelLevelPWM</value>
@@ -1550,6 +1857,9 @@
 <value code="14">SMBUS-SUI6</value>
 <value code="15">NeoDesign</value>
 <value code="16">SMBus-Maxell</value>
+<value code="17">Generator-Elec</value>
+<value code="18">Generator-Fuel</value>
+<value code="19">Rotoye</value>
 </values>
 <field name="RebootRequired">True</field>
 </param>
@@ -1557,6 +1867,7 @@
 <values>
 <value code="-1">Disabled</value>
 <value code="2">Pixhawk/Pixracer/Navio2/Pixhawk2_PM1</value>
+<value code="5">Navigator</value>
 <value code="13">Pixhawk2_PM2/CubeOrange_PM2</value>
 <value code="14">CubeOrange</value>
 <value code="16">Durandal</value>
@@ -1568,9 +1879,9 @@
 <values>
 <value code="-1">Disabled</value>
 <value code="3">Pixhawk/Pixracer/Navio2/Pixhawk2_PM1</value>
+<value code="4">CubeOrange_PM2/Navigator</value>
 <value code="14">Pixhawk2_PM2</value>
 <value code="15">CubeOrange</value>
-<value code="4">CubeOrange_PM2</value>
 <value code="17">Durandal</value>
 <value code="101">PX4-v1</value>
 </values>
@@ -1652,6 +1963,9 @@
 <param humanName="Battery monitor I2C bus number" name="BATT9_BUS" documentation="Battery monitor I2C bus number" user="Standard">
 <field name="Range">0 3</field>
 </param>
+<param humanName="Battery monitor options" name="BATT9_OPTIONS" documentation="This sets options to change the behaviour of the battery monitor" user="Advanced">
+<field name="Bitmask">0:Ignore UAVCAN SoC</field>
+</param>
 </parameters>
 <parameters name="BATT_">
 <param humanName="Battery monitoring" name="BATT_MONITOR" documentation="Controls enabling monitoring of the battery's voltage and current" user="Standard">
@@ -1663,7 +1977,7 @@
 <value code="6">Bebop</value>
 <value code="7">SMBus-Generic</value>
 <value code="8">UAVCAN-BatteryInfo</value>
-<value code="9">BLHeli ESC</value>
+<value code="9">ESC</value>
 <value code="10">SumOfFollowing</value>
 <value code="11">FuelFlow</value>
 <value code="12">FuelLevelPWM</value>
@@ -1671,6 +1985,9 @@
 <value code="14">SMBUS-SUI6</value>
 <value code="15">NeoDesign</value>
 <value code="16">SMBus-Maxell</value>
+<value code="17">Generator-Elec</value>
+<value code="18">Generator-Fuel</value>
+<value code="19">Rotoye</value>
 </values>
 <field name="RebootRequired">True</field>
 </param>
@@ -1678,6 +1995,7 @@
 <values>
 <value code="-1">Disabled</value>
 <value code="2">Pixhawk/Pixracer/Navio2/Pixhawk2_PM1</value>
+<value code="5">Navigator</value>
 <value code="13">Pixhawk2_PM2/CubeOrange_PM2</value>
 <value code="14">CubeOrange</value>
 <value code="16">Durandal</value>
@@ -1689,9 +2007,9 @@
 <values>
 <value code="-1">Disabled</value>
 <value code="3">Pixhawk/Pixracer/Navio2/Pixhawk2_PM1</value>
+<value code="4">CubeOrange_PM2/Navigator</value>
 <value code="14">Pixhawk2_PM2</value>
 <value code="15">CubeOrange</value>
-<value code="4">CubeOrange_PM2</value>
 <value code="17">Durandal</value>
 <value code="101">PX4-v1</value>
 </values>
@@ -1773,6 +2091,9 @@
 <param humanName="Battery monitor I2C bus number" name="BATT_BUS" documentation="Battery monitor I2C bus number" user="Standard">
 <field name="Range">0 3</field>
 </param>
+<param humanName="Battery monitor options" name="BATT_OPTIONS" documentation="This sets options to change the behaviour of the battery monitor" user="Advanced">
+<field name="Bitmask">0:Ignore UAVCAN SoC</field>
+</param>
 </parameters>
 <parameters name="BRD_">
 <param humanName="Auxiliary pin config" name="BRD_PWM_COUNT" documentation="Controls number of FMU outputs which are setup for PWM. All unassigned pins can be used for GPIO" user="Advanced">
@@ -1805,6 +2126,30 @@
 </values>
 <field name="RebootRequired">True</field>
 </param>
+<param humanName="Serial 3 flow control" name="BRD_SER3_RTSCTS" documentation="Enable flow control on serial 3. You must have the RTS and CTS pins connected to your radio. The standard DF13 6 pin connector for a 3DR radio does have those pins connected. If this is set to 2 then flow control will be auto-detected by checking for the output buffer filling on startup." user="Advanced">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+<value code="2">Auto</value>
+</values>
+<field name="RebootRequired">True</field>
+</param>
+<param humanName="Serial 4 flow control" name="BRD_SER4_RTSCTS" documentation="Enable flow control on serial 4. You must have the RTS and CTS pins connected to your radio. The standard DF13 6 pin connector for a 3DR radio does have those pins connected. If this is set to 2 then flow control will be auto-detected by checking for the output buffer filling on startup." user="Advanced">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+<value code="2">Auto</value>
+</values>
+<field name="RebootRequired">True</field>
+</param>
+<param humanName="Serial 5 flow control" name="BRD_SER5_RTSCTS" documentation="Enable flow control on serial 5. You must have the RTS and CTS pins connected to your radio. The standard DF13 6 pin connector for a 3DR radio does have those pins connected. If this is set to 2 then flow control will be auto-detected by checking for the output buffer filling on startup." user="Advanced">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+<value code="2">Auto</value>
+</values>
+<field name="RebootRequired">True</field>
+</param>
 <param humanName="Enable use of safety arming switch" name="BRD_SAFETYENABLE" documentation="This controls the default state of the safety switch at startup. When set to 1 the safety switch will start in the safe state (flashing) at boot. When set to zero the safety switch will start in the unsafe state (solid) at startup. Note that if a safety switch is fitted the user can still control the safety state after startup using the switch. The safety state can also be controlled in software using a MAVLink message." user="Standard">
 <values>
 <value code="0">Disabled</value>
@@ -1829,14 +2174,10 @@
 <field name="Range">-32768 32767</field>
 </param>
 <param humanName="Outputs which ignore the safety switch state" name="BRD_SAFETY_MASK" documentation="A bitmask which controls what outputs can move while the safety switch has not been pressed" user="Advanced">
-<values>
-<value code="0">Disabled</value>
-<value code="1">Enabled</value>
-</values>
 <field name="Bitmask">0:Output1,1:Output2,2:Output3,3:Output4,4:Output5,5:Output6,6:Output7,7:Output8,8:Output9,9:Output10,10:Output11,11:Output12,12:Output13,13:Output14</field>
 <field name="RebootRequired">True</field>
 </param>
-<param humanName="Target IMU temperature" name="BRD_IMU_TARGTEMP" documentation="This sets the target IMU temperature for boards with controllable IMU heating units. DO NOT SET -1 on The Cube. A value of -1 sets PH1 behaviour " user="Advanced">
+<param humanName="Target IMU temperature" name="BRD_IMU_TARGTEMP" documentation="This sets the target IMU temperature for boards with controllable IMU heating units. DO NOT SET to -1 on the Cube. Set to -1 to disable the heater, please reboot after setting to -1." user="Advanced">
 <field name="Range">-1 80</field>
 <field name="Units">degC</field>
 <field name="UnitText">degrees Celsius</field>
@@ -1850,14 +2191,22 @@
 <value code="4">Pixracer</value>
 <value code="5">PixhawkMini</value>
 <value code="6">Pixhawk2Slim</value>
-<value code="7">VRBrain 5.1</value>
-<value code="8">VRBrain 5.2</value>
-<value code="9">VR Micro Brain 5.1</value>
-<value code="10">VR Micro Brain 5.2</value>
-<value code="11">VRBrain Core 1.0</value>
-<value code="12">VRBrain 5.4</value>
 <value code="13">Intel Aero FC</value>
+<value code="14">Pixhawk Pro</value>
 <value code="20">AUAV2.1</value>
+<value code="21">PCNC1</value>
+<value code="22">MINDPXV2</value>
+<value code="23">SP01</value>
+<value code="24">CUAVv5/FMUV5</value>
+<value code="30">VRX BRAIN51</value>
+<value code="32">VRX BRAIN52</value>
+<value code="33">VRX BRAIN52E</value>
+<value code="34">VRX UBRAIN51</value>
+<value code="35">VRX UBRAIN52</value>
+<value code="36">VRX CORE10</value>
+<value code="38">VRX BRAIN54</value>
+<value code="39">PX4 FMUV6</value>
+<value code="100">PX4 OLDDRIVERS</value>
 </values>
 <field name="RebootRequired">True</field>
 </param>
@@ -1894,7 +2243,7 @@
 </values>
 </param>
 <param humanName="Board options" name="BRD_OPTIONS" documentation="Board specific option flags" user="Advanced">
-<field name="Bitmask">0:Enable hardware watchdog</field>
+<field name="Bitmask">0:Enable hardware watchdog, 1:Disable MAVftp, 2:Enable set of internal parameters, 3:Enable Debug Pins</field>
 </param>
 <param humanName="Boot delay" name="BRD_BOOT_DELAY" documentation="This adds a delay in milliseconds to boot to ensure peripherals initialise fully" user="Advanced">
 <field name="Range">0 10000</field>
@@ -4945,6 +5294,8 @@
 <value code="0">Disabled</value>
 <value code="1">RunCam Split Micro/RunCam with UART</value>
 <value code="2">RunCam Split</value>
+<value code="3">RunCam Split4 4k</value>
+<value code="4">RunCam Hybrid</value>
 </values>
 </param>
 <param humanName="RunCam features available" name="CAM_RC_FEATURES" documentation="The available features of the attached RunCam device. If 0 then the RunCam device will be queried for the features it supports, otherwise this setting is used." user="Advanced">
@@ -4977,10 +5328,11 @@
 <values>
 <value code="0">Disabled</value>
 <value code="1">UAVCAN</value>
-<value code="2">KDECAN</value>
 <value code="3">ToshibaCAN</value>
 <value code="4">PiccoloCAN</value>
 <value code="5">CANTester</value>
+<value code="8">KDECAN</value>
+<value code="9">PacketDigitalCAN</value>
 </values>
 <field name="RebootRequired">True</field>
 </param>
@@ -4998,6 +5350,14 @@
 <field name="UnitText">hertz</field>
 <field name="Range">1 500</field>
 </param>
+<param humanName="Servo channels" name="CAN_D1_PC_SRV_BM" documentation="Bitmask defining which servo channels are to be transmitted over Piccolo CAN" user="Advanced">
+<field name="Bitmask">0: Servo 1, 1: Servo 2, 2: Servo 3, 3: Servo 4, 4: Servo 5, 5: Servo 6, 6: Servo 7, 7: Servo 8, 8: Servo 9, 9: Servo 10, 10: Servo 11, 11: Servo 12, 12: Servo 13, 13: Servo 14, 14: Servo 15, 15: Servo 16</field>
+</param>
+<param humanName="Servo command output rate" name="CAN_D1_PC_SRV_RT" documentation="Output rate of servo command messages" user="Advanced">
+<field name="Units">Hz</field>
+<field name="UnitText">hertz</field>
+<field name="Range">1 500</field>
+</param>
 </parameters>
 <parameters name="CAN_D1_TST_">
 <param humanName="CAN Test Index" name="CAN_D1_TST_ID" documentation="Selects the Index of Test that needs to be run recursively, this value gets reset to 0 at boot." user="Advanced">
@@ -5032,16 +5392,20 @@
 <field name="Units">Hz</field>
 <field name="UnitText">hertz</field>
 </param>
+<param humanName="UAVCAN options" name="CAN_D1_UC_OPTION" documentation="Option flags" user="Advanced">
+<field name="Bitmask">0:ClearDNADatabase,1:IgnoreDNANodeConflicts</field>
+</param>
 </parameters>
 <parameters name="CAN_D2_">
 <param humanName="Enable use of specific protocol over virtual driver" name="CAN_D2_PROTOCOL" documentation="Enabling this option starts selected protocol that will use this virtual driver" user="Advanced">
 <values>
 <value code="0">Disabled</value>
 <value code="1">UAVCAN</value>
-<value code="2">KDECAN</value>
 <value code="3">ToshibaCAN</value>
 <value code="4">PiccoloCAN</value>
 <value code="5">CANTester</value>
+<value code="8">KDECAN</value>
+<value code="9">PacketDigitalCAN</value>
 </values>
 <field name="RebootRequired">True</field>
 </param>
@@ -5059,6 +5423,14 @@
 <field name="UnitText">hertz</field>
 <field name="Range">1 500</field>
 </param>
+<param humanName="Servo channels" name="CAN_D2_PC_SRV_BM" documentation="Bitmask defining which servo channels are to be transmitted over Piccolo CAN" user="Advanced">
+<field name="Bitmask">0: Servo 1, 1: Servo 2, 2: Servo 3, 3: Servo 4, 4: Servo 5, 5: Servo 6, 6: Servo 7, 7: Servo 8, 8: Servo 9, 9: Servo 10, 10: Servo 11, 11: Servo 12, 12: Servo 13, 13: Servo 14, 14: Servo 15, 15: Servo 16</field>
+</param>
+<param humanName="Servo command output rate" name="CAN_D2_PC_SRV_RT" documentation="Output rate of servo command messages" user="Advanced">
+<field name="Units">Hz</field>
+<field name="UnitText">hertz</field>
+<field name="Range">1 500</field>
+</param>
 </parameters>
 <parameters name="CAN_D2_TST_">
 <param humanName="CAN Test Index" name="CAN_D2_TST_ID" documentation="Selects the Index of Test that needs to be run recursively, this value gets reset to 0 at boot." user="Advanced">
@@ -5093,16 +5465,20 @@
 <field name="Units">Hz</field>
 <field name="UnitText">hertz</field>
 </param>
+<param humanName="UAVCAN options" name="CAN_D2_UC_OPTION" documentation="Option flags" user="Advanced">
+<field name="Bitmask">0:ClearDNADatabase,1:IgnoreDNANodeConflicts</field>
+</param>
 </parameters>
 <parameters name="CAN_D3_">
 <param humanName="Enable use of specific protocol over virtual driver" name="CAN_D3_PROTOCOL" documentation="Enabling this option starts selected protocol that will use this virtual driver" user="Advanced">
 <values>
 <value code="0">Disabled</value>
 <value code="1">UAVCAN</value>
-<value code="2">KDECAN</value>
 <value code="3">ToshibaCAN</value>
 <value code="4">PiccoloCAN</value>
 <value code="5">CANTester</value>
+<value code="8">KDECAN</value>
+<value code="9">PacketDigitalCAN</value>
 </values>
 <field name="RebootRequired">True</field>
 </param>
@@ -5120,6 +5496,14 @@
 <field name="UnitText">hertz</field>
 <field name="Range">1 500</field>
 </param>
+<param humanName="Servo channels" name="CAN_D3_PC_SRV_BM" documentation="Bitmask defining which servo channels are to be transmitted over Piccolo CAN" user="Advanced">
+<field name="Bitmask">0: Servo 1, 1: Servo 2, 2: Servo 3, 3: Servo 4, 4: Servo 5, 5: Servo 6, 6: Servo 7, 7: Servo 8, 8: Servo 9, 9: Servo 10, 10: Servo 11, 11: Servo 12, 12: Servo 13, 13: Servo 14, 14: Servo 15, 15: Servo 16</field>
+</param>
+<param humanName="Servo command output rate" name="CAN_D3_PC_SRV_RT" documentation="Output rate of servo command messages" user="Advanced">
+<field name="Units">Hz</field>
+<field name="UnitText">hertz</field>
+<field name="Range">1 500</field>
+</param>
 </parameters>
 <parameters name="CAN_D3_TST_">
 <param humanName="CAN Test Index" name="CAN_D3_TST_ID" documentation="Selects the Index of Test that needs to be run recursively, this value gets reset to 0 at boot." user="Advanced">
@@ -5154,6 +5538,9 @@
 <field name="Units">Hz</field>
 <field name="UnitText">hertz</field>
 </param>
+<param humanName="UAVCAN options" name="CAN_D3_UC_OPTION" documentation="Option flags" user="Advanced">
+<field name="Bitmask">0:ClearDNADatabase,1:IgnoreDNANodeConflicts</field>
+</param>
 </parameters>
 <parameters name="CAN_P1_">
 <param humanName="Index of virtual driver to be used with physical CAN interface" name="CAN_P1_DRIVER" documentation="Enabling this option enables use of CAN buses." user="Standard">
@@ -5235,11 +5622,8 @@
 <field name="Range">-90 90</field>
 <field name="Increment">1</field>
 </param>
-<param humanName="Circle control" name="CIRCLE_CONTROL" documentation="Enable or disable using the pitch/roll stick control circle mode's radius and rate" user="Standard">
-<values>
-<value code="0">Disable</value>
-<value code="1">Enable</value>
-</values>
+<param humanName="Circle options" name="CIRCLE_OPTIONS" documentation="0:Enable or disable using the pitch/roll stick control circle mode's radius and rate" user="Standard">
+<field name="Bitmask">0:manual control, 1:face direction of travel, 2:Start at center rather than on perimeter</field>
 </param>
 </parameters>
 <parameters name="COMPASS_">
@@ -5640,7 +6024,7 @@
 <field name="Increment">1</field>
 </param>
 <param humanName="Compass disable driver type mask" name="COMPASS_TYPEMASK" documentation="This is a bitmask of driver types to disable. If a driver type is set in this mask then that driver will not try to find a sensor at startup" user="Advanced">
-<field name="Bitmask">0:HMC5883,1:LSM303D,2:AK8963,3:BMM150,4:LSM9DS1,5:LIS3MDL,6:AK09916,7:IST8310,8:ICM20948,9:MMC3416,11:UAVCAN,12:QMC5883,14:MAG3110,15:IST8308</field>
+<field name="Bitmask">0:HMC5883,1:LSM303D,2:AK8963,3:BMM150,4:LSM9DS1,5:LIS3MDL,6:AK09916,7:IST8310,8:ICM20948,9:MMC3416,11:UAVCAN,12:QMC5883,14:MAG3110,15:IST8308,16:RM3100,17:MSP,18:ExternalAHRS</field>
 </param>
 <param humanName="Range in which sample is accepted" name="COMPASS_FLTR_RNG" documentation="This sets the range around the average value that new samples must be within to be accepted. This can help reduce the impact of noise on sensors that are on long I2C cables. The value is a percentage from the average value. A value of zero disables this filter.">
 <field name="Units">%</field>
@@ -5755,6 +6139,18 @@
 <param humanName="Compass per-motor4 Z" name="COMPASS_PMOT4_Z" documentation="Compensation for Z axis of motor4" user="Advanced">
 </param>
 </parameters>
+<parameters name="EAHRS">
+<param humanName="AHRS type" name="EAHRS_TYPE" documentation="Type of AHRS device" user="Standard">
+<values>
+<value code="0">None</value>
+<value code="1">VectorNav</value>
+</values>
+</param>
+<param humanName="AHRS data rate" name="EAHRS_RATE" documentation="Requested rate for AHRS device" user="Standard">
+<field name="Units">Hz</field>
+<field name="UnitText">hertz</field>
+</param>
+</parameters>
 <parameters name="EK2_">
 <param humanName="Enable EKF2" name="EK2_ENABLE" documentation="This enables EKF2. Enabling EKF2 only makes the maths run, it does not mean it will be used for flight control. To use it for flight control set AHRS_EKF_TYPE=2. A reboot or restart will need to be performed after changing the value of EK2_ENABLE for it to take effect." user="Advanced">
 <values>
@@ -5945,10 +6341,6 @@
 <field name="Units">m</field>
 <field name="UnitText">meters</field>
 </param>
-<param humanName="EKF sensor logging IMU mask" name="EK2_LOG_MASK" documentation="This sets the IMU mask of sensors to do full logging for" user="Advanced">
-<field name="Bitmask">0:FirstIMU,1:SecondIMU,2:ThirdIMU,3:FourthIMU,4:FifthIMU,5:SixthIMU</field>
-<field name="RebootRequired">True</field>
-</param>
 <param humanName="Yaw measurement noise (rad)" name="EK2_YAW_M_NSE" documentation="This is the RMS value of noise in yaw measurements from the magnetometer. Increasing it reduces the weighting on these measurements." user="Advanced">
 <field name="Range">0.05 1.0</field>
 <field name="Increment">0.05</field>
@@ -6043,13 +6435,6 @@
 <field name="Bitmask">0:FirstEKF,1:SecondEKF,2:ThirdEKF,3:FourthEKF,4:FifthEKF,5:SixthEKF</field>
 <field name="RebootRequired">True</field>
 </param>
-<param humanName="Delay from loss of navigation to yaw reset" name="EK2_GSF_DELAY" documentation="If the inertial navigation calculation stops following the GPS and other positioning sensors for longer than EK2_GSF_DELAY milli-seconds, then the EKF2 code will generate a reset request internally and reset the yaw to the estimate from the EKF-GSF filter and reset the horizontal velocity and position to the GPS. This reset will not be performed unless the use of the EKF-GSF yaw estimate is enabled via the EK2_GSF_USE parameter." user="Advanced">
-<field name="Range">500 5000</field>
-<field name="Increment">100</field>
-<field name="Units">ms</field>
-<field name="UnitText">milliseconds</field>
-<field name="RebootRequired">True</field>
-</param>
 <param humanName="Maximum number of resets to the EKF-GSF yaw estimate allowed" name="EK2_GSF_RST_MAX" documentation="Sets the maximum number of times the EKF2 will be allowed to reset it's yaw to the estimate from the EKF-GSF yaw estimator. No resets will be allowed unless the use of the EKF-GSF yaw estimate is enabled via the EK2_GSF_USE parameter." user="Advanced">
 <field name="Range">1 10</field>
 <field name="Increment">1</field>
@@ -6064,14 +6449,6 @@
 </values>
 <field name="RebootRequired">True</field>
 </param>
-<param humanName="GPS mode control" name="EK3_GPS_TYPE" documentation="This controls use of GPS measurements : 0 = use 3D velocity &amp; 2D position, 1 = use 2D velocity and 2D position, 2 = use 2D position, 3 = Inhibit GPS use - this can be useful when flying with an optical flow sensor in an environment where GPS quality is poor and subject to large multipath errors." user="Advanced">
-<values>
-<value code="0">GPS 3D Vel and 2D Pos</value>
-<value code="1">GPS 2D vel and 2D pos</value>
-<value code="2">GPS 2D pos</value>
-<value code="3">No GPS</value>
-</values>
-</param>
 <param humanName="GPS horizontal velocity measurement noise (m/s)" name="EK3_VELNE_M_NSE" documentation="This sets a lower limit on the speed accuracy reported by the GPS receiver that is used to set horizontal velocity observation noise. If the model of receiver used does not provide a speed accurcy estimate, then the parameter value will be used. Increasing it reduces the weighting of the GPS horizontal velocity measurements." user="Advanced">
 <field name="Range">0.05 5.0</field>
 <field name="Increment">0.05</field>
@@ -6104,16 +6481,6 @@
 <field name="Units">m</field>
 <field name="UnitText">meters</field>
 </param>
-<param humanName="Primary altitude sensor source" name="EK3_ALT_SOURCE" documentation="Primary height sensor used by the EKF. If a sensor other than Baro is selected and becomes unavailable, then the Baro sensor will be used as a fallback. NOTE: the EK3_RNG_USE_HGT parameter can be used to switch to range-finder when close to the ground in conjunction with EK3_ALT_SOURCE = 0 or 2 (Baro or GPS). NOTE: Setting EK3_ALT_SOURCE = 4 uses external nav system data only if data is also being used for horizontal position" user="Advanced">
-<values>
-<value code="0">Use Baro</value>
-<value code="1">Use Range Finder</value>
-<value code="2">Use GPS</value>
-<value code="3">Use Range Beacon</value>
-<value code="4">Use External Nav</value>
-</values>
-<field name="RebootRequired">True</field>
-</param>
 <param humanName="Altitude measurement noise (m)" name="EK3_ALT_M_NSE" documentation="This is the RMS value of noise in the altitude measurement. Increasing it reduces the weighting of the baro measurement and will make the filter respond more slowly to baro measurement errors, but will make it more sensitive to GPS and accelerometer errors." user="Advanced">
 <field name="Range">0.1 10.0</field>
 <field name="Increment">0.1</field>
@@ -6144,8 +6511,8 @@
 <value code="2">Never</value>
 <value code="3">After first climb yaw reset</value>
 <value code="4">Always</value>
-<value code="5">Use external yaw sensor</value>
-<value code="6">External yaw sensor with compass fallback</value>
+<value code="5">Use external yaw sensor (Deprecated in 4.1+ see EK3_SRCn_YAW)</value>
+<value code="6">External yaw sensor with compass fallback (Deprecated in 4.1+ see EK3_SRCn_YAW)</value>
 </values>
 <field name="RebootRequired">True</field>
 </param>
@@ -6219,13 +6586,13 @@
 <field name="UnitText">meters per cubic second</field>
 </param>
 <param humanName="Wind velocity process noise (m/s^2)" name="EK3_WIND_P_NSE" documentation="This state process noise controls the growth of wind state error estimates. Increasing it makes wind estimation faster and noisier." user="Advanced">
-<field name="Range">0.01 1.0</field>
+<field name="Range">0.01 2.0</field>
 <field name="Increment">0.1</field>
 <field name="Units">m/s/s</field>
 <field name="UnitText">meters per square second</field>
 </param>
 <param humanName="Height rate to wind process noise scaler" name="EK3_WIND_PSCALE" documentation="This controls how much the process noise on the wind states is increased when gaining or losing altitude to take into account changes in wind speed and direction with altitude. Increasing this parameter increases how rapidly the wind states adapt when changing altitude, but does make wind velocity estimation noiser." user="Advanced">
-<field name="Range">0.0 1.0</field>
+<field name="Range">0.0 2.0</field>
 <field name="Increment">0.1</field>
 </param>
 <param humanName="GPS preflight check" name="EK3_GPS_CHECK" documentation="This is a 1 byte bitmap controlling which GPS preflight checks are performed. Set to 0 to bypass all checks. Set to 255 perform all checks. Set to 3 to check just the number of satellites and HDoP. Set to 31 for the most rigorous checks that will still allow checks to pass when the copter is moving, eg launch from a boat." user="Advanced">
@@ -6245,8 +6612,8 @@
 <field name="Units">m</field>
 <field name="UnitText">meters</field>
 </param>
-<param humanName="EKF sensor logging IMU mask" name="EK3_LOG_MASK" documentation="This sets the IMU mask of sensors to do full logging for" user="Advanced">
-<field name="Bitmask">0:FirstIMU,1:SecondIMU,2:ThirdIMU,3:FourthIMU,4:FifthIMU,5:SixthIMU</field>
+<param humanName="Bitmask controlling sidelip angle fusion" name="EK3_BETA_MASK" documentation="1 byte bitmap controlling use of sideslip angle fusion for estimation of non wind states during operation of 'fly forward' vehicle types such as fixed wing planes. By assuming that the angle of sideslip is small, the wind velocity state estimates are corrected  whenever the EKF is not dead reckoning (e.g. has an independent velocity or position sensor such as GPS). This behaviour is on by default and cannot be disabled. When the EKF is dead reckoning, the wind states are used as a reference, enabling use of the small angle of sideslip assumption to correct non wind velocity states (eg attitude, velocity, position, etc) and improve navigation accuracy. This behaviour is on by default and cannot be disabled. The behaviour controlled by this parameter is the use of the small angle of sideslip assumption to correct non wind velocity states when the EKF is NOT dead reckoning. This is primarily of benefit to reduce the buildup of yaw angle errors during straight and level flight without a yaw sensor (e.g. magnetometer or dual antenna GPS yaw) provided aerobatic flight maneuvers with large sideslip angles are not performed. The 'always' option might be used where the yaw sensor is intentionally not fitted or disabled. The 'WhenNoYawSensor' option might be used if a yaw sensor is fitted, but protection against in-flight failure and continual rejection by the EKF is desired. For vehicles operated within visual range of the operator performing frequent turning maneuvers, setting this parameter is unnecessary." user="Advanced">
+<field name="Bitmask">0:Always,1:WhenNoYawSensor</field>
 <field name="RebootRequired">True</field>
 </param>
 <param humanName="Yaw measurement noise (rad)" name="EK3_YAW_M_NSE" documentation="This is the RMS value of noise in yaw measurements from the magnetometer. Increasing it reduces the weighting on these measurements." user="Advanced">
@@ -6275,7 +6642,7 @@
 <field name="Units">Gauss/s</field>
 <field name="UnitText">gauss per second</field>
 </param>
-<param humanName="Range finder switch height percentage" name="EK3_RNG_USE_HGT" documentation="Range finder can be used as the primary height source when below this percentage of its maximum range (see RNGFND_MAX_CM). This will not work unless Baro or GPS height is selected as the primary height source vis EK3_ALT_SOURCE = 0 or 2 respectively.  This feature should not be used for terrain following as it is designed  for vertical takeoff and landing with climb above  the range finder use height before commencing the mission, and with horizontal position changes below that height being limited to a flat region around the takeoff and landing point." user="Advanced">
+<param humanName="Range finder switch height percentage" name="EK3_RNG_USE_HGT" documentation="Range finder can be used as the primary height source when below this percentage of its maximum range (see RNGFNDx_MAX_CM) and the primary height source is Baro or GPS (see EK3_SRCx_POSZ).  This feature should not be used for terrain following as it is designed for vertical takeoff and landing with climb above the range finder use height before commencing the mission, and with horizontal position changes below that height being limited to a flat region around the takeoff and landing point." user="Advanced">
 <field name="Range">-1 70</field>
 <field name="Increment">1</field>
 <field name="Units">%</field>
@@ -6367,13 +6734,6 @@
 <field name="Bitmask">0:FirstEKF,1:SecondEKF,2:ThirdEKF,3:FourthEKF,4:FifthEKF,5:SixthEKF</field>
 <field name="RebootRequired">True</field>
 </param>
-<param humanName="Delay from loss of navigation to yaw reset" name="EK3_GSF_DELAY" documentation="If the inertial navigation calculation stops following the GPS and other positioning sensors for longer than EK3_GSF_DELAY milli-seconds, then the EKF3 code will generate a reset request internally and reset the yaw to the estimate from the EKF-GSF filter and reset the horizontal velocity and position to the GPS. This reset will not be performed unless the use of the EKF-GSF yaw estimate is enabled via the EK3_GSF_USE parameter." user="Advanced">
-<field name="Range">500 5000</field>
-<field name="Increment">100</field>
-<field name="Units">ms</field>
-<field name="UnitText">milliseconds</field>
-<field name="RebootRequired">True</field>
-</param>
 <param humanName="Maximum number of resets to the EKF-GSF yaw estimate allowed" name="EK3_GSF_RST_MAX" documentation="Sets the maximum number of times the EKF3 will be allowed to reset it's yaw to the estimate from the EKF-GSF yaw estimator. No resets will be allowed unless the use of the EKF-GSF yaw estimate is enabled via the EK3_GSF_USE parameter." user="Advanced">
 <field name="Range">1 10</field>
 <field name="Increment">1</field>
@@ -6387,6 +6747,183 @@
 <field name="Bitmask">0:EnableGPSAffinity,1:EnableBaroAffinity,2:EnableCompassAffinity,3:EnableAirspeedAffinity</field>
 <field name="RebootRequired">True</field>
 </param>
+<param humanName="Ballistic coefficient for X axis drag" name="EK3_DRAG_BCOEF_X" documentation="Ratio of mass to drag coefficient measured along the X body axis. This parameter enables estimation of wind drift for vehicles with bluff bodies and without propulsion forces in the X and Y direction (eg multicopters). The drag produced by this effect scales with speed squared.  Set to a postive value &gt; 1.0 to enable. A starting value is the mass in Kg divided by the frontal area. The predicted drag from the rotors is specified separately by the EK3_MCOEF parameter." user="Advanced">
+<field name="Range">0.0 1000.0</field>
+<field name="Units">kg/m/m</field>
+<field name="UnitText">kilograms per square meter</field>
+</param>
+<param humanName="Ballistic coefficient for Y axis drag" name="EK3_DRAG_BCOEF_Y" documentation="Ratio of mass to drag coefficient measured along the Y body axis. This parameter enables estimation of wind drift for vehicles with bluff bodies and without propulsion forces in the X and Y direction (eg multicopters). The drag produced by this effect scales with speed squared.  Set to a postive value &gt; 1.0 to enable. A starting value is the mass in Kg divided by the side area. The predicted drag from the rotors is specified separately by the EK3_MCOEF parameter." user="Advanced">
+<field name="Range">50.0 1000.0</field>
+<field name="Units">kg/m/m</field>
+<field name="UnitText">kilograms per square meter</field>
+</param>
+<param humanName="Observation noise for drag acceleration" name="EK3_DRAG_M_NSE" documentation="This sets the amount of noise used when fusing X and Y acceleration as an observation that enables esitmation of wind velocity for multi-rotor vehicles. This feature is enabled by the EK3_BCOEF_X and EK3_BCOEF_Y parameters" user="Advanced">
+<field name="Range">0.1 2.0</field>
+<field name="Increment">0.1</field>
+<field name="Units">m/s/s</field>
+<field name="UnitText">meters per square second</field>
+</param>
+<param humanName="Momentum coefficient for propeller drag" name="EK3_DRAG_MCOEF" documentation="This parameter is used to predict the drag produced by the rotors when flying a multi-copter, enabling estimation of wind drift. The drag produced by this effect scales with speed not speed squared and is produced because some of the air velocity normal to the rotors axis of rotation is lost when passing through the rotor disc which changes the momentum of the airflow causing drag. For unducted rotors the effect is roughly proportional to the area of the propeller blades when viewed side on and changes with different propellers. It is higher for ducted rotors. For example if flying at 15 m/s at sea level conditions produces a rotor induced drag acceleration of 1.5 m/s/s, then EK3_MCOEF would be set to 0.1 = (1.5/15.0). Set EK3_MCOEF to a postive value to enable wind estimation using this drag effect. To account for the drag produced by the body which scales with speed squared, see documentation for the EK3_BCOEF_X and EK3_BCOEF_Y parameters." user="Advanced">
+<field name="Range">0.0 1.0</field>
+<field name="Increment">0.01</field>
+<field name="Units">1/s</field>
+<field name="UnitText">per second</field>
+</param>
+<param humanName="On ground not moving test scale factor" name="EK3_OGNM_TEST_SF" documentation="This parameter is adjust the sensitivity of the on ground not moving test which is used to assist with learning the yaw gyro bias and stopping yaw drift before flight when operating without a yaw sensor. Bigger values allow the detection of a not moving condition with noiser IMU data. Check the XKFM data logged when the vehicle is on ground not moving and adjust the value of OGNM_TEST_SF to be slightly higher than the maximum value of the XKFM.ADR, XKFM.ALR, XKFM.GDR and XKFM.GLR test levels." user="Advanced">
+<field name="Range">1.0 10.0</field>
+<field name="Increment">0.5</field>
+</param>
+<param humanName="Baro height ground effect dead zone" name="EK3_GND_EFF_DZ" documentation="This parameter sets the size of the dead zone that is applied to negative baro height spikes that can occur when takeing off or landing when a vehicle with lift rotors is operating in ground effect ground effect. Set to about 0.5m less than the amount of negative offset in baro height that occurs just prior to takeoff when lift motors are spooling up. Set to 0 if no ground effect is present. " user="Advanced">
+<field name="Range">0.0 10.0</field>
+<field name="Increment">0.5</field>
+</param>
+<param humanName="Primary core number" name="EK3_PRIMARY" documentation="The core number (index in IMU mask) that will be used as the primary EKF core on startup. While disarmed the EKF will force the use of this core. A value of 0 corresponds to the first IMU in EK3_IMU_MASK." user="Advanced">
+<field name="Range">0 2</field>
+<field name="Increment">1</field>
+</param>
+</parameters>
+<parameters name="EK3_SRC">
+<param humanName="Position Horizontal Source (Primary)" name="EK3_SRC1_POSXY" documentation="Position Horizontal Source (Primary)" user="Advanced">
+<values>
+<value code="0">None</value>
+<value code="3">GPS</value>
+<value code="4">Beacon</value>
+<value code="6">ExternalNav</value>
+</values>
+</param>
+<param humanName="Velocity Horizontal Source" name="EK3_SRC1_VELXY" documentation="Velocity Horizontal Source" user="Advanced">
+<values>
+<value code="0">None</value>
+<value code="3">GPS</value>
+<value code="4">Beacon</value>
+<value code="5">OpticalFlow</value>
+<value code="6">ExternalNav</value>
+<value code="7">WheelEncoder</value>
+</values>
+</param>
+<param humanName="Position Vertical Source" name="EK3_SRC1_POSZ" documentation="Position Vertical Source" user="Advanced">
+<values>
+<value code="0">None</value>
+<value code="1">Baro</value>
+<value code="2">RangeFinder</value>
+<value code="3">GPS</value>
+<value code="4">Beacon</value>
+<value code="6">ExternalNav</value>
+</values>
+</param>
+<param humanName="Velocity Vertical Source" name="EK3_SRC1_VELZ" documentation="Velocity Vertical Source" user="Advanced">
+<values>
+<value code="0">None</value>
+<value code="3">GPS</value>
+<value code="4">Beacon</value>
+<value code="6">ExternalNav</value>
+</values>
+</param>
+<param humanName="Yaw Source" name="EK3_SRC1_YAW" documentation="Yaw Source" user="Advanced">
+<values>
+<value code="0">None</value>
+<value code="1">Compass</value>
+<value code="2">GPS</value>
+<value code="3">GPS with Compass Fallback</value>
+<value code="6">ExternalNav</value>
+<value code="8">GSF</value>
+</values>
+</param>
+<param humanName="Position Horizontal Source (Secondary)" name="EK3_SRC2_POSXY" documentation="Position Horizontal Source (Secondary)" user="Advanced">
+<values>
+<value code="0">None</value>
+<value code="3">GPS</value>
+<value code="4">Beacon</value>
+<value code="6">ExternalNav</value>
+</values>
+</param>
+<param humanName="Velocity Horizontal Source (Secondary)" name="EK3_SRC2_VELXY" documentation="Velocity Horizontal Source (Secondary)" user="Advanced">
+<values>
+<value code="0">None</value>
+<value code="3">GPS</value>
+<value code="4">Beacon</value>
+<value code="5">OpticalFlow</value>
+<value code="6">ExternalNav</value>
+<value code="7">WheelEncoder</value>
+</values>
+</param>
+<param humanName="Position Vertical Source (Secondary)" name="EK3_SRC2_POSZ" documentation="Position Vertical Source (Secondary)" user="Advanced">
+<values>
+<value code="0">None</value>
+<value code="1">Baro</value>
+<value code="2">RangeFinder</value>
+<value code="3">GPS</value>
+<value code="4">Beacon</value>
+<value code="6">ExternalNav</value>
+</values>
+</param>
+<param humanName="Velocity Vertical Source (Secondary)" name="EK3_SRC2_VELZ" documentation="Velocity Vertical Source (Secondary)" user="Advanced">
+<values>
+<value code="0">None</value>
+<value code="3">GPS</value>
+<value code="4">Beacon</value>
+<value code="6">ExternalNav</value>
+</values>
+</param>
+<param humanName="Yaw Source (Secondary)" name="EK3_SRC2_YAW" documentation="Yaw Source (Secondary)" user="Advanced">
+<values>
+<value code="0">None</value>
+<value code="1">Compass</value>
+<value code="2">GPS</value>
+<value code="3">GPS with Compass Fallback</value>
+<value code="6">ExternalNav</value>
+<value code="8">GSF</value>
+</values>
+</param>
+<param humanName="Position Horizontal Source (Tertiary)" name="EK3_SRC3_POSXY" documentation="Position Horizontal Source (Tertiary)" user="Advanced">
+<values>
+<value code="0">None</value>
+<value code="3">GPS</value>
+<value code="4">Beacon</value>
+<value code="6">ExternalNav</value>
+</values>
+</param>
+<param humanName="Velocity Horizontal Source (Tertiary)" name="EK3_SRC3_VELXY" documentation="Velocity Horizontal Source (Tertiary)" user="Advanced">
+<values>
+<value code="0">None</value>
+<value code="3">GPS</value>
+<value code="4">Beacon</value>
+<value code="5">OpticalFlow</value>
+<value code="6">ExternalNav</value>
+<value code="7">WheelEncoder</value>
+</values>
+</param>
+<param humanName="Position Vertical Source (Tertiary)" name="EK3_SRC3_POSZ" documentation="Position Vertical Source (Tertiary)" user="Advanced">
+<values>
+<value code="0">None</value>
+<value code="1">Baro</value>
+<value code="2">RangeFinder</value>
+<value code="3">GPS</value>
+<value code="4">Beacon</value>
+<value code="6">ExternalNav</value>
+</values>
+</param>
+<param humanName="Velocity Vertical Source (Tertiary)" name="EK3_SRC3_VELZ" documentation="Velocity Vertical Source (Tertiary)" user="Advanced">
+<values>
+<value code="0">None</value>
+<value code="3">GPS</value>
+<value code="4">Beacon</value>
+<value code="6">ExternalNav</value>
+</values>
+</param>
+<param humanName="Yaw Source (Tertiary)" name="EK3_SRC3_YAW" documentation="Yaw Source (Tertiary)" user="Advanced">
+<values>
+<value code="0">None</value>
+<value code="1">Compass</value>
+<value code="2">GPS</value>
+<value code="3">GPS with Compass Fallback</value>
+<value code="6">ExternalNav</value>
+<value code="8">GSF</value>
+</values>
+</param>
+<param humanName="EKF Source Options" name="EK3_SRC_OPTIONS" documentation="EKF Source Options" user="Advanced">
+<field name="Bitmask">0:FuseAllVelocities</field>
+</param>
 </parameters>
 <parameters name="FENCE_">
 <param humanName="Fence enable/disable" name="FENCE_ENABLE" documentation="Allows you to enable (1) or disable (0) the fence functionality" user="Standard">
@@ -6396,25 +6933,12 @@
 </values>
 </param>
 <param humanName="Fence Type" name="FENCE_TYPE" documentation="Enabled fence types held as bitmask" user="Standard">
-<values>
-<value code="0">None</value>
-<value code="1">Altitude</value>
-<value code="2">Circle</value>
-<value code="3">Altitude and Circle</value>
-<value code="4">Polygon</value>
-<value code="5">Altitude and Polygon</value>
-<value code="6">Circle and Polygon</value>
-<value code="7">All</value>
-</values>
-<field name="Bitmask">0:Altitude,1:Circle,2:Polygon</field>
+<field name="Bitmask">0:Max altitude,1:Circle,2:Polygon,3:Min altitude</field>
 </param>
 <param humanName="Fence Action" name="FENCE_ACTION" documentation="What action should be taken when fence is breached" user="Standard">
 <values>
 <value code="0">Report Only</value>
-<value code="1">RTL</value>
-<value code="2">Hold</value>
-<value code="3">SmartRTL</value>
-<value code="4">SmartRTL or Hold</value>
+<value code="1">RTL or Land</value>
 </values>
 </param>
 <param humanName="Fence Maximum Altitude" name="FENCE_ALT_MAX" documentation="Maximum altitude allowed before geofence triggers" user="Standard">
@@ -6514,6 +7038,7 @@
 <value code="5">MAVLink</value>
 <value code="6">UAVCAN</value>
 <value code="7">MSP</value>
+<value code="8">UPFLOW</value>
 </values>
 <field name="RebootRequired">True</field>
 </param>
@@ -6528,8 +7053,8 @@
 <param humanName="Flow sensor yaw alignment" name="FLOW_ORIENT_YAW" documentation="Specifies the number of centi-degrees that the flow sensor is yawed relative to the vehicle. A sensor with its X-axis pointing to the right of the vehicle X axis has a positive yaw angle." user="Standard">
 <field name="Units">cdeg</field>
 <field name="UnitText">centidegrees</field>
-<field name="Range">-18000 +18000</field>
-<field name="Increment">1</field>
+<field name="Range">-17999 +18000</field>
+<field name="Increment">10</field>
 </param>
 <param humanName=" X position offset" name="FLOW_POS_X" documentation="X position of the optical flow sensor focal point in body frame. Positive X is forward of the origin." user="Advanced">
 <field name="Units">m</field>
@@ -6553,92 +7078,122 @@
 <field name="Range">0 127</field>
 </param>
 </parameters>
-<parameters name="GND_">
-<param humanName="Absolute Pressure" name="GND_ABS_PRESS" documentation="calibrated ground pressure in Pascals" user="Advanced">
-<field name="Units">Pa</field>
-<field name="UnitText">pascal</field>
-<field name="Increment">1</field>
-<field name="ReadOnly">True</field>
-<field name="Volatile">True</field>
-</param>
-<param humanName="ground temperature" name="GND_TEMP" documentation="User provided ambient ground temperature in degrees Celsius. This is used to improve the calculation of the altitude the vehicle is at. This parameter is not persistent and will be reset to 0 every time the vehicle is rebooted. A value of 0 means use the internal measurement ambient temperature." user="Advanced">
-<field name="Units">degC</field>
-<field name="UnitText">degrees Celsius</field>
-<field name="Increment">1</field>
-<field name="Volatile">True</field>
-</param>
-<param humanName="altitude offset" name="GND_ALT_OFFSET" documentation="altitude offset in meters added to barometric altitude. This is used to allow for automatic adjustment of the base barometric altitude by a ground station equipped with a barometer. The value is added to the barometric altitude read by the aircraft. It is automatically reset to 0 when the barometer is calibrated on each reboot or when a preflight calibration is performed." user="Advanced">
-<field name="Units">m</field>
-<field name="UnitText">meters</field>
-<field name="Increment">0.1</field>
-</param>
-<param humanName="Primary barometer" name="GND_PRIMARY" documentation="This selects which barometer will be the primary if multiple barometers are found" user="Advanced">
+<parameters name="FRSKY_">
+<param humanName="Uplink sensor id" name="FRSKY_UPLINK_ID" documentation="Change the uplink sensor id (SPort only)" user="Advanced">
 <values>
-<value code="0">FirstBaro</value>
-<value code="1">2ndBaro</value>
-<value code="2">3rdBaro</value>
+<value code="-1">Disable</value>
+<value code="7">7</value>
+<value code="8">8</value>
+<value code="9">9</value>
+<value code="10">10</value>
+<value code="11">11</value>
+<value code="12">12</value>
+<value code="13">13</value>
+<value code="14">14</value>
+<value code="15">15</value>
+<value code="16">16</value>
+<value code="17">17</value>
+<value code="18">18</value>
+<value code="19">19</value>
+<value code="20">20</value>
+<value code="21">21</value>
+<value code="22">22</value>
+<value code="23">23</value>
+<value code="24">24</value>
+<value code="25">25</value>
+<value code="26">26</value>
+</values>
+</param>
+<param humanName="First downlink sensor id" name="FRSKY_DNLINK1_ID" documentation="Change the first extra downlink sensor id (SPort only)" user="Advanced">
+<values>
+<value code="-1">Disable</value>
+<value code="7">7</value>
+<value code="8">8</value>
+<value code="9">9</value>
+<value code="10">10</value>
+<value code="11">11</value>
+<value code="12">12</value>
+<value code="13">13</value>
+<value code="14">14</value>
+<value code="15">15</value>
+<value code="16">16</value>
+<value code="17">17</value>
+<value code="18">18</value>
+<value code="19">19</value>
+<value code="20">20</value>
+<value code="21">21</value>
+<value code="22">22</value>
+<value code="23">23</value>
+<value code="24">24</value>
+<value code="25">25</value>
+<value code="26">26</value>
+</values>
+</param>
+<param humanName="Second downlink sensor id" name="FRSKY_DNLINK2_ID" documentation="Change the second extra downlink sensor id (SPort only)" user="Advanced">
+<values>
+<value code="-1">Disable</value>
+<value code="7">7</value>
+<value code="8">8</value>
+<value code="9">9</value>
+<value code="10">10</value>
+<value code="11">11</value>
+<value code="12">12</value>
+<value code="13">13</value>
+<value code="14">14</value>
+<value code="15">15</value>
+<value code="16">16</value>
+<value code="17">17</value>
+<value code="18">18</value>
+<value code="19">19</value>
+<value code="20">20</value>
+<value code="21">21</value>
+<value code="22">22</value>
+<value code="23">23</value>
+<value code="24">24</value>
+<value code="25">25</value>
+<value code="26">26</value>
+</values>
+</param>
+<param humanName="Default downlink sensor id" name="FRSKY_DNLINK_ID" documentation="Change the default downlink sensor id (SPort only)" user="Advanced">
+<values>
+<value code="-1">Disable</value>
+<value code="7">7</value>
+<value code="8">8</value>
+<value code="9">9</value>
+<value code="10">10</value>
+<value code="11">11</value>
+<value code="12">12</value>
+<value code="13">13</value>
+<value code="14">14</value>
+<value code="15">15</value>
+<value code="16">16</value>
+<value code="17">17</value>
+<value code="18">18</value>
+<value code="19">19</value>
+<value code="20">20</value>
+<value code="21">21</value>
+<value code="22">22</value>
+<value code="23">23</value>
+<value code="24">24</value>
+<value code="25">25</value>
+<value code="26">26</value>
+<value code="27">27</value>
 </values>
 </param>
-<param humanName="External baro bus" name="GND_EXT_BUS" documentation="This selects the bus number for looking for an I2C barometer. When set to -1 it will probe all external i2c buses based on the GND_PROBE_EXT parameter." user="Advanced">
+</parameters>
+<parameters name="GEN_">
+<param humanName="Generator type" name="GEN_TYPE" documentation="Generator type" user="Standard">
 <values>
-<value code="-1">Disabled</value>
-<value code="0">Bus0</value>
-<value code="1">Bus1</value>
+<value code="0">Disabled</value>
+<value code="1">IE 650w 800w Fuel Cell</value>
+<value code="2">IE 2.4kW Fuel Cell</value>
+<value code="3">Richenpower</value>
 </values>
-</param>
-<param humanName="Specific Gravity (For water depth measurement)" name="GND_SPEC_GRAV" documentation="This sets the specific gravity of the fluid when flying an underwater ROV.">
-<field name="Values">1.0:Freshwater,1.024:Saltwater</field>
-</param>
-<param humanName="Absolute Pressure" name="GND_ABS_PRESS2" documentation="calibrated ground pressure in Pascals" user="Advanced">
-<field name="Units">Pa</field>
-<field name="UnitText">pascal</field>
-<field name="Increment">1</field>
-<field name="ReadOnly">True</field>
-<field name="Volatile">True</field>
-</param>
-<param humanName="Absolute Pressure" name="GND_ABS_PRESS3" documentation="calibrated ground pressure in Pascals" user="Advanced">
-<field name="Units">Pa</field>
-<field name="UnitText">pascal</field>
-<field name="Increment">1</field>
-<field name="ReadOnly">True</field>
-<field name="Volatile">True</field>
-</param>
-<param humanName="Range in which sample is accepted" name="GND_FLTR_RNG" documentation="This sets the range around the average value that new samples must be within to be accepted. This can help reduce the impact of noise on sensors that are on long I2C cables. The value is a percentage from the average value. A value of zero disables this filter.">
-<field name="Units">%</field>
-<field name="UnitText">percent</field>
-<field name="Range">0 100</field>
-<field name="Increment">1</field>
-</param>
-<param humanName="External barometers to probe" name="GND_PROBE_EXT" documentation="This sets which types of external i2c barometer to look for. It is a bitmask of barometer types. The I2C buses to probe is based on GND_EXT_BUS. If GND_EXT_BUS is -1 then it will probe all external buses, otherwise it will probe just the bus number given in GND_EXT_BUS." user="Advanced">
-<field name="Bitmask">0:BMP085,1:BMP280,2:MS5611,3:MS5607,4:MS5637,5:FBM320,6:DPS280,7:LPS25H,8:Keller,9:MS5837,10:BMP388,11:SPL06,12:MSP</field>
-<values>
-<value code="1">BMP085</value>
-<value code="2">BMP280</value>
-<value code="4">MS5611</value>
-<value code="8">MS5607</value>
-<value code="16">MS5637</value>
-<value code="32">FBM320</value>
-<value code="64">DPS280</value>
-<value code="128">LPS25H</value>
-<value code="256">Keller</value>
-<value code="512">MS5837</value>
-<value code="1024">BMP388</value>
-<value code="2048">SPL06</value>
-<value code="4096">MSP</value>
-</values>
-</param>
-<param humanName="Baro ID" name="GND_BARO_ID" documentation="Barometer sensor ID, taking into account its type, bus and instance" user="Advanced">
-<field name="ReadOnly">True</field>
-</param>
-<param humanName="Baro ID2" name="GND_BARO2_ID" documentation="Barometer2 sensor ID, taking into account its type, bus and instance" user="Advanced">
-<field name="ReadOnly">True</field>
-</param>
-<param humanName="Baro ID3" name="GND_BARO3_ID" documentation="Barometer3 sensor ID, taking into account its type, bus and instance" user="Advanced">
-<field name="ReadOnly">True</field>
+<field name="RebootRequired">True</field>
 </param>
 </parameters>
-<parameters name="GPS_">
-<param humanName="GPS type" name="GPS_TYPE" documentation="GPS type" user="Advanced">
+<parameters name="GPS">
+<param humanName="1st GPS type" name="GPS_TYPE" documentation="GPS type of 1st GPS" user="Advanced">
 <values>
 <value code="0">None</value>
 <value code="1">AUTO</value>
@@ -6659,6 +7214,8 @@
 <value code="17">uBlox-MovingBaseline-Base</value>
 <value code="18">uBlox-MovingBaseline-Rover</value>
 <value code="19">MSP</value>
+<value code="20">AllyStar</value>
+<value code="21">ExternalAHRS</value>
 </values>
 <field name="RebootRequired">True</field>
 </param>
@@ -6683,6 +7240,8 @@
 <value code="17">uBlox-MovingBaseline-Base</value>
 <value code="18">uBlox-MovingBaseline-Rover</value>
 <value code="19">MSP</value>
+<value code="20">AllyStar</value>
+<value code="21">ExternalAHRS</value>
 </values>
 <field name="RebootRequired">True</field>
 </param>
@@ -6698,12 +7257,12 @@
 <value code="8">Airborne4G</value>
 </values>
 </param>
-<param humanName="Automatic Switchover Setting" name="GPS_AUTO_SWITCH" documentation="Automatic switchover to GPS reporting best lock" user="Advanced">
+<param humanName="Automatic Switchover Setting" name="GPS_AUTO_SWITCH" documentation="Automatic switchover to GPS reporting best lock, 1:UseBest selects the GPS with highest status, if both are equal the GPS with highest satellite count is used 4:Use primary if 3D fix or better, will revert to 'UseBest' behaviour if 3D fix is lost on primary" user="Advanced">
 <values>
-<value code="0">Disabled</value>
+<value code="0">Use primary</value>
 <value code="1">UseBest</value>
 <value code="2">Blend</value>
-<value code="3">UseSecond</value>
+<value code="4">Use primary if 3D fix or better</value>
 </values>
 </param>
 <param humanName="Minimum Lock Type Accepted for DGPS" name="GPS_MIN_DGPS" documentation="Sets the minimum type of differential GPS corrections required before allowing to switch into DGPS mode." user="Advanced">
@@ -6750,19 +7309,7 @@
 <field name="RebootRequired">True</field>
 </param>
 <param humanName="GNSS system configuration" name="GPS_GNSS_MODE" documentation="Bitmask for what GNSS system to use on the first GPS (all unchecked or zero to leave GPS as configured)" user="Advanced">
-<values>
-<value code="0">Leave as currently configured</value>
-<value code="1">GPS-NoSBAS</value>
-<value code="3">GPS+SBAS</value>
-<value code="4">Galileo-NoSBAS</value>
-<value code="6">Galileo+SBAS</value>
-<value code="8">Beidou</value>
-<value code="51">GPS+IMES+QZSS+SBAS (Japan Only)</value>
-<value code="64">GLONASS</value>
-<value code="66">GLONASS+SBAS</value>
-<value code="67">GPS+GLONASS+SBAS</value>
-</values>
-<field name="Bitmask">0:GPS,1:SBAS,2:Galileo,3:Beidou,4:IMES,5:QZSS,6:GLOSNASS</field>
+<field name="Bitmask">0:GPS,1:SBAS,2:Galileo,3:Beidou,4:IMES,5:QZSS,6:GLONASS</field>
 </param>
 <param humanName="Save GPS configuration" name="GPS_SAVE_CFG" documentation="Determines whether the configuration for this GPS should be written to non-volatile memory on the GPS. Currently working for UBlox 6 series and above." user="Advanced">
 <values>
@@ -6772,19 +7319,7 @@
 </values>
 </param>
 <param humanName="GNSS system configuration" name="GPS_GNSS_MODE2" documentation="Bitmask for what GNSS system to use on the second GPS (all unchecked or zero to leave GPS as configured)" user="Advanced">
-<values>
-<value code="0">Leave as currently configured</value>
-<value code="1">GPS-NoSBAS</value>
-<value code="3">GPS+SBAS</value>
-<value code="4">Galileo-NoSBAS</value>
-<value code="6">Galileo+SBAS</value>
-<value code="8">Beidou</value>
-<value code="51">GPS+IMES+QZSS+SBAS (Japan Only)</value>
-<value code="64">GLONASS</value>
-<value code="66">GLONASS+SBAS</value>
-<value code="67">GPS+GLONASS+SBAS</value>
-</values>
-<field name="Bitmask">0:GPS,1:SBAS,2:Galileo,3:Beidou,4:IMES,5:QZSS,6:GLOSNASS</field>
+<field name="Bitmask">0:GPS,1:SBAS,2:Galileo,3:Beidou,4:IMES,5:QZSS,6:GLONASS</field>
 </param>
 <param humanName="Automatic GPS configuration" name="GPS_AUTO_CONFIG" documentation="Controls if the autopilot should automatically configure the GPS based on the parameters and default settings" user="Advanced">
 <values>
@@ -6792,7 +7327,7 @@
 <value code="1">Enable automatic configuration</value>
 </values>
 </param>
-<param humanName="GPS update rate in milliseconds" name="GPS_RATE_MS" documentation="Controls how often the GPS should provide a position update. Lowering below 5Hz is not allowed" user="Advanced">
+<param humanName="GPS update rate in milliseconds" name="GPS_RATE_MS" documentation="Controls how often the GPS should provide a position update. Lowering below 5Hz(default) is not allowed. Raising the rate above 5Hz usually provides little benefit and for some GPS (eg Ublox M9N) can severely impact performance." user="Advanced">
 <field name="Units">ms</field>
 <field name="UnitText">milliseconds</field>
 <values>
@@ -6802,7 +7337,7 @@
 </values>
 <field name="Range">50 200</field>
 </param>
-<param humanName="GPS 2 update rate in milliseconds" name="GPS_RATE_MS2" documentation="Controls how often the GPS should provide a position update. Lowering below 5Hz is not allowed" user="Advanced">
+<param humanName="GPS 2 update rate in milliseconds" name="GPS_RATE_MS2" documentation="Controls how often the GPS should provide a position update. Lowering below 5Hz(default) is not allowed. Raising the rate above 5Hz usually provides little benefit and for some GPS (eg Ublox M9N) can severely impact performance." user="Advanced">
 <field name="Units">ms</field>
 <field name="UnitText">milliseconds</field>
 <values>
@@ -6869,7 +7404,7 @@
 <field name="Range">5.0 30.0</field>
 </param>
 <param humanName="driver options" name="GPS_DRV_OPTIONS" documentation="Additional backend specific options" user="Advanced">
-<field name="Bitmask">0:Use UART2 for moving baseline on ublox</field>
+<field name="Bitmask">0:Use UART2 for moving baseline on ublox,1:Use base station for GPS yaw on SBF,2:Use baudrate 115200</field>
 </param>
 <param humanName="GPS physical COM port" name="GPS_COM_PORT" documentation="The physical COM port on the connected device, currently only applies to SBF GPS" user="Advanced">
 <field name="Range">0 10</field>
@@ -6881,6 +7416,77 @@
 <field name="Increment">1</field>
 <field name="RebootRequired">True</field>
 </param>
+<param humanName="Primary GPS" name="GPS_PRIMARY" documentation="This GPS will be used when GPS_AUTO_SWITCH is 0 and used preferentially with GPS_AUTO_SWITCH = 4." user="Advanced">
+<field name="Increment">1</field>
+<values>
+<value code="0">FirstGPS</value>
+<value code="1">SecondGPS</value>
+</values>
+</param>
+<param humanName="GPS Node ID 1" name="GPS_CAN_NODEID1" documentation="GPS Node id for discovered first." user="Advanced">
+<field name="ReadOnly">True</field>
+</param>
+<param humanName="GPS Node ID 2" name="GPS_CAN_NODEID2" documentation="GPS Node id for discovered second." user="Advanced">
+<field name="ReadOnly">True</field>
+</param>
+<param humanName="First UAVCAN GPS NODE ID" name="GPS1_CAN_OVRIDE" documentation="GPS Node id for first GPS. If 0 the gps will be automatically selected on first come basis." user="Advanced">
+</param>
+<param humanName="Second UAVCAN GPS NODE ID" name="GPS2_CAN_OVRIDE" documentation="GPS Node id for second GPS. If 0 the gps will be automatically selected on first come basis." user="Advanced">
+</param>
+</parameters>
+<parameters name="GPS_MB1_">
+<param humanName="Moving base type" name="GPS_MB1_TYPE" documentation="Controls the type of moving base used if using moving base." user="Advanced">
+<values>
+<value code="0">Relative to alternate GPS instance</value>
+<value code="1">RelativeToCustomBase</value>
+</values>
+<field name="RebootRequired">True</field>
+</param>
+<param humanName="Base antenna X position offset" name="GPS_MB1_OFS_X" documentation="X position of the base GPS antenna in body frame. Positive X is forward of the origin. Use antenna phase centroid location if provided by the manufacturer." user="Advanced">
+<field name="Units">m</field>
+<field name="UnitText">meters</field>
+<field name="Range">-5 5</field>
+<field name="Increment">0.01</field>
+</param>
+<param humanName="Base antenna Y position offset    " name="GPS_MB1_OFS_Y" documentation="Y position of the base GPS antenna in body frame. Positive Y is to the right of the origin. Use antenna phase centroid location if provided by the manufacturer." user="Advanced">
+<field name="Units">m</field>
+<field name="UnitText">meters</field>
+<field name="Range">-5 5</field>
+<field name="Increment">0.01</field>
+</param>
+<param humanName="Base antenna Z position offset" name="GPS_MB1_OFS_Z" documentation="Z position of the base GPS antenna in body frame. Positive Z is down from the origin. Use antenna phase centroid location if provided by the manufacturer." user="Advanced">
+<field name="Units">m</field>
+<field name="UnitText">meters</field>
+<field name="Range">-5 5</field>
+<field name="Increment">0.01</field>
+</param>
+</parameters>
+<parameters name="GPS_MB2_">
+<param humanName="Moving base type" name="GPS_MB2_TYPE" documentation="Controls the type of moving base used if using moving base." user="Advanced">
+<values>
+<value code="0">Relative to alternate GPS instance</value>
+<value code="1">RelativeToCustomBase</value>
+</values>
+<field name="RebootRequired">True</field>
+</param>
+<param humanName="Base antenna X position offset" name="GPS_MB2_OFS_X" documentation="X position of the base GPS antenna in body frame. Positive X is forward of the origin. Use antenna phase centroid location if provided by the manufacturer." user="Advanced">
+<field name="Units">m</field>
+<field name="UnitText">meters</field>
+<field name="Range">-5 5</field>
+<field name="Increment">0.01</field>
+</param>
+<param humanName="Base antenna Y position offset    " name="GPS_MB2_OFS_Y" documentation="Y position of the base GPS antenna in body frame. Positive Y is to the right of the origin. Use antenna phase centroid location if provided by the manufacturer." user="Advanced">
+<field name="Units">m</field>
+<field name="UnitText">meters</field>
+<field name="Range">-5 5</field>
+<field name="Increment">0.01</field>
+</param>
+<param humanName="Base antenna Z position offset" name="GPS_MB2_OFS_Z" documentation="Z position of the base GPS antenna in body frame. Positive Z is down from the origin. Use antenna phase centroid location if provided by the manufacturer." user="Advanced">
+<field name="Units">m</field>
+<field name="UnitText">meters</field>
+<field name="Range">-5 5</field>
+<field name="Increment">0.01</field>
+</param>
 </parameters>
 <parameters name="GRIP_">
 <param humanName="Gripper Enable/Disable" name="GRIP_ENABLE" documentation="Gripper enable/disable" user="Standard">
@@ -7179,19 +7785,9 @@
 <field name="ReadOnly">True</field>
 </param>
 <param humanName="Fast sampling mask" name="INS_FAST_SAMPLE" documentation="Mask of IMUs to enable fast sampling on, if available" user="Advanced">
-<values>
-<value code="1">FirstIMUOnly</value>
-<value code="3">FirstAndSecondIMU</value>
-</values>
 <field name="Bitmask">0:FirstIMU,1:SecondIMU,2:ThirdIMU</field>
 </param>
 <param humanName="IMU enable mask" name="INS_ENABLE_MASK" documentation="Bitmask of IMUs to enable. It can be used to prevent startup of specific detected IMUs" user="Advanced">
-<values>
-<value code="1">FirstIMUOnly</value>
-<value code="3">FirstAndSecondIMU</value>
-<value code="7">FirstSecondAndThirdIMU</value>
-<value code="127">AllIMUs</value>
-</values>
 <field name="Bitmask">0:FirstIMU,1:SecondIMU,2:ThirdIMU</field>
 </param>
 <param humanName="Gyro rate for IMUs with Fast Sampling enabled" name="INS_GYRO_RATE" documentation="Gyro rate for IMUs with fast sampling enabled. The gyro rate is the sample rate at which the IMU filters operate and needs to be at least double the maximum filter frequency. If the sensor does not support the selected rate the next highest supported rate will be used. For IMUs which do not support fast sampling this setting is ignored and the default gyro rate of 1Khz is used." user="Advanced">
@@ -7203,6 +7799,39 @@
 </values>
 <field name="RebootRequired">True</field>
 </param>
+<param humanName="Calibration temperature for 1st accelerometer" name="INS_ACC1_CALTEMP" documentation="Temperature that the 1st accelerometer was calibrated at" user="Advanced" calibration="1">
+<field name="Units">degC</field>
+<field name="UnitText">degrees Celsius</field>
+<field name="Calibration">1</field>
+</param>
+<param humanName="Calibration temperature for 1st gyroscope" name="INS_GYR1_CALTEMP" documentation="Temperature that the 1st gyroscope was calibrated at" user="Advanced" calibration="1">
+<field name="Units">degC</field>
+<field name="UnitText">degrees Celsius</field>
+<field name="Calibration">1</field>
+</param>
+<param humanName="Calibration temperature for 2nd accelerometer" name="INS_ACC2_CALTEMP" documentation="Temperature that the 2nd accelerometer was calibrated at" user="Advanced" calibration="1">
+<field name="Units">degC</field>
+<field name="UnitText">degrees Celsius</field>
+<field name="Calibration">1</field>
+</param>
+<param humanName="Calibration temperature for 2nd gyroscope" name="INS_GYR2_CALTEMP" documentation="Temperature that the 2nd gyroscope was calibrated at" user="Advanced" calibration="1">
+<field name="Units">degC</field>
+<field name="UnitText">degrees Celsius</field>
+<field name="Calibration">1</field>
+</param>
+<param humanName="Calibration temperature for 3rd accelerometer" name="INS_ACC3_CALTEMP" documentation="Temperature that the 3rd accelerometer was calibrated at" user="Advanced" calibration="1">
+<field name="Units">degC</field>
+<field name="UnitText">degrees Celsius</field>
+<field name="Calibration">1</field>
+</param>
+<param humanName="Calibration temperature for 3rd gyroscope" name="INS_GYR3_CALTEMP" documentation="Temperature that the 3rd gyroscope was calibrated at" user="Advanced" calibration="1">
+<field name="Units">degC</field>
+<field name="UnitText">degrees Celsius</field>
+<field name="Calibration">1</field>
+</param>
+<param humanName="Options for temperature calibration" name="INS_TCAL_OPTIONS" documentation="This enables optional temperature calibration features. Setting PersistParams will save the accelerometer and temperature calibration parameters in the bootloader sector on the next update of the bootloader." user="Advanced">
+<field name="Bitmask">0:PersistParams</field>
+</param>
 </parameters>
 <parameters name="INS_HNTCH_">
 <param humanName="Harmonic Notch Filter enable" name="INS_HNTCH_ENABLE" documentation="Harmonic Notch Filter enable" user="Advanced">
@@ -7211,18 +7840,18 @@
 <value code="1">Enabled</value>
 </values>
 </param>
-<param humanName="Harmonic Notch Filter base frequency" name="INS_HNTCH_FREQ" documentation="Harmonic Notch Filter base center frequency in Hz. For helicopters using RPM sensor to dynamically set the notch frequency, use this parameter to provide a lower limit to the dynamic notch filter.  Recommend setting it to half the operating rotor speed in Hz." user="Advanced">
-<field name="Range">10 400</field>
+<param humanName="Harmonic Notch Filter base frequency" name="INS_HNTCH_FREQ" documentation="Harmonic Notch Filter base center frequency in Hz. This should be set at most half the backend gyro rate (which is typically 1Khz). For helicopters using RPM sensor to dynamically set the notch frequency, use this parameter to provide a lower limit to the dynamic notch filter.  Recommend setting it to half the operating rotor speed in Hz." user="Advanced">
+<field name="Range">10 495</field>
 <field name="Units">Hz</field>
 <field name="UnitText">hertz</field>
 </param>
-<param humanName="Harmonic Notch Filter bandwidth" name="INS_HNTCH_BW" documentation="Harmonic Notch Filter bandwidth in Hz" user="Advanced">
-<field name="Range">5 100</field>
+<param humanName="Harmonic Notch Filter bandwidth" name="INS_HNTCH_BW" documentation="Harmonic Notch Filter bandwidth in Hz. This is typically set to half the base frequency. The ratio of base frequency to bandwidth determines the notch quality factor and is fixed across harmonics." user="Advanced">
+<field name="Range">5 250</field>
 <field name="Units">Hz</field>
 <field name="UnitText">hertz</field>
 </param>
-<param humanName="Harmonic Notch Filter attenuation" name="INS_HNTCH_ATT" documentation="Harmonic Notch Filter attenuation in dB" user="Advanced">
-<field name="Range">5 30</field>
+<param humanName="Harmonic Notch Filter attenuation" name="INS_HNTCH_ATT" documentation="Harmonic Notch Filter attenuation in dB. Values greater than 40dB will typically produce a hard notch rather than a modest attenuation of motor noise." user="Advanced">
+<field name="Range">5 50</field>
 <field name="Units">dB</field>
 <field name="UnitText">decibel</field>
 </param>
@@ -7244,8 +7873,8 @@
 <value code="4">Dynamic FFT</value>
 </values>
 </param>
-<param humanName="Harmonic Notch Filter options" name="INS_HNTCH_OPTS" documentation="Harmonic Notch Filter options." user="Advanced">
-<field name="Bitmask">0:Double notch,1:Dynamic harmonic</field>
+<param humanName="Harmonic Notch Filter options" name="INS_HNTCH_OPTS" documentation="Harmonic Notch Filter options. Double-notches can provide deeper attenuation across a wider bandwidth than single notches and are suitable for larger aircraft. Dynamic harmonics attaches a harmonic notch to each detected noise frequency instead of simply being multiples of the base frequency, in the case of FFT it will attach notches to each of three detected noise peaks, in the case of ESC it will attach notches to each of four motor RPM values. Loop rate update changes the notch center frequency at the scheduler loop rate rather than at the default of 200Hz." user="Advanced">
+<field name="Bitmask">0:Double notch,1:Dynamic harmonic,2:Update at loop rate</field>
 <field name="RebootRequired">True</field>
 </param>
 </parameters>
@@ -7255,11 +7884,6 @@
 <field name="RebootRequired">True</field>
 </param>
 <param humanName="Sensor Bitmask" name="INS_LOG_BAT_MASK" documentation="Bitmap of which IMUs to log batch data for. This option takes effect on the next reboot." user="Advanced">
-<values>
-<value code="0">None</value>
-<value code="1">First IMU</value>
-<value code="255">All</value>
-</values>
 <field name="Bitmask">0:IMU1,1:IMU2,2:IMU3</field>
 <field name="RebootRequired">True</field>
 </param>
@@ -7274,28 +7898,256 @@
 <param humanName="logging count" name="INS_LOG_BAT_LGCT" documentation="Number of samples to push to count every INS_LOG_BAT_LGIN">
 <field name="Increment">1</field>
 </param>
-</parameters>
-<parameters name="INS_NOTCH_">
-<param humanName="Enable" name="INS_NOTCH_ENABLE" documentation="Enable notch filter" user="Advanced">
-<values>
-<value code="0">Disabled</value>
-<value code="1">Enabled</value>
-</values>
+</parameters>
+<parameters name="INS_NOTCH_">
+<param humanName="Enable" name="INS_NOTCH_ENABLE" documentation="Enable notch filter" user="Advanced">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="Attenuation" name="INS_NOTCH_ATT" documentation="Notch attenuation in dB" user="Advanced">
+<field name="Range">5 30</field>
+<field name="Units">dB</field>
+<field name="UnitText">decibel</field>
+</param>
+<param humanName="Frequency" name="INS_NOTCH_FREQ" documentation="Notch center frequency in Hz" user="Advanced">
+<field name="Range">10 400</field>
+<field name="Units">Hz</field>
+<field name="UnitText">hertz</field>
+</param>
+<param humanName="Bandwidth" name="INS_NOTCH_BW" documentation="Notch bandwidth in Hz" user="Advanced">
+<field name="Range">5 100</field>
+<field name="Units">Hz</field>
+<field name="UnitText">hertz</field>
+</param>
+</parameters>
+<parameters name="INS_TCAL1_">
+<param humanName="Enable temperature calibration" name="INS_TCAL1_ENABLE" documentation="Enable the use of temperature calibration parameters for this IMU. For automatic learning set to 2 and also set the INS_TCALn_TMAX to the target temperature, then reboot" user="Advanced">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+<value code="2">LearnCalibration</value>
+</values>
+<field name="RebootRequired">True</field>
+</param>
+<param humanName="Temperature calibration min" name="INS_TCAL1_TMIN" documentation="The minimum temperature that the calibration is valid for" user="Advanced" calibration="1">
+<field name="Range">-70 80</field>
+<field name="Units">degC</field>
+<field name="UnitText">degrees Celsius</field>
+<field name="Calibration">1</field>
+</param>
+<param humanName="Temperature calibration max" name="INS_TCAL1_TMAX" documentation="The maximum temperature that the calibration is valid for. This must be at least 10 degrees above TMIN for calibration" user="Advanced" calibration="1">
+<field name="Range">-70 80</field>
+<field name="Units">degC</field>
+<field name="UnitText">degrees Celsius</field>
+<field name="Calibration">1</field>
+</param>
+<param humanName="Accelerometer 1st order temperature coefficient X axis" name="INS_TCAL1_ACC1_X" documentation="This is the 1st order temperature coefficient from a temperature calibration" user="Advanced" calibration="1">
+<field name="Calibration">1</field>
+</param>
+<param humanName="Accelerometer 1st order temperature coefficient Y axis" name="INS_TCAL1_ACC1_Y" documentation="This is the 1st order temperature coefficient from a temperature calibration" user="Advanced" calibration="1">
+<field name="Calibration">1</field>
+</param>
+<param humanName="Accelerometer 1st order temperature coefficient Z axis" name="INS_TCAL1_ACC1_Z" documentation="This is the 1st order temperature coefficient from a temperature calibration" user="Advanced" calibration="1">
+<field name="Calibration">1</field>
+</param>
+<param humanName="Accelerometer 2nd order temperature coefficient X axis" name="INS_TCAL1_ACC2_X" documentation="This is the 2nd order temperature coefficient from a temperature calibration" user="Advanced" calibration="1">
+<field name="Calibration">1</field>
+</param>
+<param humanName="Accelerometer 2nd order temperature coefficient Y axis" name="INS_TCAL1_ACC2_Y" documentation="This is the 2nd order temperature coefficient from a temperature calibration" user="Advanced" calibration="1">
+<field name="Calibration">1</field>
+</param>
+<param humanName="Accelerometer 2nd order temperature coefficient Z axis" name="INS_TCAL1_ACC2_Z" documentation="This is the 2nd order temperature coefficient from a temperature calibration" user="Advanced" calibration="1">
+<field name="Calibration">1</field>
+</param>
+<param humanName="Accelerometer 3rd order temperature coefficient X axis" name="INS_TCAL1_ACC3_X" documentation="This is the 3rd order temperature coefficient from a temperature calibration" user="Advanced" calibration="1">
+<field name="Calibration">1</field>
+</param>
+<param humanName="Accelerometer 3rd order temperature coefficient Y axis" name="INS_TCAL1_ACC3_Y" documentation="This is the 3rd order temperature coefficient from a temperature calibration" user="Advanced" calibration="1">
+<field name="Calibration">1</field>
+</param>
+<param humanName="Accelerometer 3rd order temperature coefficient Z axis" name="INS_TCAL1_ACC3_Z" documentation="This is the 3rd order temperature coefficient from a temperature calibration" user="Advanced" calibration="1">
+<field name="Calibration">1</field>
+</param>
+<param humanName="Gyroscope 1st order temperature coefficient X axis" name="INS_TCAL1_GYR1_X" documentation="This is the 1st order temperature coefficient from a temperature calibration" user="Advanced" calibration="1">
+<field name="Calibration">1</field>
+</param>
+<param humanName="Gyroscope 1st order temperature coefficient Y axis" name="INS_TCAL1_GYR1_Y" documentation="This is the 1st order temperature coefficient from a temperature calibration" user="Advanced" calibration="1">
+<field name="Calibration">1</field>
+</param>
+<param humanName="Gyroscope 1st order temperature coefficient Z axis" name="INS_TCAL1_GYR1_Z" documentation="This is the 1st order temperature coefficient from a temperature calibration" user="Advanced" calibration="1">
+<field name="Calibration">1</field>
+</param>
+<param humanName="Gyroscope 2nd order temperature coefficient X axis" name="INS_TCAL1_GYR2_X" documentation="This is the 2nd order temperature coefficient from a temperature calibration" user="Advanced" calibration="1">
+<field name="Calibration">1</field>
+</param>
+<param humanName="Gyroscope 2nd order temperature coefficient Y axis" name="INS_TCAL1_GYR2_Y" documentation="This is the 2nd order temperature coefficient from a temperature calibration" user="Advanced" calibration="1">
+<field name="Calibration">1</field>
+</param>
+<param humanName="Gyroscope 2nd order temperature coefficient Z axis" name="INS_TCAL1_GYR2_Z" documentation="This is the 2nd order temperature coefficient from a temperature calibration" user="Advanced" calibration="1">
+<field name="Calibration">1</field>
+</param>
+<param humanName="Gyroscope 3rd order temperature coefficient X axis" name="INS_TCAL1_GYR3_X" documentation="This is the 3rd order temperature coefficient from a temperature calibration" user="Advanced" calibration="1">
+<field name="Calibration">1</field>
+</param>
+<param humanName="Gyroscope 3rd order temperature coefficient Y axis" name="INS_TCAL1_GYR3_Y" documentation="This is the 3rd order temperature coefficient from a temperature calibration" user="Advanced" calibration="1">
+<field name="Calibration">1</field>
+</param>
+<param humanName="Gyroscope 3rd order temperature coefficient Z axis" name="INS_TCAL1_GYR3_Z" documentation="This is the 3rd order temperature coefficient from a temperature calibration" user="Advanced" calibration="1">
+<field name="Calibration">1</field>
+</param>
+</parameters>
+<parameters name="INS_TCAL2_">
+<param humanName="Enable temperature calibration" name="INS_TCAL2_ENABLE" documentation="Enable the use of temperature calibration parameters for this IMU. For automatic learning set to 2 and also set the INS_TCALn_TMAX to the target temperature, then reboot" user="Advanced">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+<value code="2">LearnCalibration</value>
+</values>
+<field name="RebootRequired">True</field>
+</param>
+<param humanName="Temperature calibration min" name="INS_TCAL2_TMIN" documentation="The minimum temperature that the calibration is valid for" user="Advanced" calibration="1">
+<field name="Range">-70 80</field>
+<field name="Units">degC</field>
+<field name="UnitText">degrees Celsius</field>
+<field name="Calibration">1</field>
+</param>
+<param humanName="Temperature calibration max" name="INS_TCAL2_TMAX" documentation="The maximum temperature that the calibration is valid for. This must be at least 10 degrees above TMIN for calibration" user="Advanced" calibration="1">
+<field name="Range">-70 80</field>
+<field name="Units">degC</field>
+<field name="UnitText">degrees Celsius</field>
+<field name="Calibration">1</field>
+</param>
+<param humanName="Accelerometer 1st order temperature coefficient X axis" name="INS_TCAL2_ACC1_X" documentation="This is the 1st order temperature coefficient from a temperature calibration" user="Advanced" calibration="1">
+<field name="Calibration">1</field>
+</param>
+<param humanName="Accelerometer 1st order temperature coefficient Y axis" name="INS_TCAL2_ACC1_Y" documentation="This is the 1st order temperature coefficient from a temperature calibration" user="Advanced" calibration="1">
+<field name="Calibration">1</field>
+</param>
+<param humanName="Accelerometer 1st order temperature coefficient Z axis" name="INS_TCAL2_ACC1_Z" documentation="This is the 1st order temperature coefficient from a temperature calibration" user="Advanced" calibration="1">
+<field name="Calibration">1</field>
+</param>
+<param humanName="Accelerometer 2nd order temperature coefficient X axis" name="INS_TCAL2_ACC2_X" documentation="This is the 2nd order temperature coefficient from a temperature calibration" user="Advanced" calibration="1">
+<field name="Calibration">1</field>
+</param>
+<param humanName="Accelerometer 2nd order temperature coefficient Y axis" name="INS_TCAL2_ACC2_Y" documentation="This is the 2nd order temperature coefficient from a temperature calibration" user="Advanced" calibration="1">
+<field name="Calibration">1</field>
+</param>
+<param humanName="Accelerometer 2nd order temperature coefficient Z axis" name="INS_TCAL2_ACC2_Z" documentation="This is the 2nd order temperature coefficient from a temperature calibration" user="Advanced" calibration="1">
+<field name="Calibration">1</field>
+</param>
+<param humanName="Accelerometer 3rd order temperature coefficient X axis" name="INS_TCAL2_ACC3_X" documentation="This is the 3rd order temperature coefficient from a temperature calibration" user="Advanced" calibration="1">
+<field name="Calibration">1</field>
+</param>
+<param humanName="Accelerometer 3rd order temperature coefficient Y axis" name="INS_TCAL2_ACC3_Y" documentation="This is the 3rd order temperature coefficient from a temperature calibration" user="Advanced" calibration="1">
+<field name="Calibration">1</field>
+</param>
+<param humanName="Accelerometer 3rd order temperature coefficient Z axis" name="INS_TCAL2_ACC3_Z" documentation="This is the 3rd order temperature coefficient from a temperature calibration" user="Advanced" calibration="1">
+<field name="Calibration">1</field>
+</param>
+<param humanName="Gyroscope 1st order temperature coefficient X axis" name="INS_TCAL2_GYR1_X" documentation="This is the 1st order temperature coefficient from a temperature calibration" user="Advanced" calibration="1">
+<field name="Calibration">1</field>
+</param>
+<param humanName="Gyroscope 1st order temperature coefficient Y axis" name="INS_TCAL2_GYR1_Y" documentation="This is the 1st order temperature coefficient from a temperature calibration" user="Advanced" calibration="1">
+<field name="Calibration">1</field>
+</param>
+<param humanName="Gyroscope 1st order temperature coefficient Z axis" name="INS_TCAL2_GYR1_Z" documentation="This is the 1st order temperature coefficient from a temperature calibration" user="Advanced" calibration="1">
+<field name="Calibration">1</field>
+</param>
+<param humanName="Gyroscope 2nd order temperature coefficient X axis" name="INS_TCAL2_GYR2_X" documentation="This is the 2nd order temperature coefficient from a temperature calibration" user="Advanced" calibration="1">
+<field name="Calibration">1</field>
+</param>
+<param humanName="Gyroscope 2nd order temperature coefficient Y axis" name="INS_TCAL2_GYR2_Y" documentation="This is the 2nd order temperature coefficient from a temperature calibration" user="Advanced" calibration="1">
+<field name="Calibration">1</field>
+</param>
+<param humanName="Gyroscope 2nd order temperature coefficient Z axis" name="INS_TCAL2_GYR2_Z" documentation="This is the 2nd order temperature coefficient from a temperature calibration" user="Advanced" calibration="1">
+<field name="Calibration">1</field>
+</param>
+<param humanName="Gyroscope 3rd order temperature coefficient X axis" name="INS_TCAL2_GYR3_X" documentation="This is the 3rd order temperature coefficient from a temperature calibration" user="Advanced" calibration="1">
+<field name="Calibration">1</field>
+</param>
+<param humanName="Gyroscope 3rd order temperature coefficient Y axis" name="INS_TCAL2_GYR3_Y" documentation="This is the 3rd order temperature coefficient from a temperature calibration" user="Advanced" calibration="1">
+<field name="Calibration">1</field>
+</param>
+<param humanName="Gyroscope 3rd order temperature coefficient Z axis" name="INS_TCAL2_GYR3_Z" documentation="This is the 3rd order temperature coefficient from a temperature calibration" user="Advanced" calibration="1">
+<field name="Calibration">1</field>
+</param>
+</parameters>
+<parameters name="INS_TCAL3_">
+<param humanName="Enable temperature calibration" name="INS_TCAL3_ENABLE" documentation="Enable the use of temperature calibration parameters for this IMU. For automatic learning set to 2 and also set the INS_TCALn_TMAX to the target temperature, then reboot" user="Advanced">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+<value code="2">LearnCalibration</value>
+</values>
+<field name="RebootRequired">True</field>
+</param>
+<param humanName="Temperature calibration min" name="INS_TCAL3_TMIN" documentation="The minimum temperature that the calibration is valid for" user="Advanced" calibration="1">
+<field name="Range">-70 80</field>
+<field name="Units">degC</field>
+<field name="UnitText">degrees Celsius</field>
+<field name="Calibration">1</field>
+</param>
+<param humanName="Temperature calibration max" name="INS_TCAL3_TMAX" documentation="The maximum temperature that the calibration is valid for. This must be at least 10 degrees above TMIN for calibration" user="Advanced" calibration="1">
+<field name="Range">-70 80</field>
+<field name="Units">degC</field>
+<field name="UnitText">degrees Celsius</field>
+<field name="Calibration">1</field>
+</param>
+<param humanName="Accelerometer 1st order temperature coefficient X axis" name="INS_TCAL3_ACC1_X" documentation="This is the 1st order temperature coefficient from a temperature calibration" user="Advanced" calibration="1">
+<field name="Calibration">1</field>
+</param>
+<param humanName="Accelerometer 1st order temperature coefficient Y axis" name="INS_TCAL3_ACC1_Y" documentation="This is the 1st order temperature coefficient from a temperature calibration" user="Advanced" calibration="1">
+<field name="Calibration">1</field>
+</param>
+<param humanName="Accelerometer 1st order temperature coefficient Z axis" name="INS_TCAL3_ACC1_Z" documentation="This is the 1st order temperature coefficient from a temperature calibration" user="Advanced" calibration="1">
+<field name="Calibration">1</field>
+</param>
+<param humanName="Accelerometer 2nd order temperature coefficient X axis" name="INS_TCAL3_ACC2_X" documentation="This is the 2nd order temperature coefficient from a temperature calibration" user="Advanced" calibration="1">
+<field name="Calibration">1</field>
+</param>
+<param humanName="Accelerometer 2nd order temperature coefficient Y axis" name="INS_TCAL3_ACC2_Y" documentation="This is the 2nd order temperature coefficient from a temperature calibration" user="Advanced" calibration="1">
+<field name="Calibration">1</field>
+</param>
+<param humanName="Accelerometer 2nd order temperature coefficient Z axis" name="INS_TCAL3_ACC2_Z" documentation="This is the 2nd order temperature coefficient from a temperature calibration" user="Advanced" calibration="1">
+<field name="Calibration">1</field>
+</param>
+<param humanName="Accelerometer 3rd order temperature coefficient X axis" name="INS_TCAL3_ACC3_X" documentation="This is the 3rd order temperature coefficient from a temperature calibration" user="Advanced" calibration="1">
+<field name="Calibration">1</field>
+</param>
+<param humanName="Accelerometer 3rd order temperature coefficient Y axis" name="INS_TCAL3_ACC3_Y" documentation="This is the 3rd order temperature coefficient from a temperature calibration" user="Advanced" calibration="1">
+<field name="Calibration">1</field>
+</param>
+<param humanName="Accelerometer 3rd order temperature coefficient Z axis" name="INS_TCAL3_ACC3_Z" documentation="This is the 3rd order temperature coefficient from a temperature calibration" user="Advanced" calibration="1">
+<field name="Calibration">1</field>
+</param>
+<param humanName="Gyroscope 1st order temperature coefficient X axis" name="INS_TCAL3_GYR1_X" documentation="This is the 1st order temperature coefficient from a temperature calibration" user="Advanced" calibration="1">
+<field name="Calibration">1</field>
+</param>
+<param humanName="Gyroscope 1st order temperature coefficient Y axis" name="INS_TCAL3_GYR1_Y" documentation="This is the 1st order temperature coefficient from a temperature calibration" user="Advanced" calibration="1">
+<field name="Calibration">1</field>
+</param>
+<param humanName="Gyroscope 1st order temperature coefficient Z axis" name="INS_TCAL3_GYR1_Z" documentation="This is the 1st order temperature coefficient from a temperature calibration" user="Advanced" calibration="1">
+<field name="Calibration">1</field>
+</param>
+<param humanName="Gyroscope 2nd order temperature coefficient X axis" name="INS_TCAL3_GYR2_X" documentation="This is the 2nd order temperature coefficient from a temperature calibration" user="Advanced" calibration="1">
+<field name="Calibration">1</field>
+</param>
+<param humanName="Gyroscope 2nd order temperature coefficient Y axis" name="INS_TCAL3_GYR2_Y" documentation="This is the 2nd order temperature coefficient from a temperature calibration" user="Advanced" calibration="1">
+<field name="Calibration">1</field>
 </param>
-<param humanName="Attenuation" name="INS_NOTCH_ATT" documentation="Notch attenuation in dB" user="Advanced">
-<field name="Range">5 30</field>
-<field name="Units">dB</field>
-<field name="UnitText">decibel</field>
+<param humanName="Gyroscope 2nd order temperature coefficient Z axis" name="INS_TCAL3_GYR2_Z" documentation="This is the 2nd order temperature coefficient from a temperature calibration" user="Advanced" calibration="1">
+<field name="Calibration">1</field>
 </param>
-<param humanName="Frequency" name="INS_NOTCH_FREQ" documentation="Notch center frequency in Hz" user="Advanced">
-<field name="Range">10 400</field>
-<field name="Units">Hz</field>
-<field name="UnitText">hertz</field>
+<param humanName="Gyroscope 3rd order temperature coefficient X axis" name="INS_TCAL3_GYR3_X" documentation="This is the 3rd order temperature coefficient from a temperature calibration" user="Advanced" calibration="1">
+<field name="Calibration">1</field>
 </param>
-<param humanName="Bandwidth" name="INS_NOTCH_BW" documentation="Notch bandwidth in Hz" user="Advanced">
-<field name="Range">5 100</field>
-<field name="Units">Hz</field>
-<field name="UnitText">hertz</field>
+<param humanName="Gyroscope 3rd order temperature coefficient Y axis" name="INS_TCAL3_GYR3_Y" documentation="This is the 3rd order temperature coefficient from a temperature calibration" user="Advanced" calibration="1">
+<field name="Calibration">1</field>
+</param>
+<param humanName="Gyroscope 3rd order temperature coefficient Z axis" name="INS_TCAL3_GYR3_Z" documentation="This is the 3rd order temperature coefficient from a temperature calibration" user="Advanced" calibration="1">
+<field name="Calibration">1</field>
 </param>
 </parameters>
 <parameters name="LEAK">
@@ -7311,7 +8163,7 @@
 <value code="13">Pixhawk 3.3ADC1</value>
 <value code="14">Pixhawk 3.3ADC2</value>
 <value code="15">Pixhawk 6.6ADC</value>
-<value code="11">Navigator Leak1</value>
+<value code="27">Navigator Built-In</value>
 </values>
 <field name="RebootRequired">True</field>
 </param>
@@ -7333,7 +8185,7 @@
 <value code="13">Pixhawk 3.3ADC1</value>
 <value code="14">Pixhawk 3.3ADC2</value>
 <value code="15">Pixhawk 6.6ADC</value>
-<value code="11">Navigator Leak1</value>
+<value code="27">Navigator Leak1</value>
 </values>
 <field name="RebootRequired">True</field>
 </param>
@@ -7355,7 +8207,7 @@
 <value code="13">Pixhawk 3.3ADC1</value>
 <value code="14">Pixhawk 3.3ADC2</value>
 <value code="15">Pixhawk 6.6ADC</value>
-<value code="11">Navigator Leak1</value>
+<value code="27">Navigator Leak1</value>
 </values>
 <field name="RebootRequired">True</field>
 </param>
@@ -7368,17 +8220,9 @@
 </parameters>
 <parameters name="LOG">
 <param humanName="AP_Logger Backend Storage type" name="LOG_BACKEND_TYPE" documentation="Bitmap of what Logger backend types to enable. Block-based logging is available on SITL and boards with dataflash chips. Multiple backends can be selected." user="Standard">
-<values>
-<value code="0">None</value>
-<value code="1">File</value>
-<value code="2">MAVLink</value>
-<value code="3">File and MAVLink</value>
-<value code="4">Block</value>
-<value code="6">Block and MAVLink</value>
-</values>
 <field name="Bitmask">0:File,1:MAVLink,2:Block</field>
 </param>
-<param humanName="Maximum AP_Logger File and Block Backend buffer size (in kilobytes)" name="LOG_FILE_BUFSIZE" documentation='The File and Block backends use a buffer to store data before writing to the block device.  Raising this value may reduce "gaps" in your SD card logging.  This buffer size may be reduced depending on available memory.  PixHawk requires at least 4 kilobytes.  Maximum value available here is 64 kilobytes.' user="Standard">
+<param humanName="Maximum AP_Logger File and Block Backend buffer size (in kilobytes)" name="LOG_FILE_BUFSIZE" documentation="The File and Block backends use a buffer to store data before writing to the block device.  Raising this value may reduce &quot;gaps&quot; in your SD card logging.  This buffer size may be reduced depending on available memory.  PixHawk requires at least 4 kilobytes.  Maximum value available here is 64 kilobytes." user="Standard">
 </param>
 <param humanName="Enable logging while disarmed" name="LOG_DISARMED" documentation="If LOG_DISARMED is set to 1 then logging will be enabled while disarmed. This can make for very large logfiles but can help a lot when tracking down startup issues" user="Standard">
 <values>
@@ -7422,7 +8266,7 @@
 <param humanName="Loiter Horizontal Maximum Speed" name="LOIT_SPEED" documentation="Defines the maximum speed in cm/s which the aircraft will travel horizontally while in loiter mode" user="Standard">
 <field name="Units">cm/s</field>
 <field name="UnitText">centimeters per second</field>
-<field name="Range">20 2000</field>
+<field name="Range">20 3500</field>
 <field name="Increment">50</field>
 </param>
 <param humanName="Loiter maximum correction acceleration" name="LOIT_ACC_MAX" documentation="Loiter maximum correction acceleration in cm/s/s.  Higher values cause the copter to correct position errors more aggressively." user="Advanced">
@@ -7463,10 +8307,21 @@
 </values>
 </param>
 <param humanName="Mission options bitmask" name="MIS_OPTIONS" documentation="Bitmask of what options to use in missions." user="Advanced">
-<field name="Bitmask">0:Clear Mission on reboot, 1:Use distance to land calc on battery failsafe,2:ContinueAfterLand</field>
+<field name="Bitmask">0:Clear Mission on reboot</field>
 </param>
 </parameters>
 <parameters name="MNT">
+<param humanName="Mount Type" name="MNT_TYPE" documentation="Mount Type (None, Servo or MAVLink)" user="Standard">
+<values>
+<value code="0">None</value>
+<value code="1">Servo</value>
+<value code="2">3DR Solo</value>
+<value code="3">Alexmos Serial</value>
+<value code="4">SToRM32 MAVLink</value>
+<value code="5">SToRM32 Serial</value>
+</values>
+<field name="RebootRequired">True</field>
+</param>
 <param humanName="Mount default operating mode" name="MNT_DEFLT_MODE" documentation="Mount default operating mode on startup and after control is returned from autopilot" user="Standard">
 <values>
 <value code="0">Retracted</value>
@@ -7547,13 +8402,13 @@
 <field name="Units">cdeg</field>
 <field name="UnitText">centidegrees</field>
 <field name="Range">-18000 17999</field>
-<field name="Increment">1</field>
+<field name="Increment">10</field>
 </param>
 <param humanName="Maximum roll angle" name="MNT_ANGMAX_ROL" documentation="Maximum physical roll angular position of the mount" user="Standard">
 <field name="Units">cdeg</field>
 <field name="UnitText">centidegrees</field>
 <field name="Range">-18000 17999</field>
-<field name="Increment">1</field>
+<field name="Increment">10</field>
 </param>
 <param humanName="tilt (pitch) RC input channel" name="MNT_RC_IN_TILT" documentation="0 for none, any other for the RC channel to be used to control tilt (pitch) movements" user="Standard">
 <values>
@@ -7572,13 +8427,13 @@
 <field name="Units">cdeg</field>
 <field name="UnitText">centidegrees</field>
 <field name="Range">-18000 17999</field>
-<field name="Increment">1</field>
+<field name="Increment">10</field>
 </param>
 <param humanName="Maximum tilt angle" name="MNT_ANGMAX_TIL" documentation="Maximum physical tilt (pitch) angular position of the mount" user="Standard">
 <field name="Units">cdeg</field>
 <field name="UnitText">centidegrees</field>
 <field name="Range">-18000 17999</field>
-<field name="Increment">1</field>
+<field name="Increment">10</field>
 </param>
 <param humanName="pan (yaw) RC input channel" name="MNT_RC_IN_PAN" documentation="0 for none, any other for the RC channel to be used to control pan (yaw) movements" user="Standard">
 <values>
@@ -7597,13 +8452,13 @@
 <field name="Units">cdeg</field>
 <field name="UnitText">centidegrees</field>
 <field name="Range">-18000 17999</field>
-<field name="Increment">1</field>
+<field name="Increment">10</field>
 </param>
 <param humanName="Maximum pan angle" name="MNT_ANGMAX_PAN" documentation="Maximum physical pan (yaw) angular position of the mount" user="Standard">
 <field name="Units">cdeg</field>
 <field name="UnitText">centidegrees</field>
 <field name="Range">-18000 17999</field>
-<field name="Increment">1</field>
+<field name="Increment">10</field>
 </param>
 <param humanName="mount joystick speed" name="MNT_JSTICK_SPD" documentation="0 for position control, small for low speeds, 100 for max speed. A good general value is 10 which gives a movement speed of 3 degrees per second." user="Standard">
 <field name="Range">0 100</field>
@@ -7621,17 +8476,6 @@
 <field name="Range">0.0 0.2</field>
 <field name="Increment">.005</field>
 </param>
-<param humanName="Mount Type" name="MNT_TYPE" documentation="Mount Type (None, Servo or MAVLink)" user="Standard">
-<values>
-<value code="0">None</value>
-<value code="1">Servo</value>
-<value code="2">3DR Solo</value>
-<value code="3">Alexmos Serial</value>
-<value code="4">SToRM32 MAVLink</value>
-<value code="5">SToRM32 Serial</value>
-</values>
-<field name="RebootRequired">True</field>
-</param>
 <param humanName="Mount default operating mode" name="MNT2_DEFLT_MODE" documentation="Mount default operating mode on startup and after control is returned from autopilot" user="Standard">
 <values>
 <value code="0">Retracted</value>
@@ -7712,13 +8556,13 @@
 <field name="Units">cdeg</field>
 <field name="UnitText">centidegrees</field>
 <field name="Range">-18000 17999</field>
-<field name="Increment">1</field>
+<field name="Increment">10</field>
 </param>
 <param humanName="Mount2's maximum roll angle" name="MNT2_ANGMAX_ROL" documentation="Mount2's maximum physical roll angular position" user="Standard">
 <field name="Units">cdeg</field>
 <field name="UnitText">centidegrees</field>
 <field name="Range">-18000 17999</field>
-<field name="Increment">1</field>
+<field name="Increment">10</field>
 </param>
 <param humanName="Mount2's tilt (pitch) RC input channel" name="MNT2_RC_IN_TILT" documentation="0 for none, any other for the RC channel to be used to control tilt (pitch) movements" user="Standard">
 <values>
@@ -7737,13 +8581,13 @@
 <field name="Units">cdeg</field>
 <field name="UnitText">centidegrees</field>
 <field name="Range">-18000 17999</field>
-<field name="Increment">1</field>
+<field name="Increment">10</field>
 </param>
 <param humanName="Mount2's maximum tilt angle" name="MNT2_ANGMAX_TIL" documentation="Mount2's maximum physical tilt (pitch) angular position" user="Standard">
 <field name="Units">cdeg</field>
 <field name="UnitText">centidegrees</field>
 <field name="Range">-18000 17999</field>
-<field name="Increment">1</field>
+<field name="Increment">10</field>
 </param>
 <param humanName="Mount2's pan (yaw) RC input channel" name="MNT2_RC_IN_PAN" documentation="0 for none, any other for the RC channel to be used to control pan (yaw) movements" user="Standard">
 <values>
@@ -7762,13 +8606,13 @@
 <field name="Units">cdeg</field>
 <field name="UnitText">centidegrees</field>
 <field name="Range">-18000 17999</field>
-<field name="Increment">1</field>
+<field name="Increment">10</field>
 </param>
 <param humanName="Mount2's maximum pan angle" name="MNT2_ANGMAX_PAN" documentation="MOunt2's maximum physical pan (yaw) angular position" user="Standard">
 <field name="Units">cdeg</field>
 <field name="UnitText">centidegrees</field>
 <field name="Range">-18000 17999</field>
-<field name="Increment">1</field>
+<field name="Increment">10</field>
 </param>
 <param humanName="Mount2's Roll stabilization lead time" name="MNT2_LEAD_RLL" documentation="Causes the servo angle output to lead the current angle of the vehicle by some amount of time based on current angular rate, compensating for servo delay. Increase until the servo is responsive but doesn't overshoot. Does nothing with pan stabilization enabled." user="Standard">
 <field name="Units">s</field>
@@ -7875,19 +8719,19 @@
 <field name="Units">PWM</field>
 <field name="UnitText">PWM in microseconds</field>
 </param>
-<param humanName="Thrust Curve Expo" name="MOT_THST_EXPO" documentation="Motor thrust curve exponent (from 0 for linear to 1.0 for second order curve)" user="Advanced">
-<field name="Range">0.25 0.8</field>
+<param humanName="Thrust Curve Expo" name="MOT_THST_EXPO" documentation="Motor thrust curve exponent (0.0 for linear to 1.0 for second order curve)" user="Advanced">
+<field name="Range">-1.0 1.0</field>
 </param>
 <param humanName="Motor Spin maximum" name="MOT_SPIN_MAX" documentation="Point at which the thrust saturates expressed as a number from 0 to 1 in the entire output range" user="Advanced">
 <field name="Values">0.9:Low,0.95:Default,1.0:High</field>
 </param>
-<param humanName="Battery voltage compensation maximum voltage" name="MOT_BAT_VOLT_MAX" documentation="Battery voltage compensation maximum voltage (voltage above this will have no additional scaling effect on thrust).  Recommend 4.4 * cell count, 0 = Disabled" user="Advanced">
-<field name="Range">6 35</field>
+<param humanName="Battery voltage compensation maximum voltage" name="MOT_BAT_VOLT_MAX" documentation="Battery voltage compensation maximum voltage (voltage above this will have no additional scaling effect on thrust).  Recommend 4.2 * cell count, 0 = Disabled" user="Advanced">
+<field name="Range">6 53</field>
 <field name="Units">V</field>
 <field name="UnitText">volt</field>
 </param>
-<param humanName="Battery voltage compensation minimum voltage" name="MOT_BAT_VOLT_MIN" documentation="Battery voltage compensation minimum voltage (voltage below this will have no additional scaling effect on thrust).  Recommend 3.5 * cell count, 0 = Disabled" user="Advanced">
-<field name="Range">6 35</field>
+<param humanName="Battery voltage compensation minimum voltage" name="MOT_BAT_VOLT_MIN" documentation="Battery voltage compensation minimum voltage (voltage below this will have no additional scaling effect on thrust).  Recommend 3.3 * cell count, 0 = Disabled" user="Advanced">
+<field name="Range">6 42</field>
 <field name="Units">V</field>
 <field name="UnitText">volt</field>
 </param>
@@ -7909,7 +8753,7 @@
 </values>
 <field name="RebootRequired">True</field>
 </param>
-<param humanName="PWM output miniumum" name="MOT_PWM_MIN" documentation="This sets the min PWM output value in microseconds that will ever be output to the motors, 0 = use input RC3_MIN" user="Advanced">
+<param humanName="PWM output minimum" name="MOT_PWM_MIN" documentation="This sets the min PWM output value in microseconds that will ever be output to the motors, 0 = use input RC3_MIN" user="Advanced">
 <field name="Units">PWM</field>
 <field name="UnitText">PWM in microseconds</field>
 <field name="Range">0 2000</field>
@@ -8018,16 +8862,13 @@
 <value code="3">High</value>
 </values>
 </param>
-<param humanName="Buzzer enable" name="NTF_BUZZ_ENABLE" documentation="Enable or disable the buzzer." user="Advanced">
-<values>
-<value code="0">Disable</value>
-<value code="1">Enable</value>
-</values>
+<param humanName="Buzzer Driver Types" name="NTF_BUZZ_TYPES" documentation="Controls what types of Buzzer will be enabled" user="Advanced">
+<field name="Bitmask">0:Built-in buzzer, 1:DShot, 2:UAVCAN</field>
 </param>
-<param humanName="Specifies colour source for the RGBLed" name="NTF_LED_OVERRIDE" documentation='Specifies the source for the colours and brightness for the LED.  OutbackChallenge conforms to the MedicalExpress (https://uavchallenge.org/medical-express/) rules, essentially "Green" is disarmed (safe-to-approach), "Red" is armed (not safe-to-approach). Traffic light is a simplified color set, red when armed, yellow when the safety switch is not surpressing outputs (but disarmed), and green when outputs are surpressed and disarmed, the LED will blink faster if disarmed and failing arming checks.' user="Advanced">
+<param humanName="Specifies colour source for the RGBLed" name="NTF_LED_OVERRIDE" documentation="Specifies the source for the colours and brightness for the LED.  OutbackChallenge conforms to the MedicalExpress (https://uavchallenge.org/medical-express/) rules, essentially &quot;Green&quot; is disarmed (safe-to-approach), &quot;Red&quot; is armed (not safe-to-approach). Traffic light is a simplified color set, red when armed, yellow when the safety switch is not surpressing outputs (but disarmed), and green when outputs are surpressed and disarmed, the LED will blink faster if disarmed and failing arming checks." user="Advanced">
 <values>
 <value code="0">Standard</value>
-<value code="1">MAVLink/Scripting</value>
+<value code="1">MAVLink/Scripting/AP_Periph</value>
 <value code="2">OutbackChallenge</value>
 <value code="3">TrafficLight</value>
 </values>
@@ -8053,7 +8894,7 @@
 </values>
 </param>
 <param humanName="LED Driver Types" name="NTF_LED_TYPES" documentation="Controls what types of LEDs will be enabled" user="Advanced">
-<field name="Bitmask">0:Build in LED, 1:Internal ToshibaLED, 2:External ToshibaLED, 3:External PCA9685, 4:Oreo LED, 5:UAVCAN, 6:NCP5623 External, 7:NCP5623 Internal, 8:NeoPixel, 9:ProfiLED</field>
+<field name="Bitmask">0:Built-in LED, 1:Internal ToshibaLED, 2:External ToshibaLED, 3:External PCA9685, 4:Oreo LED, 5:UAVCAN, 6:NCP5623 External, 7:NCP5623 Internal, 8:NeoPixel, 9:ProfiLED, 10:Scripting, 11:DShot</field>
 </param>
 <param humanName="Buzzer-on pin logic level" name="NTF_BUZZ_ON_LVL" documentation="Specifies pin level that indicates buzzer should play" user="Advanced">
 <values>
@@ -8061,13 +8902,14 @@
 <value code="1">HighIsOn</value>
 </values>
 </param>
-<param humanName="Buzzer volume" name="NTF_BUZZ_VOLUME" documentation="Enable or disable the buzzer.">
+<param humanName="Buzzer volume" name="NTF_BUZZ_VOLUME" documentation="Control the volume of the buzzer">
 <field name="Range">0 100</field>
 <field name="Units">%</field>
 <field name="UnitText">percent</field>
 </param>
 <param humanName="Serial LED String Length" name="NTF_LED_LEN" documentation="The number of Serial LED's to use for notifications (NeoPixel's and ProfiLED)" user="Advanced">
 <field name="Range">1 32</field>
+<field name="RebootRequired">True</field>
 </param>
 </parameters>
 <parameters name="PRX">
@@ -8081,8 +8923,8 @@
 <value code="4">RangeFinder</value>
 <value code="5">RPLidarA2</value>
 <value code="6">TeraRangerTowerEvo</value>
+<value code="8">LightwareSF45B</value>
 <value code="10">SITL</value>
-<value code="11">MorseSITL</value>
 <value code="12">AirSimSITL</value>
 </values>
 <field name="RebootRequired">True</field>
@@ -8106,7 +8948,7 @@
 <param humanName="Proximity sensor ignore width 1" name="PRX_IGN_WID1" documentation="Proximity sensor ignore width 1" user="Standard">
 <field name="Units">deg</field>
 <field name="UnitText">degrees</field>
-<field name="Range">0 45</field>
+<field name="Range">0 127</field>
 </param>
 <param humanName="Proximity sensor ignore angle 2" name="PRX_IGN_ANG2" documentation="Proximity sensor ignore angle 2" user="Standard">
 <field name="Units">deg</field>
@@ -8116,7 +8958,7 @@
 <param humanName="Proximity sensor ignore width 2" name="PRX_IGN_WID2" documentation="Proximity sensor ignore width 2" user="Standard">
 <field name="Units">deg</field>
 <field name="UnitText">degrees</field>
-<field name="Range">0 45</field>
+<field name="Range">0 127</field>
 </param>
 <param humanName="Proximity sensor ignore angle 3" name="PRX_IGN_ANG3" documentation="Proximity sensor ignore angle 3" user="Standard">
 <field name="Units">deg</field>
@@ -8126,7 +8968,7 @@
 <param humanName="Proximity sensor ignore width 3" name="PRX_IGN_WID3" documentation="Proximity sensor ignore width 3" user="Standard">
 <field name="Units">deg</field>
 <field name="UnitText">degrees</field>
-<field name="Range">0 45</field>
+<field name="Range">0 127</field>
 </param>
 <param humanName="Proximity sensor ignore angle 4" name="PRX_IGN_ANG4" documentation="Proximity sensor ignore angle 4" user="Standard">
 <field name="Units">deg</field>
@@ -8136,7 +8978,7 @@
 <param humanName="Proximity sensor ignore width 4" name="PRX_IGN_WID4" documentation="Proximity sensor ignore width 4" user="Standard">
 <field name="Units">deg</field>
 <field name="UnitText">degrees</field>
-<field name="Range">0 45</field>
+<field name="Range">0 127</field>
 </param>
 <param humanName="Proximity sensor ignore angle 5" name="PRX_IGN_ANG5" documentation="Proximity sensor ignore angle 5" user="Standard">
 <field name="Units">deg</field>
@@ -8146,7 +8988,7 @@
 <param humanName="Proximity sensor ignore width 5" name="PRX_IGN_WID5" documentation="Proximity sensor ignore width 5" user="Standard">
 <field name="Units">deg</field>
 <field name="UnitText">degrees</field>
-<field name="Range">0 45</field>
+<field name="Range">0 127</field>
 </param>
 <param humanName="Proximity sensor ignore angle 6" name="PRX_IGN_ANG6" documentation="Proximity sensor ignore angle 6" user="Standard">
 <field name="Units">deg</field>
@@ -8156,34 +8998,18 @@
 <param humanName="Proximity sensor ignore width 6" name="PRX_IGN_WID6" documentation="Proximity sensor ignore width 6" user="Standard">
 <field name="Units">deg</field>
 <field name="UnitText">degrees</field>
-<field name="Range">0 45</field>
-</param>
-<param humanName="Second Proximity type" name="PRX2_TYPE" documentation="What type of proximity sensor is connected" user="Advanced">
-<values>
-<value code="0">None</value>
-<value code="7">LightwareSF40c</value>
-<value code="1">LightWareSF40C-legacy</value>
-<value code="2">MAVLink</value>
-<value code="3">TeraRangerTower</value>
-<value code="4">RangeFinder</value>
-<value code="5">RPLidarA2</value>
-<value code="6">TeraRangerTowerEvo</value>
-<value code="10">SITL</value>
-<value code="11">MorseSITL</value>
-<value code="12">AirSimSITL</value>
-</values>
-<field name="RebootRequired">True</field>
+<field name="Range">0 127</field>
 </param>
-<param humanName="Second Proximity sensor orientation" name="PRX2_ORIENT" documentation="Second Proximity sensor orientation" user="Standard">
+<param humanName="Proximity raw distances log" name="PRX_LOG_RAW" documentation="Set this parameter to one if logging unfiltered(raw) distances from sensor should be enabled" user="Advanced">
 <values>
-<value code="0">Default</value>
-<value code="1">Upside Down</value>
+<value code="0">Off</value>
+<value code="1">On</value>
 </values>
 </param>
-<param humanName="Second Proximity sensor yaw correction" name="PRX2_YAW_CORR" documentation="Second Proximity sensor yaw correction" user="Standard">
-<field name="Units">deg</field>
-<field name="UnitText">degrees</field>
-<field name="Range">-180 180</field>
+<param humanName="Proximity filter cutoff frequency" name="PRX_FILT" documentation="Cutoff frequency for low pass filter applied to each face in the proximity boundary" user="Advanced">
+<field name="Units">Hz</field>
+<field name="UnitText">hertz</field>
+<field name="Range">0 20</field>
 </param>
 </parameters>
 <parameters name="PSC">
@@ -8199,8 +9025,33 @@
 <param humanName="Velocity (vertical) controller P gain" name="PSC_VELZ_P" documentation="Velocity (vertical) controller P gain.  Converts the difference between desired vertical speed and actual speed into a desired acceleration that is passed to the throttle acceleration controller" user="Standard">
 <field name="Range">1.000 8.000</field>
 </param>
+<param humanName="Velocity (vertical) controller I gain" name="PSC_VELZ_I" documentation="Velocity (vertical) controller I gain.  Corrects long-term difference in desired velocity to a target acceleration" user="Advanced">
+<field name="Range">0.02 1.00</field>
+<field name="Increment">0.01</field>
+</param>
+<param humanName="Velocity (vertical) controller I gain maximum" name="PSC_VELZ_IMAX" documentation="Velocity (vertical) controller I gain maximum.  Constrains the target acceleration that the I gain will output" user="Standard">
+<field name="Range">1.000 8.000</field>
+</param>
+<param humanName="Velocity (vertical) controller D gain" name="PSC_VELZ_D" documentation="Velocity (vertical) controller D gain.  Corrects short-term changes in velocity" user="Advanced">
+<field name="Range">0.00 1.00</field>
+<field name="Increment">0.001</field>
+</param>
+<param humanName="Velocity (vertical) controller Feed Forward gain" name="PSC_VELZ_FF" documentation="Velocity (vertical) controller Feed Forward gain.  Produces an output that is proportional to the magnitude of the target" user="Advanced">
+<field name="Range">0 1</field>
+<field name="Increment">0.01</field>
+</param>
+<param humanName="Velocity (vertical) error filter" name="PSC_VELZ_FLTE" documentation="Velocity (vertical) error filter.  This filter (in Hz) is applied to the input for P and I terms" user="Advanced">
+<field name="Range">0 100</field>
+<field name="Units">Hz</field>
+<field name="UnitText">hertz</field>
+</param>
+<param humanName="Velocity (vertical) input filter for D term" name="PSC_VELZ_FLTD" documentation="Velocity (vertical) input filter for D term.  This filter (in Hz) is applied to the input for D terms" user="Advanced">
+<field name="Range">0 100</field>
+<field name="Units">Hz</field>
+<field name="UnitText">hertz</field>
+</param>
 <param humanName="Acceleration (vertical) controller P gain" name="PSC_ACCZ_P" documentation="Acceleration (vertical) controller P gain.  Converts the difference between desired vertical acceleration and actual acceleration into a motor output" user="Standard">
-<field name="Range">0.500 1.500</field>
+<field name="Range">0.200 1.500</field>
 <field name="Increment">0.05</field>
 </param>
 <param humanName="Acceleration (vertical) controller I gain" name="PSC_ACCZ_I" documentation="Acceleration (vertical) controller I gain.  Corrects long-term difference in desired vertical acceleration and actual acceleration" user="Standard">
@@ -8236,14 +9087,18 @@
 <field name="Units">Hz</field>
 <field name="UnitText">hertz</field>
 </param>
-<param humanName="Position (horizonal) controller P gain" name="PSC_POSXY_P" documentation="Position controller P gain.  Converts the distance (in the latitude direction) to the target location into a desired speed which is then passed to the loiter latitude rate controller" user="Standard">
+<param humanName="Accel (vertical) slew rate limit" name="PSC_ACCZ_SMAX" documentation="Sets an upper limit on the slew rate produced by the combined P and D gains. If the amplitude of the control action produced by the rate feedback exceeds this value, then the D+P gain is reduced to respect the limit. This limits the amplitude of high frequency oscillations caused by an excessive gain. The limit should be set to no more than 25% of the actuators maximum slew rate to allow for load effects. Note: The gain will not be reduced to less than 10% of the nominal value. A value of zero will disable this feature." user="Advanced">
+<field name="Range">0 200</field>
+<field name="Increment">0.5</field>
+</param>
+<param humanName="Position (horizontal) controller P gain" name="PSC_POSXY_P" documentation="Position controller P gain.  Converts the distance (in the latitude direction) to the target location into a desired speed which is then passed to the loiter latitude rate controller" user="Standard">
 <field name="Range">0.500 2.000</field>
 </param>
-<param humanName="Velocity (horizontal) P gain" name="PSC_VELXY_P" documentation="Velocity (horizontal) P gain.  Converts the difference between desired velocity to a target acceleration" user="Advanced">
+<param humanName="Velocity (horizontal) P gain" name="PSC_VELXY_P" documentation="Velocity (horizontal) P gain.  Converts the difference between desired and actual velocity to a target acceleration" user="Advanced">
 <field name="Range">0.1 6.0</field>
 <field name="Increment">0.1</field>
 </param>
-<param humanName="Velocity (horizontal) I gain" name="PSC_VELXY_I" documentation="Velocity (horizontal) I gain.  Corrects long-term difference in desired velocity to a target acceleration" user="Advanced">
+<param humanName="Velocity (horizontal) I gain" name="PSC_VELXY_I" documentation="Velocity (horizontal) I gain.  Corrects long-term difference between desired and actual velocity to a target acceleration" user="Advanced">
 <field name="Range">0.02 1.00</field>
 <field name="Increment">0.01</field>
 </param>
@@ -8257,22 +9112,38 @@
 <field name="Units">cm/s/s</field>
 <field name="UnitText">centimeters per square second</field>
 </param>
-<param humanName="Velocity (horizontal) input filter" name="PSC_VELXY_FILT" documentation="Velocity (horizontal) input filter.  This filter (in hz) is applied to the input for P and I terms" user="Advanced">
+<param humanName="Velocity (horizontal) input filter" name="PSC_VELXY_FLTE" documentation="Velocity (horizontal) input filter.  This filter (in Hz) is applied to the input for P and I terms" user="Advanced">
 <field name="Range">0 100</field>
 <field name="Units">Hz</field>
 <field name="UnitText">hertz</field>
 </param>
-<param humanName="Velocity (horizontal) input filter" name="PSC_VELXY_D_FILT" documentation="Velocity (horizontal) input filter.  This filter (in hz) is applied to the input for D term" user="Advanced">
+<param humanName="Velocity (horizontal) input filter" name="PSC_VELXY_FLTD" documentation="Velocity (horizontal) input filter.  This filter (in Hz) is applied to the input for D term" user="Advanced">
 <field name="Range">0 100</field>
 <field name="Units">Hz</field>
 <field name="UnitText">hertz</field>
 </param>
+<param humanName="Velocity (horizontal) feed forward gain" name="PSC_VELXY_FF" documentation="Velocity (horizontal) feed forward gain.  Converts the difference between desired velocity to a target acceleration" user="Advanced">
+<field name="Range">0 6</field>
+<field name="Increment">0.01</field>
+</param>
 <param humanName="Position Control Angle Max" name="PSC_ANGLE_MAX" documentation="Maximum lean angle autopilot can request.  Set to zero to use ANGLE_MAX parameter value" user="Advanced">
 <field name="Units">deg</field>
 <field name="UnitText">degrees</field>
 <field name="Range">0 45</field>
 <field name="Increment">1</field>
 </param>
+<param humanName="Jerk limit for the horizontal kinematic input shaping" name="PSC_JERK_XY" documentation="Jerk limit of the horizontal kinematic path generation used to determine how quickly the aircraft varies the acceleration target" user="Advanced">
+<field name="Units">m/s/s/s</field>
+<field name="UnitText">meters per cubic second</field>
+<field name="Range">1 20</field>
+<field name="Increment">1</field>
+</param>
+<param humanName="Jerk limit for the vertical kinematic input shaping" name="PSC_JERK_Z" documentation="Jerk limit of the vertical kinematic path generation used to determine how quickly the aircraft varies the acceleration target" user="Advanced">
+<field name="Units">m/s/s/s</field>
+<field name="UnitText">meters per cubic second</field>
+<field name="Range">5 50</field>
+<field name="Increment">1</field>
+</param>
 </parameters>
 <parameters name="RALLY_">
 <param humanName="Rally Total" name="RALLY_TOTAL" documentation="Number of rally points currently loaded" user="Advanced">
@@ -8296,10 +9167,10 @@
 <field name="UnitText">seconds</field>
 </param>
 <param humanName="RC options" name="RC_OPTIONS" documentation="RC input options" user="Advanced">
-<field name="Bitmask">0:Ignore RC Receiver, 1:Ignore MAVLink Overrides, 2:Ignore Receiver Failsafe, 3:FPort Pad, 4:Log RC input bytes, 5:Arming check throttle for 0 input, 6:Skip the arming check for neutral Roll/Pitch/Yay sticks, 7:Allow Switch reverse</field>
+<field name="Bitmask">0:Ignore RC Receiver, 1:Ignore MAVLink Overrides, 2:Ignore Receiver Failsafe bit but allow other RC failsafes if setup, 3:FPort Pad, 4:Log RC input bytes, 5:Arming check throttle for 0 input, 6:Skip the arming check for neutral Roll/Pitch/Yay sticks, 7:Allow Switch reverse, 8:Use passthrough for CRSF telemetry, 9:Suppress CRSF mode/rate message for ELRS systems, 10:Enable RC Protocol re-detection</field>
 </param>
 <param humanName="RC protocols enabled" name="RC_PROTOCOLS" documentation="Bitmask of enabled RC protocols. Allows narrowing the protocol detection to only specific types of RC receivers which can avoid issues with incorrect detection. Set to 1 to enable all protocols." user="Advanced">
-<field name="Bitmask">0:All,1:PPM,2:IBUS,3:SBUS,4:SBUS_NI,5:DSM,6:SUMD,7:SRXL,8:SRXL2,9:CRSF,10:ST24,11:FPORT</field>
+<field name="Bitmask">0:All,1:PPM,2:IBUS,3:SBUS,4:SBUS_NI,5:DSM,6:SUMD,7:SRXL,8:SRXL2,9:CRSF,10:ST24,11:FPORT,12:FPORT2</field>
 </param>
 </parameters>
 <parameters name="RC10_">
@@ -8332,60 +9203,6 @@
 <field name="UnitText">PWM in microseconds</field>
 <field name="Range">0 200</field>
 </param>
-<param humanName="RC input option" name="RC10_OPTION" documentation="Function assigned to this RC channel" user="Standard">
-<values>
-<value code="0">Do Nothing</value>
-<value code="4">ModeRTL</value>
-<value code="9">Camera Trigger</value>
-<value code="16">ModeAuto</value>
-<value code="24">Auto Mission Reset</value>
-<value code="28">Relay On/Off</value>
-<value code="29">Landing Gear</value>
-<value code="30">Lost Plane Sound</value>
-<value code="31">Motor Emergency Stop</value>
-<value code="34">Relay2 On/Off</value>
-<value code="35">Relay3 On/Off</value>
-<value code="36">Relay4 On/Off</value>
-<value code="38">ADSB Avoidance En</value>
-<value code="41">ArmDisarm</value>
-<value code="43">InvertedFlight</value>
-<value code="46">RC Override Enable</value>
-<value code="51">ModeManual</value>
-<value code="55">ModeGuided</value>
-<value code="56">ModeLoiter</value>
-<value code="58">Clear Waypoints</value>
-<value code="62">Compass Learn</value>
-<value code="64">Reverse Throttle</value>
-<value code="65">GPS Disable</value>
-<value code="66">Relay5</value>
-<value code="67">Relay6</value>
-<value code="72">ModeCircle</value>
-<value code="77">ModeTakeoff</value>
-<value code="78">RunCam Control</value>
-<value code="79">RunCam OSD Control</value>
-<value code="81">Disarm</value>
-<value code="82">QAssist 3pos</value>
-<value code="84">Air Mode</value>
-<value code="85">Generator</value>
-<value code="86">Non Auto Terrain Follow Disable</value>
-<value code="87">Crow Select</value>
-<value code="88">Soaring Enable</value>
-<value code="100">KillIMU1</value>
-<value code="101">KillIMU2</value>
-<value code="102">Camera Mode Toggle</value>
-<value code="105">GPS Disable Yaw</value>
-<value code="208">Flap</value>
-<value code="209">Forward Throttle</value>
-<value code="300">Scripting1</value>
-<value code="301">Scripting2</value>
-<value code="302">Scripting3</value>
-<value code="303">Scripting4</value>
-<value code="304">Scripting5</value>
-<value code="305">Scripting6</value>
-<value code="306">Scripting7</value>
-<value code="307">Scripting8</value>
-</values>
-</param>
 </parameters>
 <parameters name="RC11_">
 <param humanName="RC min PWM" name="RC11_MIN" documentation="RC minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
@@ -8417,60 +9234,6 @@
 <field name="UnitText">PWM in microseconds</field>
 <field name="Range">0 200</field>
 </param>
-<param humanName="RC input option" name="RC11_OPTION" documentation="Function assigned to this RC channel" user="Standard">
-<values>
-<value code="0">Do Nothing</value>
-<value code="4">ModeRTL</value>
-<value code="9">Camera Trigger</value>
-<value code="16">ModeAuto</value>
-<value code="24">Auto Mission Reset</value>
-<value code="28">Relay On/Off</value>
-<value code="29">Landing Gear</value>
-<value code="30">Lost Plane Sound</value>
-<value code="31">Motor Emergency Stop</value>
-<value code="34">Relay2 On/Off</value>
-<value code="35">Relay3 On/Off</value>
-<value code="36">Relay4 On/Off</value>
-<value code="38">ADSB Avoidance En</value>
-<value code="41">ArmDisarm</value>
-<value code="43">InvertedFlight</value>
-<value code="46">RC Override Enable</value>
-<value code="51">ModeManual</value>
-<value code="55">ModeGuided</value>
-<value code="56">ModeLoiter</value>
-<value code="58">Clear Waypoints</value>
-<value code="62">Compass Learn</value>
-<value code="64">Reverse Throttle</value>
-<value code="65">GPS Disable</value>
-<value code="66">Relay5</value>
-<value code="67">Relay6</value>
-<value code="72">ModeCircle</value>
-<value code="77">ModeTakeoff</value>
-<value code="78">RunCam Control</value>
-<value code="79">RunCam OSD Control</value>
-<value code="81">Disarm</value>
-<value code="82">QAssist 3pos</value>
-<value code="84">Air Mode</value>
-<value code="85">Generator</value>
-<value code="86">Non Auto Terrain Follow Disable</value>
-<value code="87">Crow Select</value>
-<value code="88">Soaring Enable</value>
-<value code="100">KillIMU1</value>
-<value code="101">KillIMU2</value>
-<value code="102">Camera Mode Toggle</value>
-<value code="105">GPS Disable Yaw</value>
-<value code="208">Flap</value>
-<value code="209">Forward Throttle</value>
-<value code="300">Scripting1</value>
-<value code="301">Scripting2</value>
-<value code="302">Scripting3</value>
-<value code="303">Scripting4</value>
-<value code="304">Scripting5</value>
-<value code="305">Scripting6</value>
-<value code="306">Scripting7</value>
-<value code="307">Scripting8</value>
-</values>
-</param>
 </parameters>
 <parameters name="RC12_">
 <param humanName="RC min PWM" name="RC12_MIN" documentation="RC minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
@@ -8502,60 +9265,6 @@
 <field name="UnitText">PWM in microseconds</field>
 <field name="Range">0 200</field>
 </param>
-<param humanName="RC input option" name="RC12_OPTION" documentation="Function assigned to this RC channel" user="Standard">
-<values>
-<value code="0">Do Nothing</value>
-<value code="4">ModeRTL</value>
-<value code="9">Camera Trigger</value>
-<value code="16">ModeAuto</value>
-<value code="24">Auto Mission Reset</value>
-<value code="28">Relay On/Off</value>
-<value code="29">Landing Gear</value>
-<value code="30">Lost Plane Sound</value>
-<value code="31">Motor Emergency Stop</value>
-<value code="34">Relay2 On/Off</value>
-<value code="35">Relay3 On/Off</value>
-<value code="36">Relay4 On/Off</value>
-<value code="38">ADSB Avoidance En</value>
-<value code="41">ArmDisarm</value>
-<value code="43">InvertedFlight</value>
-<value code="46">RC Override Enable</value>
-<value code="51">ModeManual</value>
-<value code="55">ModeGuided</value>
-<value code="56">ModeLoiter</value>
-<value code="58">Clear Waypoints</value>
-<value code="62">Compass Learn</value>
-<value code="64">Reverse Throttle</value>
-<value code="65">GPS Disable</value>
-<value code="66">Relay5</value>
-<value code="67">Relay6</value>
-<value code="72">ModeCircle</value>
-<value code="77">ModeTakeoff</value>
-<value code="78">RunCam Control</value>
-<value code="79">RunCam OSD Control</value>
-<value code="81">Disarm</value>
-<value code="82">QAssist 3pos</value>
-<value code="84">Air Mode</value>
-<value code="85">Generator</value>
-<value code="86">Non Auto Terrain Follow Disable</value>
-<value code="87">Crow Select</value>
-<value code="88">Soaring Enable</value>
-<value code="100">KillIMU1</value>
-<value code="101">KillIMU2</value>
-<value code="102">Camera Mode Toggle</value>
-<value code="105">GPS Disable Yaw</value>
-<value code="208">Flap</value>
-<value code="209">Forward Throttle</value>
-<value code="300">Scripting1</value>
-<value code="301">Scripting2</value>
-<value code="302">Scripting3</value>
-<value code="303">Scripting4</value>
-<value code="304">Scripting5</value>
-<value code="305">Scripting6</value>
-<value code="306">Scripting7</value>
-<value code="307">Scripting8</value>
-</values>
-</param>
 </parameters>
 <parameters name="RC13_">
 <param humanName="RC min PWM" name="RC13_MIN" documentation="RC minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
@@ -8587,60 +9296,6 @@
 <field name="UnitText">PWM in microseconds</field>
 <field name="Range">0 200</field>
 </param>
-<param humanName="RC input option" name="RC13_OPTION" documentation="Function assigned to this RC channel" user="Standard">
-<values>
-<value code="0">Do Nothing</value>
-<value code="4">ModeRTL</value>
-<value code="9">Camera Trigger</value>
-<value code="16">ModeAuto</value>
-<value code="24">Auto Mission Reset</value>
-<value code="28">Relay On/Off</value>
-<value code="29">Landing Gear</value>
-<value code="30">Lost Plane Sound</value>
-<value code="31">Motor Emergency Stop</value>
-<value code="34">Relay2 On/Off</value>
-<value code="35">Relay3 On/Off</value>
-<value code="36">Relay4 On/Off</value>
-<value code="38">ADSB Avoidance En</value>
-<value code="41">ArmDisarm</value>
-<value code="43">InvertedFlight</value>
-<value code="46">RC Override Enable</value>
-<value code="51">ModeManual</value>
-<value code="55">ModeGuided</value>
-<value code="56">ModeLoiter</value>
-<value code="58">Clear Waypoints</value>
-<value code="62">Compass Learn</value>
-<value code="64">Reverse Throttle</value>
-<value code="65">GPS Disable</value>
-<value code="66">Relay5</value>
-<value code="67">Relay6</value>
-<value code="72">ModeCircle</value>
-<value code="77">ModeTakeoff</value>
-<value code="78">RunCam Control</value>
-<value code="79">RunCam OSD Control</value>
-<value code="81">Disarm</value>
-<value code="82">QAssist 3pos</value>
-<value code="84">Air Mode</value>
-<value code="85">Generator</value>
-<value code="86">Non Auto Terrain Follow Disable</value>
-<value code="87">Crow Select</value>
-<value code="88">Soaring Enable</value>
-<value code="100">KillIMU1</value>
-<value code="101">KillIMU2</value>
-<value code="102">Camera Mode Toggle</value>
-<value code="105">GPS Disable Yaw</value>
-<value code="208">Flap</value>
-<value code="209">Forward Throttle</value>
-<value code="300">Scripting1</value>
-<value code="301">Scripting2</value>
-<value code="302">Scripting3</value>
-<value code="303">Scripting4</value>
-<value code="304">Scripting5</value>
-<value code="305">Scripting6</value>
-<value code="306">Scripting7</value>
-<value code="307">Scripting8</value>
-</values>
-</param>
 </parameters>
 <parameters name="RC14_">
 <param humanName="RC min PWM" name="RC14_MIN" documentation="RC minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
@@ -8672,60 +9327,6 @@
 <field name="UnitText">PWM in microseconds</field>
 <field name="Range">0 200</field>
 </param>
-<param humanName="RC input option" name="RC14_OPTION" documentation="Function assigned to this RC channel" user="Standard">
-<values>
-<value code="0">Do Nothing</value>
-<value code="4">ModeRTL</value>
-<value code="9">Camera Trigger</value>
-<value code="16">ModeAuto</value>
-<value code="24">Auto Mission Reset</value>
-<value code="28">Relay On/Off</value>
-<value code="29">Landing Gear</value>
-<value code="30">Lost Plane Sound</value>
-<value code="31">Motor Emergency Stop</value>
-<value code="34">Relay2 On/Off</value>
-<value code="35">Relay3 On/Off</value>
-<value code="36">Relay4 On/Off</value>
-<value code="38">ADSB Avoidance En</value>
-<value code="41">ArmDisarm</value>
-<value code="43">InvertedFlight</value>
-<value code="46">RC Override Enable</value>
-<value code="51">ModeManual</value>
-<value code="55">ModeGuided</value>
-<value code="56">ModeLoiter</value>
-<value code="58">Clear Waypoints</value>
-<value code="62">Compass Learn</value>
-<value code="64">Reverse Throttle</value>
-<value code="65">GPS Disable</value>
-<value code="66">Relay5</value>
-<value code="67">Relay6</value>
-<value code="72">ModeCircle</value>
-<value code="77">ModeTakeoff</value>
-<value code="78">RunCam Control</value>
-<value code="79">RunCam OSD Control</value>
-<value code="81">Disarm</value>
-<value code="82">QAssist 3pos</value>
-<value code="84">Air Mode</value>
-<value code="85">Generator</value>
-<value code="86">Non Auto Terrain Follow Disable</value>
-<value code="87">Crow Select</value>
-<value code="88">Soaring Enable</value>
-<value code="100">KillIMU1</value>
-<value code="101">KillIMU2</value>
-<value code="102">Camera Mode Toggle</value>
-<value code="105">GPS Disable Yaw</value>
-<value code="208">Flap</value>
-<value code="209">Forward Throttle</value>
-<value code="300">Scripting1</value>
-<value code="301">Scripting2</value>
-<value code="302">Scripting3</value>
-<value code="303">Scripting4</value>
-<value code="304">Scripting5</value>
-<value code="305">Scripting6</value>
-<value code="306">Scripting7</value>
-<value code="307">Scripting8</value>
-</values>
-</param>
 </parameters>
 <parameters name="RC15_">
 <param humanName="RC min PWM" name="RC15_MIN" documentation="RC minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
@@ -8757,60 +9358,6 @@
 <field name="UnitText">PWM in microseconds</field>
 <field name="Range">0 200</field>
 </param>
-<param humanName="RC input option" name="RC15_OPTION" documentation="Function assigned to this RC channel" user="Standard">
-<values>
-<value code="0">Do Nothing</value>
-<value code="4">ModeRTL</value>
-<value code="9">Camera Trigger</value>
-<value code="16">ModeAuto</value>
-<value code="24">Auto Mission Reset</value>
-<value code="28">Relay On/Off</value>
-<value code="29">Landing Gear</value>
-<value code="30">Lost Plane Sound</value>
-<value code="31">Motor Emergency Stop</value>
-<value code="34">Relay2 On/Off</value>
-<value code="35">Relay3 On/Off</value>
-<value code="36">Relay4 On/Off</value>
-<value code="38">ADSB Avoidance En</value>
-<value code="41">ArmDisarm</value>
-<value code="43">InvertedFlight</value>
-<value code="46">RC Override Enable</value>
-<value code="51">ModeManual</value>
-<value code="55">ModeGuided</value>
-<value code="56">ModeLoiter</value>
-<value code="58">Clear Waypoints</value>
-<value code="62">Compass Learn</value>
-<value code="64">Reverse Throttle</value>
-<value code="65">GPS Disable</value>
-<value code="66">Relay5</value>
-<value code="67">Relay6</value>
-<value code="72">ModeCircle</value>
-<value code="77">ModeTakeoff</value>
-<value code="78">RunCam Control</value>
-<value code="79">RunCam OSD Control</value>
-<value code="81">Disarm</value>
-<value code="82">QAssist 3pos</value>
-<value code="84">Air Mode</value>
-<value code="85">Generator</value>
-<value code="86">Non Auto Terrain Follow Disable</value>
-<value code="87">Crow Select</value>
-<value code="88">Soaring Enable</value>
-<value code="100">KillIMU1</value>
-<value code="101">KillIMU2</value>
-<value code="102">Camera Mode Toggle</value>
-<value code="105">GPS Disable Yaw</value>
-<value code="208">Flap</value>
-<value code="209">Forward Throttle</value>
-<value code="300">Scripting1</value>
-<value code="301">Scripting2</value>
-<value code="302">Scripting3</value>
-<value code="303">Scripting4</value>
-<value code="304">Scripting5</value>
-<value code="305">Scripting6</value>
-<value code="306">Scripting7</value>
-<value code="307">Scripting8</value>
-</values>
-</param>
 </parameters>
 <parameters name="RC16_">
 <param humanName="RC min PWM" name="RC16_MIN" documentation="RC minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
@@ -8842,60 +9389,6 @@
 <field name="UnitText">PWM in microseconds</field>
 <field name="Range">0 200</field>
 </param>
-<param humanName="RC input option" name="RC16_OPTION" documentation="Function assigned to this RC channel" user="Standard">
-<values>
-<value code="0">Do Nothing</value>
-<value code="4">ModeRTL</value>
-<value code="9">Camera Trigger</value>
-<value code="16">ModeAuto</value>
-<value code="24">Auto Mission Reset</value>
-<value code="28">Relay On/Off</value>
-<value code="29">Landing Gear</value>
-<value code="30">Lost Plane Sound</value>
-<value code="31">Motor Emergency Stop</value>
-<value code="34">Relay2 On/Off</value>
-<value code="35">Relay3 On/Off</value>
-<value code="36">Relay4 On/Off</value>
-<value code="38">ADSB Avoidance En</value>
-<value code="41">ArmDisarm</value>
-<value code="43">InvertedFlight</value>
-<value code="46">RC Override Enable</value>
-<value code="51">ModeManual</value>
-<value code="55">ModeGuided</value>
-<value code="56">ModeLoiter</value>
-<value code="58">Clear Waypoints</value>
-<value code="62">Compass Learn</value>
-<value code="64">Reverse Throttle</value>
-<value code="65">GPS Disable</value>
-<value code="66">Relay5</value>
-<value code="67">Relay6</value>
-<value code="72">ModeCircle</value>
-<value code="77">ModeTakeoff</value>
-<value code="78">RunCam Control</value>
-<value code="79">RunCam OSD Control</value>
-<value code="81">Disarm</value>
-<value code="82">QAssist 3pos</value>
-<value code="84">Air Mode</value>
-<value code="85">Generator</value>
-<value code="86">Non Auto Terrain Follow Disable</value>
-<value code="87">Crow Select</value>
-<value code="88">Soaring Enable</value>
-<value code="100">KillIMU1</value>
-<value code="101">KillIMU2</value>
-<value code="102">Camera Mode Toggle</value>
-<value code="105">GPS Disable Yaw</value>
-<value code="208">Flap</value>
-<value code="209">Forward Throttle</value>
-<value code="300">Scripting1</value>
-<value code="301">Scripting2</value>
-<value code="302">Scripting3</value>
-<value code="303">Scripting4</value>
-<value code="304">Scripting5</value>
-<value code="305">Scripting6</value>
-<value code="306">Scripting7</value>
-<value code="307">Scripting8</value>
-</values>
-</param>
 </parameters>
 <parameters name="RC1_">
 <param humanName="RC min PWM" name="RC1_MIN" documentation="RC minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
@@ -8927,60 +9420,6 @@
 <field name="UnitText">PWM in microseconds</field>
 <field name="Range">0 200</field>
 </param>
-<param humanName="RC input option" name="RC1_OPTION" documentation="Function assigned to this RC channel" user="Standard">
-<values>
-<value code="0">Do Nothing</value>
-<value code="4">ModeRTL</value>
-<value code="9">Camera Trigger</value>
-<value code="16">ModeAuto</value>
-<value code="24">Auto Mission Reset</value>
-<value code="28">Relay On/Off</value>
-<value code="29">Landing Gear</value>
-<value code="30">Lost Plane Sound</value>
-<value code="31">Motor Emergency Stop</value>
-<value code="34">Relay2 On/Off</value>
-<value code="35">Relay3 On/Off</value>
-<value code="36">Relay4 On/Off</value>
-<value code="38">ADSB Avoidance En</value>
-<value code="41">ArmDisarm</value>
-<value code="43">InvertedFlight</value>
-<value code="46">RC Override Enable</value>
-<value code="51">ModeManual</value>
-<value code="55">ModeGuided</value>
-<value code="56">ModeLoiter</value>
-<value code="58">Clear Waypoints</value>
-<value code="62">Compass Learn</value>
-<value code="64">Reverse Throttle</value>
-<value code="65">GPS Disable</value>
-<value code="66">Relay5</value>
-<value code="67">Relay6</value>
-<value code="72">ModeCircle</value>
-<value code="77">ModeTakeoff</value>
-<value code="78">RunCam Control</value>
-<value code="79">RunCam OSD Control</value>
-<value code="81">Disarm</value>
-<value code="82">QAssist 3pos</value>
-<value code="84">Air Mode</value>
-<value code="85">Generator</value>
-<value code="86">Non Auto Terrain Follow Disable</value>
-<value code="87">Crow Select</value>
-<value code="88">Soaring Enable</value>
-<value code="100">KillIMU1</value>
-<value code="101">KillIMU2</value>
-<value code="102">Camera Mode Toggle</value>
-<value code="105">GPS Disable Yaw</value>
-<value code="208">Flap</value>
-<value code="209">Forward Throttle</value>
-<value code="300">Scripting1</value>
-<value code="301">Scripting2</value>
-<value code="302">Scripting3</value>
-<value code="303">Scripting4</value>
-<value code="304">Scripting5</value>
-<value code="305">Scripting6</value>
-<value code="306">Scripting7</value>
-<value code="307">Scripting8</value>
-</values>
-</param>
 </parameters>
 <parameters name="RC2_">
 <param humanName="RC min PWM" name="RC2_MIN" documentation="RC minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
@@ -9012,60 +9451,6 @@
 <field name="UnitText">PWM in microseconds</field>
 <field name="Range">0 200</field>
 </param>
-<param humanName="RC input option" name="RC2_OPTION" documentation="Function assigned to this RC channel" user="Standard">
-<values>
-<value code="0">Do Nothing</value>
-<value code="4">ModeRTL</value>
-<value code="9">Camera Trigger</value>
-<value code="16">ModeAuto</value>
-<value code="24">Auto Mission Reset</value>
-<value code="28">Relay On/Off</value>
-<value code="29">Landing Gear</value>
-<value code="30">Lost Plane Sound</value>
-<value code="31">Motor Emergency Stop</value>
-<value code="34">Relay2 On/Off</value>
-<value code="35">Relay3 On/Off</value>
-<value code="36">Relay4 On/Off</value>
-<value code="38">ADSB Avoidance En</value>
-<value code="41">ArmDisarm</value>
-<value code="43">InvertedFlight</value>
-<value code="46">RC Override Enable</value>
-<value code="51">ModeManual</value>
-<value code="55">ModeGuided</value>
-<value code="56">ModeLoiter</value>
-<value code="58">Clear Waypoints</value>
-<value code="62">Compass Learn</value>
-<value code="64">Reverse Throttle</value>
-<value code="65">GPS Disable</value>
-<value code="66">Relay5</value>
-<value code="67">Relay6</value>
-<value code="72">ModeCircle</value>
-<value code="77">ModeTakeoff</value>
-<value code="78">RunCam Control</value>
-<value code="79">RunCam OSD Control</value>
-<value code="81">Disarm</value>
-<value code="82">QAssist 3pos</value>
-<value code="84">Air Mode</value>
-<value code="85">Generator</value>
-<value code="86">Non Auto Terrain Follow Disable</value>
-<value code="87">Crow Select</value>
-<value code="88">Soaring Enable</value>
-<value code="100">KillIMU1</value>
-<value code="101">KillIMU2</value>
-<value code="102">Camera Mode Toggle</value>
-<value code="105">GPS Disable Yaw</value>
-<value code="208">Flap</value>
-<value code="209">Forward Throttle</value>
-<value code="300">Scripting1</value>
-<value code="301">Scripting2</value>
-<value code="302">Scripting3</value>
-<value code="303">Scripting4</value>
-<value code="304">Scripting5</value>
-<value code="305">Scripting6</value>
-<value code="306">Scripting7</value>
-<value code="307">Scripting8</value>
-</values>
-</param>
 </parameters>
 <parameters name="RC3_">
 <param humanName="RC min PWM" name="RC3_MIN" documentation="RC minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
@@ -9097,60 +9482,6 @@
 <field name="UnitText">PWM in microseconds</field>
 <field name="Range">0 200</field>
 </param>
-<param humanName="RC input option" name="RC3_OPTION" documentation="Function assigned to this RC channel" user="Standard">
-<values>
-<value code="0">Do Nothing</value>
-<value code="4">ModeRTL</value>
-<value code="9">Camera Trigger</value>
-<value code="16">ModeAuto</value>
-<value code="24">Auto Mission Reset</value>
-<value code="28">Relay On/Off</value>
-<value code="29">Landing Gear</value>
-<value code="30">Lost Plane Sound</value>
-<value code="31">Motor Emergency Stop</value>
-<value code="34">Relay2 On/Off</value>
-<value code="35">Relay3 On/Off</value>
-<value code="36">Relay4 On/Off</value>
-<value code="38">ADSB Avoidance En</value>
-<value code="41">ArmDisarm</value>
-<value code="43">InvertedFlight</value>
-<value code="46">RC Override Enable</value>
-<value code="51">ModeManual</value>
-<value code="55">ModeGuided</value>
-<value code="56">ModeLoiter</value>
-<value code="58">Clear Waypoints</value>
-<value code="62">Compass Learn</value>
-<value code="64">Reverse Throttle</value>
-<value code="65">GPS Disable</value>
-<value code="66">Relay5</value>
-<value code="67">Relay6</value>
-<value code="72">ModeCircle</value>
-<value code="77">ModeTakeoff</value>
-<value code="78">RunCam Control</value>
-<value code="79">RunCam OSD Control</value>
-<value code="81">Disarm</value>
-<value code="82">QAssist 3pos</value>
-<value code="84">Air Mode</value>
-<value code="85">Generator</value>
-<value code="86">Non Auto Terrain Follow Disable</value>
-<value code="87">Crow Select</value>
-<value code="88">Soaring Enable</value>
-<value code="100">KillIMU1</value>
-<value code="101">KillIMU2</value>
-<value code="102">Camera Mode Toggle</value>
-<value code="105">GPS Disable Yaw</value>
-<value code="208">Flap</value>
-<value code="209">Forward Throttle</value>
-<value code="300">Scripting1</value>
-<value code="301">Scripting2</value>
-<value code="302">Scripting3</value>
-<value code="303">Scripting4</value>
-<value code="304">Scripting5</value>
-<value code="305">Scripting6</value>
-<value code="306">Scripting7</value>
-<value code="307">Scripting8</value>
-</values>
-</param>
 </parameters>
 <parameters name="RC4_">
 <param humanName="RC min PWM" name="RC4_MIN" documentation="RC minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
@@ -9182,60 +9513,6 @@
 <field name="UnitText">PWM in microseconds</field>
 <field name="Range">0 200</field>
 </param>
-<param humanName="RC input option" name="RC4_OPTION" documentation="Function assigned to this RC channel" user="Standard">
-<values>
-<value code="0">Do Nothing</value>
-<value code="4">ModeRTL</value>
-<value code="9">Camera Trigger</value>
-<value code="16">ModeAuto</value>
-<value code="24">Auto Mission Reset</value>
-<value code="28">Relay On/Off</value>
-<value code="29">Landing Gear</value>
-<value code="30">Lost Plane Sound</value>
-<value code="31">Motor Emergency Stop</value>
-<value code="34">Relay2 On/Off</value>
-<value code="35">Relay3 On/Off</value>
-<value code="36">Relay4 On/Off</value>
-<value code="38">ADSB Avoidance En</value>
-<value code="41">ArmDisarm</value>
-<value code="43">InvertedFlight</value>
-<value code="46">RC Override Enable</value>
-<value code="51">ModeManual</value>
-<value code="55">ModeGuided</value>
-<value code="56">ModeLoiter</value>
-<value code="58">Clear Waypoints</value>
-<value code="62">Compass Learn</value>
-<value code="64">Reverse Throttle</value>
-<value code="65">GPS Disable</value>
-<value code="66">Relay5</value>
-<value code="67">Relay6</value>
-<value code="72">ModeCircle</value>
-<value code="77">ModeTakeoff</value>
-<value code="78">RunCam Control</value>
-<value code="79">RunCam OSD Control</value>
-<value code="81">Disarm</value>
-<value code="82">QAssist 3pos</value>
-<value code="84">Air Mode</value>
-<value code="85">Generator</value>
-<value code="86">Non Auto Terrain Follow Disable</value>
-<value code="87">Crow Select</value>
-<value code="88">Soaring Enable</value>
-<value code="100">KillIMU1</value>
-<value code="101">KillIMU2</value>
-<value code="102">Camera Mode Toggle</value>
-<value code="105">GPS Disable Yaw</value>
-<value code="208">Flap</value>
-<value code="209">Forward Throttle</value>
-<value code="300">Scripting1</value>
-<value code="301">Scripting2</value>
-<value code="302">Scripting3</value>
-<value code="303">Scripting4</value>
-<value code="304">Scripting5</value>
-<value code="305">Scripting6</value>
-<value code="306">Scripting7</value>
-<value code="307">Scripting8</value>
-</values>
-</param>
 </parameters>
 <parameters name="RC5_">
 <param humanName="RC min PWM" name="RC5_MIN" documentation="RC minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
@@ -9267,60 +9544,6 @@
 <field name="UnitText">PWM in microseconds</field>
 <field name="Range">0 200</field>
 </param>
-<param humanName="RC input option" name="RC5_OPTION" documentation="Function assigned to this RC channel" user="Standard">
-<values>
-<value code="0">Do Nothing</value>
-<value code="4">ModeRTL</value>
-<value code="9">Camera Trigger</value>
-<value code="16">ModeAuto</value>
-<value code="24">Auto Mission Reset</value>
-<value code="28">Relay On/Off</value>
-<value code="29">Landing Gear</value>
-<value code="30">Lost Plane Sound</value>
-<value code="31">Motor Emergency Stop</value>
-<value code="34">Relay2 On/Off</value>
-<value code="35">Relay3 On/Off</value>
-<value code="36">Relay4 On/Off</value>
-<value code="38">ADSB Avoidance En</value>
-<value code="41">ArmDisarm</value>
-<value code="43">InvertedFlight</value>
-<value code="46">RC Override Enable</value>
-<value code="51">ModeManual</value>
-<value code="55">ModeGuided</value>
-<value code="56">ModeLoiter</value>
-<value code="58">Clear Waypoints</value>
-<value code="62">Compass Learn</value>
-<value code="64">Reverse Throttle</value>
-<value code="65">GPS Disable</value>
-<value code="66">Relay5</value>
-<value code="67">Relay6</value>
-<value code="72">ModeCircle</value>
-<value code="77">ModeTakeoff</value>
-<value code="78">RunCam Control</value>
-<value code="79">RunCam OSD Control</value>
-<value code="81">Disarm</value>
-<value code="82">QAssist 3pos</value>
-<value code="84">Air Mode</value>
-<value code="85">Generator</value>
-<value code="86">Non Auto Terrain Follow Disable</value>
-<value code="87">Crow Select</value>
-<value code="88">Soaring Enable</value>
-<value code="100">KillIMU1</value>
-<value code="101">KillIMU2</value>
-<value code="102">Camera Mode Toggle</value>
-<value code="105">GPS Disable Yaw</value>
-<value code="208">Flap</value>
-<value code="209">Forward Throttle</value>
-<value code="300">Scripting1</value>
-<value code="301">Scripting2</value>
-<value code="302">Scripting3</value>
-<value code="303">Scripting4</value>
-<value code="304">Scripting5</value>
-<value code="305">Scripting6</value>
-<value code="306">Scripting7</value>
-<value code="307">Scripting8</value>
-</values>
-</param>
 </parameters>
 <parameters name="RC6_">
 <param humanName="RC min PWM" name="RC6_MIN" documentation="RC minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
@@ -9352,60 +9575,6 @@
 <field name="UnitText">PWM in microseconds</field>
 <field name="Range">0 200</field>
 </param>
-<param humanName="RC input option" name="RC6_OPTION" documentation="Function assigned to this RC channel" user="Standard">
-<values>
-<value code="0">Do Nothing</value>
-<value code="4">ModeRTL</value>
-<value code="9">Camera Trigger</value>
-<value code="16">ModeAuto</value>
-<value code="24">Auto Mission Reset</value>
-<value code="28">Relay On/Off</value>
-<value code="29">Landing Gear</value>
-<value code="30">Lost Plane Sound</value>
-<value code="31">Motor Emergency Stop</value>
-<value code="34">Relay2 On/Off</value>
-<value code="35">Relay3 On/Off</value>
-<value code="36">Relay4 On/Off</value>
-<value code="38">ADSB Avoidance En</value>
-<value code="41">ArmDisarm</value>
-<value code="43">InvertedFlight</value>
-<value code="46">RC Override Enable</value>
-<value code="51">ModeManual</value>
-<value code="55">ModeGuided</value>
-<value code="56">ModeLoiter</value>
-<value code="58">Clear Waypoints</value>
-<value code="62">Compass Learn</value>
-<value code="64">Reverse Throttle</value>
-<value code="65">GPS Disable</value>
-<value code="66">Relay5</value>
-<value code="67">Relay6</value>
-<value code="72">ModeCircle</value>
-<value code="77">ModeTakeoff</value>
-<value code="78">RunCam Control</value>
-<value code="79">RunCam OSD Control</value>
-<value code="81">Disarm</value>
-<value code="82">QAssist 3pos</value>
-<value code="84">Air Mode</value>
-<value code="85">Generator</value>
-<value code="86">Non Auto Terrain Follow Disable</value>
-<value code="87">Crow Select</value>
-<value code="88">Soaring Enable</value>
-<value code="100">KillIMU1</value>
-<value code="101">KillIMU2</value>
-<value code="102">Camera Mode Toggle</value>
-<value code="105">GPS Disable Yaw</value>
-<value code="208">Flap</value>
-<value code="209">Forward Throttle</value>
-<value code="300">Scripting1</value>
-<value code="301">Scripting2</value>
-<value code="302">Scripting3</value>
-<value code="303">Scripting4</value>
-<value code="304">Scripting5</value>
-<value code="305">Scripting6</value>
-<value code="306">Scripting7</value>
-<value code="307">Scripting8</value>
-</values>
-</param>
 </parameters>
 <parameters name="RC7_">
 <param humanName="RC min PWM" name="RC7_MIN" documentation="RC minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
@@ -9437,60 +9606,6 @@
 <field name="UnitText">PWM in microseconds</field>
 <field name="Range">0 200</field>
 </param>
-<param humanName="RC input option" name="RC7_OPTION" documentation="Function assigned to this RC channel" user="Standard">
-<values>
-<value code="0">Do Nothing</value>
-<value code="4">ModeRTL</value>
-<value code="9">Camera Trigger</value>
-<value code="16">ModeAuto</value>
-<value code="24">Auto Mission Reset</value>
-<value code="28">Relay On/Off</value>
-<value code="29">Landing Gear</value>
-<value code="30">Lost Plane Sound</value>
-<value code="31">Motor Emergency Stop</value>
-<value code="34">Relay2 On/Off</value>
-<value code="35">Relay3 On/Off</value>
-<value code="36">Relay4 On/Off</value>
-<value code="38">ADSB Avoidance En</value>
-<value code="41">ArmDisarm</value>
-<value code="43">InvertedFlight</value>
-<value code="46">RC Override Enable</value>
-<value code="51">ModeManual</value>
-<value code="55">ModeGuided</value>
-<value code="56">ModeLoiter</value>
-<value code="58">Clear Waypoints</value>
-<value code="62">Compass Learn</value>
-<value code="64">Reverse Throttle</value>
-<value code="65">GPS Disable</value>
-<value code="66">Relay5</value>
-<value code="67">Relay6</value>
-<value code="72">ModeCircle</value>
-<value code="77">ModeTakeoff</value>
-<value code="78">RunCam Control</value>
-<value code="79">RunCam OSD Control</value>
-<value code="81">Disarm</value>
-<value code="82">QAssist 3pos</value>
-<value code="84">Air Mode</value>
-<value code="85">Generator</value>
-<value code="86">Non Auto Terrain Follow Disable</value>
-<value code="87">Crow Select</value>
-<value code="88">Soaring Enable</value>
-<value code="100">KillIMU1</value>
-<value code="101">KillIMU2</value>
-<value code="102">Camera Mode Toggle</value>
-<value code="105">GPS Disable Yaw</value>
-<value code="208">Flap</value>
-<value code="209">Forward Throttle</value>
-<value code="300">Scripting1</value>
-<value code="301">Scripting2</value>
-<value code="302">Scripting3</value>
-<value code="303">Scripting4</value>
-<value code="304">Scripting5</value>
-<value code="305">Scripting6</value>
-<value code="306">Scripting7</value>
-<value code="307">Scripting8</value>
-</values>
-</param>
 </parameters>
 <parameters name="RC8_">
 <param humanName="RC min PWM" name="RC8_MIN" documentation="RC minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
@@ -9522,60 +9637,6 @@
 <field name="UnitText">PWM in microseconds</field>
 <field name="Range">0 200</field>
 </param>
-<param humanName="RC input option" name="RC8_OPTION" documentation="Function assigned to this RC channel" user="Standard">
-<values>
-<value code="0">Do Nothing</value>
-<value code="4">ModeRTL</value>
-<value code="9">Camera Trigger</value>
-<value code="16">ModeAuto</value>
-<value code="24">Auto Mission Reset</value>
-<value code="28">Relay On/Off</value>
-<value code="29">Landing Gear</value>
-<value code="30">Lost Plane Sound</value>
-<value code="31">Motor Emergency Stop</value>
-<value code="34">Relay2 On/Off</value>
-<value code="35">Relay3 On/Off</value>
-<value code="36">Relay4 On/Off</value>
-<value code="38">ADSB Avoidance En</value>
-<value code="41">ArmDisarm</value>
-<value code="43">InvertedFlight</value>
-<value code="46">RC Override Enable</value>
-<value code="51">ModeManual</value>
-<value code="55">ModeGuided</value>
-<value code="56">ModeLoiter</value>
-<value code="58">Clear Waypoints</value>
-<value code="62">Compass Learn</value>
-<value code="64">Reverse Throttle</value>
-<value code="65">GPS Disable</value>
-<value code="66">Relay5</value>
-<value code="67">Relay6</value>
-<value code="72">ModeCircle</value>
-<value code="77">ModeTakeoff</value>
-<value code="78">RunCam Control</value>
-<value code="79">RunCam OSD Control</value>
-<value code="81">Disarm</value>
-<value code="82">QAssist 3pos</value>
-<value code="84">Air Mode</value>
-<value code="85">Generator</value>
-<value code="86">Non Auto Terrain Follow Disable</value>
-<value code="87">Crow Select</value>
-<value code="88">Soaring Enable</value>
-<value code="100">KillIMU1</value>
-<value code="101">KillIMU2</value>
-<value code="102">Camera Mode Toggle</value>
-<value code="105">GPS Disable Yaw</value>
-<value code="208">Flap</value>
-<value code="209">Forward Throttle</value>
-<value code="300">Scripting1</value>
-<value code="301">Scripting2</value>
-<value code="302">Scripting3</value>
-<value code="303">Scripting4</value>
-<value code="304">Scripting5</value>
-<value code="305">Scripting6</value>
-<value code="306">Scripting7</value>
-<value code="307">Scripting8</value>
-</values>
-</param>
 </parameters>
 <parameters name="RC9_">
 <param humanName="RC min PWM" name="RC9_MIN" documentation="RC minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
@@ -9607,60 +9668,6 @@
 <field name="UnitText">PWM in microseconds</field>
 <field name="Range">0 200</field>
 </param>
-<param humanName="RC input option" name="RC9_OPTION" documentation="Function assigned to this RC channel" user="Standard">
-<values>
-<value code="0">Do Nothing</value>
-<value code="4">ModeRTL</value>
-<value code="9">Camera Trigger</value>
-<value code="16">ModeAuto</value>
-<value code="24">Auto Mission Reset</value>
-<value code="28">Relay On/Off</value>
-<value code="29">Landing Gear</value>
-<value code="30">Lost Plane Sound</value>
-<value code="31">Motor Emergency Stop</value>
-<value code="34">Relay2 On/Off</value>
-<value code="35">Relay3 On/Off</value>
-<value code="36">Relay4 On/Off</value>
-<value code="38">ADSB Avoidance En</value>
-<value code="41">ArmDisarm</value>
-<value code="43">InvertedFlight</value>
-<value code="46">RC Override Enable</value>
-<value code="51">ModeManual</value>
-<value code="55">ModeGuided</value>
-<value code="56">ModeLoiter</value>
-<value code="58">Clear Waypoints</value>
-<value code="62">Compass Learn</value>
-<value code="64">Reverse Throttle</value>
-<value code="65">GPS Disable</value>
-<value code="66">Relay5</value>
-<value code="67">Relay6</value>
-<value code="72">ModeCircle</value>
-<value code="77">ModeTakeoff</value>
-<value code="78">RunCam Control</value>
-<value code="79">RunCam OSD Control</value>
-<value code="81">Disarm</value>
-<value code="82">QAssist 3pos</value>
-<value code="84">Air Mode</value>
-<value code="85">Generator</value>
-<value code="86">Non Auto Terrain Follow Disable</value>
-<value code="87">Crow Select</value>
-<value code="88">Soaring Enable</value>
-<value code="100">KillIMU1</value>
-<value code="101">KillIMU2</value>
-<value code="102">Camera Mode Toggle</value>
-<value code="105">GPS Disable Yaw</value>
-<value code="208">Flap</value>
-<value code="209">Forward Throttle</value>
-<value code="300">Scripting1</value>
-<value code="301">Scripting2</value>
-<value code="302">Scripting3</value>
-<value code="303">Scripting4</value>
-<value code="304">Scripting5</value>
-<value code="305">Scripting6</value>
-<value code="306">Scripting7</value>
-<value code="307">Scripting8</value>
-</values>
-</param>
 </parameters>
 <parameters name="RCMAP_">
 <param humanName="Roll channel" name="RCMAP_ROLL" documentation="Roll channel number. This is useful when you have a RC transmitter that can't change the channel order easily. Roll is normally on channel 1, but you can move it to any channel with this parameter.  Reboot is required for changes to take effect." user="Advanced">
@@ -9687,31 +9694,11 @@
 <field name="Range">1 8</field>
 <field name="Increment">1</field>
 <field name="RebootRequired">True</field>
-<values>
-<value code="1">1</value>
-<value code="2">2</value>
-<value code="3">3</value>
-<value code="4">4</value>
-<value code="5">5</value>
-<value code="6">6</value>
-<value code="7">7</value>
-<value code="8">8</value>
-</values>
 </param>
 <param humanName="Lateral channel" name="RCMAP_LATERAL" documentation="Lateral channel number. This is useful when you have a RC transmitter that can't change the channel order easily. Lateral is normally on channel 6, but you can move it to any channel with this parameter. Reboot is required for changes to take effect." user="Advanced">
 <field name="Range">1 8</field>
 <field name="Increment">1</field>
 <field name="RebootRequired">True</field>
-<values>
-<value code="1">1</value>
-<value code="2">2</value>
-<value code="3">3</value>
-<value code="4">4</value>
-<value code="5">5</value>
-<value code="6">6</value>
-<value code="7">7</value>
-<value code="8">8</value>
-</values>
 </param>
 </parameters>
 <parameters name="RELAY_">
@@ -9853,6 +9840,8 @@
 <value code="29">LeddarVu8-Serial</value>
 <value code="30">HC-SR04</value>
 <value code="31">GYUS42v2</value>
+<value code="32">MSP</value>
+<value code="33">USD1_CAN</value>
 <value code="100">SITL</value>
 </values>
 </param>
@@ -9930,7 +9919,7 @@
 <field name="Range">5 127</field>
 <field name="Increment">1</field>
 </param>
-<param humanName="Bus address of sensor" name="RNGFND1_ADDR" documentation="This sets the bus address of the sensor, where applicable. Used for the I2C and UAVCAN sensors to allow for multiple sensors on different addresses. A value of 0 disables the sensor." user="Standard">
+<param humanName="Bus address of sensor" name="RNGFND1_ADDR" documentation="This sets the bus address of the sensor, where applicable. Used for the I2C and UAVCAN sensors to allow for multiple sensors on different addresses." user="Standard">
 <field name="Range">0 127</field>
 <field name="Increment">1</field>
 </param>
@@ -10022,6 +10011,8 @@
 <value code="29">LeddarVu8-Serial</value>
 <value code="30">HC-SR04</value>
 <value code="31">GYUS42v2</value>
+<value code="32">MSP</value>
+<value code="33">USD1_CAN</value>
 <value code="100">SITL</value>
 </values>
 </param>
@@ -10099,7 +10090,7 @@
 <field name="Range">5 127</field>
 <field name="Increment">1</field>
 </param>
-<param humanName="Bus address of sensor" name="RNGFND2_ADDR" documentation="This sets the bus address of the sensor, where applicable. Used for the I2C and UAVCAN sensors to allow for multiple sensors on different addresses. A value of 0 disables the sensor." user="Standard">
+<param humanName="Bus address of sensor" name="RNGFND2_ADDR" documentation="This sets the bus address of the sensor, where applicable. Used for the I2C and UAVCAN sensors to allow for multiple sensors on different addresses." user="Standard">
 <field name="Range">0 127</field>
 <field name="Increment">1</field>
 </param>
@@ -10191,6 +10182,8 @@
 <value code="29">LeddarVu8-Serial</value>
 <value code="30">HC-SR04</value>
 <value code="31">GYUS42v2</value>
+<value code="32">MSP</value>
+<value code="33">USD1_CAN</value>
 <value code="100">SITL</value>
 </values>
 </param>
@@ -10268,7 +10261,7 @@
 <field name="Range">5 127</field>
 <field name="Increment">1</field>
 </param>
-<param humanName="Bus address of sensor" name="RNGFND3_ADDR" documentation="This sets the bus address of the sensor, where applicable. Used for the I2C and UAVCAN sensors to allow for multiple sensors on different addresses. A value of 0 disables the sensor." user="Standard">
+<param humanName="Bus address of sensor" name="RNGFND3_ADDR" documentation="This sets the bus address of the sensor, where applicable. Used for the I2C and UAVCAN sensors to allow for multiple sensors on different addresses." user="Standard">
 <field name="Range">0 127</field>
 <field name="Increment">1</field>
 </param>
@@ -10360,6 +10353,8 @@
 <value code="29">LeddarVu8-Serial</value>
 <value code="30">HC-SR04</value>
 <value code="31">GYUS42v2</value>
+<value code="32">MSP</value>
+<value code="33">USD1_CAN</value>
 <value code="100">SITL</value>
 </values>
 </param>
@@ -10437,7 +10432,7 @@
 <field name="Range">5 127</field>
 <field name="Increment">1</field>
 </param>
-<param humanName="Bus address of sensor" name="RNGFND4_ADDR" documentation="This sets the bus address of the sensor, where applicable. Used for the I2C and UAVCAN sensors to allow for multiple sensors on different addresses. A value of 0 disables the sensor." user="Standard">
+<param humanName="Bus address of sensor" name="RNGFND4_ADDR" documentation="This sets the bus address of the sensor, where applicable. Used for the I2C and UAVCAN sensors to allow for multiple sensors on different addresses." user="Standard">
 <field name="Range">0 127</field>
 <field name="Increment">1</field>
 </param>
@@ -10529,6 +10524,8 @@
 <value code="29">LeddarVu8-Serial</value>
 <value code="30">HC-SR04</value>
 <value code="31">GYUS42v2</value>
+<value code="32">MSP</value>
+<value code="33">USD1_CAN</value>
 <value code="100">SITL</value>
 </values>
 </param>
@@ -10606,7 +10603,7 @@
 <field name="Range">5 127</field>
 <field name="Increment">1</field>
 </param>
-<param humanName="Bus address of sensor" name="RNGFND5_ADDR" documentation="This sets the bus address of the sensor, where applicable. Used for the I2C and UAVCAN sensors to allow for multiple sensors on different addresses. A value of 0 disables the sensor." user="Standard">
+<param humanName="Bus address of sensor" name="RNGFND5_ADDR" documentation="This sets the bus address of the sensor, where applicable. Used for the I2C and UAVCAN sensors to allow for multiple sensors on different addresses." user="Standard">
 <field name="Range">0 127</field>
 <field name="Increment">1</field>
 </param>
@@ -10698,6 +10695,8 @@
 <value code="29">LeddarVu8-Serial</value>
 <value code="30">HC-SR04</value>
 <value code="31">GYUS42v2</value>
+<value code="32">MSP</value>
+<value code="33">USD1_CAN</value>
 <value code="100">SITL</value>
 </values>
 </param>
@@ -10775,7 +10774,7 @@
 <field name="Range">5 127</field>
 <field name="Increment">1</field>
 </param>
-<param humanName="Bus address of sensor" name="RNGFND6_ADDR" documentation="This sets the bus address of the sensor, where applicable. Used for the I2C and UAVCAN sensors to allow for multiple sensors on different addresses. A value of 0 disables the sensor." user="Standard">
+<param humanName="Bus address of sensor" name="RNGFND6_ADDR" documentation="This sets the bus address of the sensor, where applicable. Used for the I2C and UAVCAN sensors to allow for multiple sensors on different addresses." user="Standard">
 <field name="Range">0 127</field>
 <field name="Increment">1</field>
 </param>
@@ -10867,6 +10866,8 @@
 <value code="29">LeddarVu8-Serial</value>
 <value code="30">HC-SR04</value>
 <value code="31">GYUS42v2</value>
+<value code="32">MSP</value>
+<value code="33">USD1_CAN</value>
 <value code="100">SITL</value>
 </values>
 </param>
@@ -10944,7 +10945,7 @@
 <field name="Range">5 127</field>
 <field name="Increment">1</field>
 </param>
-<param humanName="Bus address of sensor" name="RNGFND7_ADDR" documentation="This sets the bus address of the sensor, where applicable. Used for the I2C and UAVCAN sensors to allow for multiple sensors on different addresses. A value of 0 disables the sensor." user="Standard">
+<param humanName="Bus address of sensor" name="RNGFND7_ADDR" documentation="This sets the bus address of the sensor, where applicable. Used for the I2C and UAVCAN sensors to allow for multiple sensors on different addresses." user="Standard">
 <field name="Range">0 127</field>
 <field name="Increment">1</field>
 </param>
@@ -11036,6 +11037,8 @@
 <value code="29">LeddarVu8-Serial</value>
 <value code="30">HC-SR04</value>
 <value code="31">GYUS42v2</value>
+<value code="32">MSP</value>
+<value code="33">USD1_CAN</value>
 <value code="100">SITL</value>
 </values>
 </param>
@@ -11113,7 +11116,7 @@
 <field name="Range">5 127</field>
 <field name="Increment">1</field>
 </param>
-<param humanName="Bus address of sensor" name="RNGFND8_ADDR" documentation="This sets the bus address of the sensor, where applicable. Used for the I2C and UAVCAN sensors to allow for multiple sensors on different addresses. A value of 0 disables the sensor." user="Standard">
+<param humanName="Bus address of sensor" name="RNGFND8_ADDR" documentation="This sets the bus address of the sensor, where applicable. Used for the I2C and UAVCAN sensors to allow for multiple sensors on different addresses." user="Standard">
 <field name="Range">0 127</field>
 <field name="Increment">1</field>
 </param>
@@ -11205,6 +11208,8 @@
 <value code="29">LeddarVu8-Serial</value>
 <value code="30">HC-SR04</value>
 <value code="31">GYUS42v2</value>
+<value code="32">MSP</value>
+<value code="33">USD1_CAN</value>
 <value code="100">SITL</value>
 </values>
 </param>
@@ -11282,7 +11287,7 @@
 <field name="Range">5 127</field>
 <field name="Increment">1</field>
 </param>
-<param humanName="Bus address of sensor" name="RNGFND9_ADDR" documentation="This sets the bus address of the sensor, where applicable. Used for the I2C and UAVCAN sensors to allow for multiple sensors on different addresses. A value of 0 disables the sensor." user="Standard">
+<param humanName="Bus address of sensor" name="RNGFND9_ADDR" documentation="This sets the bus address of the sensor, where applicable. Used for the I2C and UAVCAN sensors to allow for multiple sensors on different addresses." user="Standard">
 <field name="Range">0 127</field>
 <field name="Increment">1</field>
 </param>
@@ -11374,6 +11379,8 @@
 <value code="29">LeddarVu8-Serial</value>
 <value code="30">HC-SR04</value>
 <value code="31">GYUS42v2</value>
+<value code="32">MSP</value>
+<value code="33">USD1_CAN</value>
 <value code="100">SITL</value>
 </values>
 </param>
@@ -11451,7 +11458,7 @@
 <field name="Range">5 127</field>
 <field name="Increment">1</field>
 </param>
-<param humanName="Bus address of sensor" name="RNGFNDA_ADDR" documentation="This sets the bus address of the sensor, where applicable. Used for the I2C and UAVCAN sensors to allow for multiple sensors on different addresses. A value of 0 disables the sensor." user="Standard">
+<param humanName="Bus address of sensor" name="RNGFNDA_ADDR" documentation="This sets the bus address of the sensor, where applicable. Used for the I2C and UAVCAN sensors to allow for multiple sensors on different addresses." user="Standard">
 <field name="Range">0 127</field>
 <field name="Increment">1</field>
 </param>
@@ -11567,7 +11574,7 @@
 </param>
 </parameters>
 <parameters name="SCHED_">
-<param humanName="Scheduler debug level" name="SCHED_DEBUG" documentation='Set to non-zero to enable scheduler debug messages. When set to show "Slips" the scheduler will display a message whenever a scheduled task is delayed due to too much CPU load. When set to ShowOverruns the scheduled will display a message whenever a task takes longer than the limit promised in the task table.' user="Advanced">
+<param humanName="Scheduler debug level" name="SCHED_DEBUG" documentation="Set to non-zero to enable scheduler debug messages. When set to show &quot;Slips&quot; the scheduler will display a message whenever a scheduled task is delayed due to too much CPU load. When set to ShowOverruns the scheduled will display a message whenever a task takes longer than the limit promised in the task table." user="Advanced">
 <values>
 <value code="0">Disabled</value>
 <value code="2">ShowSlips</value>
@@ -11616,6 +11623,10 @@
 </param>
 <param humanName="Scripting User Parameter4" name="SCR_USER4" documentation="General purpose user variable input for scripts" user="Standard">
 </param>
+<param humanName="Directory disable" name="SCR_DIR_DISABLE" documentation="This will stop scripts being loaded from the given locations" user="Advanced">
+<field name="Bitmask">0:ROMFS, 1:APM/scripts</field>
+<field name="RebootRequired">True</field>
+</param>
 </parameters>
 <parameters name="SERIAL">
 <param humanName="Serial0 baud rate" name="SERIAL0_BAUD" documentation="The baud rate used on the USB console. Most stm32-based boards can support rates of up to 1500. If you setup a rate you cannot support and then can't connect to your board you should load a firmware from a different vehicle type. That will reset all your parameters to defaults." user="Standard">
@@ -11678,7 +11689,11 @@
 <value code="31">Winch</value>
 <value code="32">MSP</value>
 <value code="33">DJI FPV</value>
-<value code="34">Sagetech</value>
+<value code="34">AirSpeed</value>
+<value code="35">ADSB</value>
+<value code="36">AHRS</value>
+<value code="37">SmartAudio</value>
+<value code="38">FETtecOneWire</value>
 </values>
 <field name="RebootRequired">True</field>
 </param>
@@ -11735,7 +11750,11 @@
 <value code="31">Winch</value>
 <value code="32">MSP</value>
 <value code="33">DJI FPV</value>
-<value code="34">Sagetech</value>
+<value code="34">AirSpeed</value>
+<value code="35">ADSB</value>
+<value code="36">AHRS</value>
+<value code="37">SmartAudio</value>
+<value code="38">FETtecOneWire</value>
 </values>
 <field name="RebootRequired">True</field>
 </param>
@@ -11792,7 +11811,11 @@
 <value code="31">Winch</value>
 <value code="32">MSP</value>
 <value code="33">DJI FPV</value>
-<value code="34">Sagetech</value>
+<value code="34">AirSpeed</value>
+<value code="35">ADSB</value>
+<value code="36">AHRS</value>
+<value code="37">SmartAudio</value>
+<value code="38">FETtecOneWire</value>
 </values>
 <field name="RebootRequired">True</field>
 </param>
@@ -11849,7 +11872,11 @@
 <value code="31">Winch</value>
 <value code="32">MSP</value>
 <value code="33">DJI FPV</value>
-<value code="34">Sagetech</value>
+<value code="34">AirSpeed</value>
+<value code="35">ADSB</value>
+<value code="36">AHRS</value>
+<value code="37">SmartAudio</value>
+<value code="38">FETtecOneWire</value>
 </values>
 <field name="RebootRequired">True</field>
 </param>
@@ -11906,7 +11933,11 @@
 <value code="31">Winch</value>
 <value code="32">MSP</value>
 <value code="33">DJI FPV</value>
-<value code="34">Sagetech</value>
+<value code="34">AirSpeed</value>
+<value code="35">ADSB</value>
+<value code="36">AHRS</value>
+<value code="37">SmartAudio</value>
+<value code="38">FETtecOneWire</value>
 </values>
 <field name="RebootRequired">True</field>
 </param>
@@ -11963,7 +11994,11 @@
 <value code="31">Winch</value>
 <value code="32">MSP</value>
 <value code="33">DJI FPV</value>
-<value code="34">Sagetech</value>
+<value code="34">AirSpeed</value>
+<value code="35">ADSB</value>
+<value code="36">AHRS</value>
+<value code="37">SmartAudio</value>
+<value code="38">FETtecOneWire</value>
 </values>
 <field name="RebootRequired">True</field>
 </param>
@@ -11987,27 +12022,27 @@
 </values>
 </param>
 <param humanName="Telem1 options" name="SERIAL1_OPTIONS" documentation="Control over UART options. The InvertRX option controls invert of the receive pin. The InvertTX option controls invert of the transmit pin. The HalfDuplex option controls half-duplex (onewire) mode, where both transmit and receive is done on the transmit wire. The Swap option allows the RX and TX pins to be swapped on STM32F7 based boards." user="Advanced">
-<field name="Bitmask">0:InvertRX, 1:InvertTX, 2:HalfDuplex, 3:Swap, 4: RX_PullDown, 5: RX_PullUp, 6: TX_PullDown, 7: TX_PullUp, 8: RX_NoDMA, 9: TX_NoDMA, 10: Don't forward mavlink to/from</field>
+<field name="Bitmask">0:InvertRX, 1:InvertTX, 2:HalfDuplex, 3:Swap, 4: RX_PullDown, 5: RX_PullUp, 6: TX_PullDown, 7: TX_PullUp, 8: RX_NoDMA, 9: TX_NoDMA, 10: Don't forward mavlink to/from, 11: DisableFIFO</field>
 <field name="RebootRequired">True</field>
 </param>
 <param humanName="Telem2 options" name="SERIAL2_OPTIONS" documentation="Control over UART options. The InvertRX option controls invert of the receive pin. The InvertTX option controls invert of the transmit pin. The HalfDuplex option controls half-duplex (onewire) mode, where both transmit and receive is done on the transmit wire." user="Advanced">
-<field name="Bitmask">0:InvertRX, 1:InvertTX, 2:HalfDuplex, 3:Swap, 4: RX_PullDown, 5: RX_PullUp, 6: TX_PullDown, 7: TX_PullUp, 8: RX_NoDMA, 9: TX_NoDMA, 10: Don't forward mavlink to/from</field>
+<field name="Bitmask">0:InvertRX, 1:InvertTX, 2:HalfDuplex, 3:Swap, 4: RX_PullDown, 5: RX_PullUp, 6: TX_PullDown, 7: TX_PullUp, 8: RX_NoDMA, 9: TX_NoDMA, 10: Don't forward mavlink to/from, 11: DisableFIFO</field>
 <field name="RebootRequired">True</field>
 </param>
 <param humanName="Serial3 options" name="SERIAL3_OPTIONS" documentation="Control over UART options. The InvertRX option controls invert of the receive pin. The InvertTX option controls invert of the transmit pin. The HalfDuplex option controls half-duplex (onewire) mode, where both transmit and receive is done on the transmit wire." user="Advanced">
-<field name="Bitmask">0:InvertRX, 1:InvertTX, 2:HalfDuplex, 3:Swap, 4: RX_PullDown, 5: RX_PullUp, 6: TX_PullDown, 7: TX_PullUp, 8: RX_NoDMA, 9: TX_NoDMA, 10: Don't forward mavlink to/from</field>
+<field name="Bitmask">0:InvertRX, 1:InvertTX, 2:HalfDuplex, 3:Swap, 4: RX_PullDown, 5: RX_PullUp, 6: TX_PullDown, 7: TX_PullUp, 8: RX_NoDMA, 9: TX_NoDMA, 10: Don't forward mavlink to/from, 11: DisableFIFO</field>
 <field name="RebootRequired">True</field>
 </param>
 <param humanName="Serial4 options" name="SERIAL4_OPTIONS" documentation="Control over UART options. The InvertRX option controls invert of the receive pin. The InvertTX option controls invert of the transmit pin. The HalfDuplex option controls half-duplex (onewire) mode, where both transmit and receive is done on the transmit wire." user="Advanced">
-<field name="Bitmask">0:InvertRX, 1:InvertTX, 2:HalfDuplex, 3:Swap, 4: RX_PullDown, 5: RX_PullUp, 6: TX_PullDown, 7: TX_PullUp, 8: RX_NoDMA, 9: TX_NoDMA, 10: Don't forward mavlink to/from</field>
+<field name="Bitmask">0:InvertRX, 1:InvertTX, 2:HalfDuplex, 3:Swap, 4: RX_PullDown, 5: RX_PullUp, 6: TX_PullDown, 7: TX_PullUp, 8: RX_NoDMA, 9: TX_NoDMA, 10: Don't forward mavlink to/from, 11: DisableFIFO</field>
 <field name="RebootRequired">True</field>
 </param>
 <param humanName="Serial5 options" name="SERIAL5_OPTIONS" documentation="Control over UART options. The InvertRX option controls invert of the receive pin. The InvertTX option controls invert of the transmit pin. The HalfDuplex option controls half-duplex (onewire) mode, where both transmit and receive is done on the transmit wire." user="Advanced">
-<field name="Bitmask">0:InvertRX, 1:InvertTX, 2:HalfDuplex, 3:Swap, 4: RX_PullDown, 5: RX_PullUp, 6: TX_PullDown, 7: TX_PullUp, 8: RX_NoDMA, 9: TX_NoDMA, 10: Don't forward mavlink to/from</field>
+<field name="Bitmask">0:InvertRX, 1:InvertTX, 2:HalfDuplex, 3:Swap, 4: RX_PullDown, 5: RX_PullUp, 6: TX_PullDown, 7: TX_PullUp, 8: RX_NoDMA, 9: TX_NoDMA, 10: Don't forward mavlink to/from, 11: DisableFIFO</field>
 <field name="RebootRequired">True</field>
 </param>
 <param humanName="Serial6 options" name="SERIAL6_OPTIONS" documentation="Control over UART options. The InvertRX option controls invert of the receive pin. The InvertTX option controls invert of the transmit pin. The HalfDuplex option controls half-duplex (onewire) mode, where both transmit and receive is done on the transmit wire." user="Advanced">
-<field name="Bitmask">0:InvertRX, 1:InvertTX, 2:HalfDuplex, 3:Swap, 4: RX_PullDown, 5: RX_PullUp, 6: TX_PullDown, 7: TX_PullUp, 8: RX_NoDMA, 9: TX_NoDMA, 10: Don't forward mavlink to/from</field>
+<field name="Bitmask">0:InvertRX, 1:InvertTX, 2:HalfDuplex, 3:Swap, 4: RX_PullDown, 5: RX_PullUp, 6: TX_PullDown, 7: TX_PullUp, 8: RX_NoDMA, 9: TX_NoDMA, 10: Don't forward mavlink to/from, 11: DisableFIFO</field>
 <field name="RebootRequired">True</field>
 </param>
 <param humanName="Serial passthru first port" name="SERIAL_PASS1" documentation="This sets one side of pass-through between two serial ports. Once both sides are set then all data received on either port will be passed to the other port" user="Advanced">
@@ -12022,24 +12057,89 @@
 <value code="6">Serial6</value>
 </values>
 </param>
-<param humanName="Serial passthru second port" name="SERIAL_PASS2" documentation="This sets one side of pass-through between two serial ports. Once both sides are set then all data received on either port will be passed to the other port" user="Advanced">
+<param humanName="Serial passthru second port" name="SERIAL_PASS2" documentation="This sets one side of pass-through between two serial ports. Once both sides are set then all data received on either port will be passed to the other port" user="Advanced">
+<values>
+<value code="-1">Disabled</value>
+<value code="0">Serial0</value>
+<value code="1">Serial1</value>
+<value code="2">Serial2</value>
+<value code="3">Serial3</value>
+<value code="4">Serial4</value>
+<value code="5">Serial5</value>
+<value code="6">Serial6</value>
+</values>
+</param>
+<param humanName="Serial passthru timeout" name="SERIAL_PASSTIMO" documentation="This sets a timeout for serial pass-through in seconds. When the pass-through is enabled by setting the SERIAL_PASS1 and SERIAL_PASS2 parameters then it remains in effect until no data comes from the first port for SERIAL_PASSTIMO seconds. This allows the port to revent to its normal usage (such as MAVLink connection to a GCS) when it is no longer needed. A value of 0 means no timeout." user="Advanced">
+<field name="Range">0 120</field>
+<field name="Units">s</field>
+<field name="UnitText">seconds</field>
+</param>
+<param humanName="Serial7 protocol selection" name="SERIAL7_PROTOCOL" documentation="Control what protocol Serial7 port should be used for. Note that the Frsky options require external converter hardware. See the wiki for details." user="Standard">
+<values>
+<value code="-1">None</value>
+<value code="1">MAVLink1</value>
+<value code="2">MAVLink2</value>
+<value code="3">Frsky D</value>
+<value code="4">Frsky SPort</value>
+<value code="5">GPS</value>
+<value code="7">Alexmos Gimbal Serial</value>
+<value code="8">SToRM32 Gimbal Serial</value>
+<value code="9">Rangefinder</value>
+<value code="10">FrSky SPort Passthrough (OpenTX)</value>
+<value code="11">Lidar360</value>
+<value code="13">Beacon</value>
+<value code="14">Volz servo out</value>
+<value code="15">SBus servo out</value>
+<value code="16">ESC Telemetry</value>
+<value code="17">Devo Telemetry</value>
+<value code="18">OpticalFlow</value>
+<value code="19">RobotisServo</value>
+<value code="20">NMEA Output</value>
+<value code="21">WindVane</value>
+<value code="22">SLCAN</value>
+<value code="23">RCIN</value>
+<value code="24">MegaSquirt EFI</value>
+<value code="25">LTM</value>
+<value code="26">RunCam</value>
+<value code="27">HottTelem</value>
+<value code="28">Scripting</value>
+<value code="29">Crossfire</value>
+<value code="30">Generator</value>
+<value code="31">Winch</value>
+<value code="32">MSP</value>
+<value code="33">DJI FPV</value>
+<value code="34">AirSpeed</value>
+<value code="35">ADSB</value>
+<value code="36">AHRS</value>
+<value code="37">SmartAudio</value>
+<value code="38">FETtecOneWire</value>
+</values>
+<field name="RebootRequired">True</field>
+</param>
+<param humanName="Serial 7 Baud Rate" name="SERIAL7_BAUD" documentation="The baud rate used for Serial7. Most stm32-based boards can support rates of up to 1500. If you setup a rate you cannot support and then can't connect to your board you should load a firmware from a different vehicle type. That will reset all your parameters to defaults." user="Standard">
 <values>
-<value code="-1">Disabled</value>
-<value code="0">Serial0</value>
-<value code="1">Serial1</value>
-<value code="2">Serial2</value>
-<value code="3">Serial3</value>
-<value code="4">Serial4</value>
-<value code="5">Serial5</value>
-<value code="6">Serial6</value>
+<value code="1">1200</value>
+<value code="2">2400</value>
+<value code="4">4800</value>
+<value code="9">9600</value>
+<value code="19">19200</value>
+<value code="38">38400</value>
+<value code="57">57600</value>
+<value code="111">111100</value>
+<value code="115">115200</value>
+<value code="230">230400</value>
+<value code="256">256000</value>
+<value code="460">460800</value>
+<value code="500">500000</value>
+<value code="921">921600</value>
+<value code="1500">1500000</value>
 </values>
 </param>
-<param humanName="Serial passthru timeout" name="SERIAL_PASSTIMO" documentation="This sets a timeout for serial pass-through in seconds. When the pass-through is enabled by setting the SERIAL_PASS1 and SERIAL_PASS2 parameters then it remains in effect until no data comes from the first port for SERIAL_PASSTIMO seconds. This allows the port to revent to its normal usage (such as MAVLink connection to a GCS) when it is no longer needed. A value of 0 means no timeout." user="Advanced">
-<field name="Range">0 120</field>
-<field name="Units">s</field>
-<field name="UnitText">seconds</field>
+<param humanName="Serial7 options" name="SERIAL7_OPTIONS" documentation="Control over UART options. The InvertRX option controls invert of the receive pin. The InvertTX option controls invert of the transmit pin. The HalfDuplex option controls half-duplex (onewire) mode, where both transmit and receive is done on the transmit wire." user="Advanced">
+<field name="Bitmask">0:InvertRX, 1:InvertTX, 2:HalfDuplex, 3:Swap, 4: RX_PullDown, 5: RX_PullUp, 6: TX_PullDown, 7: TX_PullUp, 8: RX_NoDMA, 9: TX_NoDMA, 10: Don't forward mavlink to/from, 11: DisableFIFO</field>
+<field name="RebootRequired">True</field>
 </param>
-<param humanName="Serial7 protocol selection" name="SERIAL7_PROTOCOL" documentation="Control what protocol Serial7 port should be used for. Note that the Frsky options require external converter hardware. See the wiki for details." user="Standard">
+<param humanName="Serial8 protocol selection" name="SERIAL8_PROTOCOL" documentation="Control what protocol Serial8 port should be used for. Note that the Frsky options require external converter hardware. See the wiki for details." user="Standard">
 <values>
 <value code="-1">None</value>
 <value code="1">MAVLink1</value>
@@ -12073,11 +12173,15 @@
 <value code="31">Winch</value>
 <value code="32">MSP</value>
 <value code="33">DJI FPV</value>
-<value code="34">Sagetech</value>
+<value code="34">AirSpeed</value>
+<value code="35">ADSB</value>
+<value code="36">AHRS</value>
+<value code="37">SmartAudio</value>
+<value code="38">FETtecOneWire</value>
 </values>
 <field name="RebootRequired">True</field>
 </param>
-<param humanName="Serial 7 Baud Rate" name="SERIAL7_BAUD" documentation="The baud rate used for Serial7. Most stm32-based boards can support rates of up to 1500. If you setup a rate you cannot support and then can't connect to your board you should load a firmware from a different vehicle type. That will reset all your parameters to defaults." user="Standard">
+<param humanName="Serial 8 Baud Rate" name="SERIAL8_BAUD" documentation="The baud rate used for Serial8. Most stm32-based boards can support rates of up to 1500. If you setup a rate you cannot support and then can't connect to your board you should load a firmware from a different vehicle type. That will reset all your parameters to defaults." user="Standard">
 <values>
 <value code="1">1200</value>
 <value code="2">2400</value>
@@ -12096,8 +12200,8 @@
 <value code="1500">1500000</value>
 </values>
 </param>
-<param humanName="Serial7 options" name="SERIAL7_OPTIONS" documentation="Control over UART options. The InvertRX option controls invert of the receive pin. The InvertTX option controls invert of the transmit pin. The HalfDuplex option controls half-duplex (onewire) mode, where both transmit and receive is done on the transmit wire." user="Advanced">
-<field name="Bitmask">0:InvertRX, 1:InvertTX, 2:HalfDuplex, 3:Swap, 4: RX_PullDown, 5: RX_PullUp, 6: TX_PullDown, 7: TX_PullUp, 8: RX_NoDMA, 9: TX_NoDMA, 10: Don't forward mavlink to/from</field>
+<param humanName="Serial8 options" name="SERIAL8_OPTIONS" documentation="Control over UART options. The InvertRX option controls invert of the receive pin. The InvertTX option controls invert of the transmit pin. The HalfDuplex option controls half-duplex (onewire) mode, where both transmit and receive is done on the transmit wire." user="Advanced">
+<field name="Bitmask">0:InvertRX, 1:InvertTX, 2:HalfDuplex, 3:Swap, 4: RX_PullDown, 5: RX_PullUp, 6: TX_PullDown, 7: TX_PullUp, 8: RX_NoDMA, 9: TX_NoDMA, 10: Don't forward mavlink to/from, 11: DisableFIFO</field>
 <field name="RebootRequired">True</field>
 </param>
 </parameters>
@@ -12107,6 +12211,21 @@
 <field name="Units">Hz</field>
 <field name="UnitText">hertz</field>
 </param>
+<param humanName="Servo DShot output rate" name="SERVO_DSHOT_RATE" documentation="This sets the DShot output rate for all outputs as a multiple of the loop rate. 0 sets the output rate to be fixed at 1Khz for low loop rates. This value should never be set below 500Hz." user="Advanced">
+<values>
+<value code="0">1Khz</value>
+<value code="1">loop-rate</value>
+<value code="2">double loop-rate</value>
+<value code="3">triple loop-rate</value>
+<value code="4">quadruple loop rate</value>
+</values>
+</param>
+<param humanName="Servo DShot ESC type" name="SERVO_DSHOT_ESC" documentation="This sets the DShot ESC type for all outputs. The ESC type affects the range of DShot commands available. None means that no dshot commands will be executed." user="Advanced">
+<values>
+<value code="0">None</value>
+<value code="1">BLHeli32/BLHeli_S/Kiss</value>
+</values>
+</param>
 </parameters>
 <parameters name="SERVO10_">
 <param humanName="Minimum PWM" name="SERVO10_MIN" documentation="minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
@@ -12133,22 +12252,22 @@
 <value code="1">Reversed</value>
 </values>
 </param>
-<param humanName="Servo output function" name="SERVO10_FUNCTION" documentation="Function assigned to this servo. Seeing this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function" user="Standard">
+<param humanName="Servo output function" name="SERVO10_FUNCTION" documentation="Function assigned to this servo. Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function" user="Standard">
 <values>
 <value code="0">Disabled</value>
 <value code="1">RCPassThru</value>
 <value code="2">Flap</value>
-<value code="3">Flap_auto</value>
+<value code="3">FlapAuto</value>
 <value code="4">Aileron</value>
-<value code="6">mount_pan</value>
-<value code="7">mount_tilt</value>
-<value code="8">mount_roll</value>
-<value code="9">mount_open</value>
-<value code="10">camera_trigger</value>
-<value code="12">mount2_pan</value>
-<value code="13">mount2_tilt</value>
-<value code="14">mount2_roll</value>
-<value code="15">mount2_open</value>
+<value code="6">MountPan</value>
+<value code="7">MountTilt</value>
+<value code="8">MountRoll</value>
+<value code="9">MountOpen</value>
+<value code="10">CameraTrigger</value>
+<value code="12">Mount2Pan</value>
+<value code="13">Mount2Tilt</value>
+<value code="14">Mount2Roll</value>
+<value code="15">Mount2Open</value>
 <value code="16">DifferentialSpoilerLeft1</value>
 <value code="17">DifferentialSpoilerRight1</value>
 <value code="19">Elevator</value>
@@ -12172,7 +12291,10 @@
 <value code="38">Motor6</value>
 <value code="39">Motor7</value>
 <value code="40">Motor8</value>
-<value code="41">MotorTilt</value>
+<value code="41">TiltMotorsFront</value>
+<value code="45">TiltMotorsRear</value>
+<value code="46">TiltMotorRearLeft</value>
+<value code="47">TiltMotorRearRight</value>
 <value code="51">RCIN1</value>
 <value code="52">RCIN2</value>
 <value code="53">RCIN3</value>
@@ -12196,8 +12318,8 @@
 <value code="72">TrackerPitch</value>
 <value code="73">ThrottleLeft</value>
 <value code="74">ThrottleRight</value>
-<value code="75">tiltMotorLeft</value>
-<value code="76">tiltMotorRight</value>
+<value code="75">TiltMotorFrontLeft</value>
+<value code="76">TiltMotorFrontRight</value>
 <value code="77">ElevonLeft</value>
 <value code="78">ElevonRight</value>
 <value code="79">VTailLeft</value>
@@ -12215,22 +12337,22 @@
 <value code="91">CameraAperture</value>
 <value code="92">CameraFocus</value>
 <value code="93">CameraShutterSpeed</value>
-<value code="94">Script 1</value>
-<value code="95">Script 2</value>
-<value code="96">Script 3</value>
-<value code="97">Script 4</value>
-<value code="98">Script 5</value>
-<value code="99">Script 6</value>
-<value code="100">Script 7</value>
-<value code="101">Script 8</value>
-<value code="102">Script 9</value>
-<value code="103">Script 10</value>
-<value code="104">Script 11</value>
-<value code="105">Script 12</value>
-<value code="106">Script 13</value>
-<value code="107">Script 14</value>
-<value code="108">Script 15</value>
-<value code="109">Script 16</value>
+<value code="94">Script1</value>
+<value code="95">Script2</value>
+<value code="96">Script3</value>
+<value code="97">Script4</value>
+<value code="98">Script5</value>
+<value code="99">Script6</value>
+<value code="100">Script7</value>
+<value code="101">Script8</value>
+<value code="102">Script9</value>
+<value code="103">Script10</value>
+<value code="104">Script11</value>
+<value code="105">Script12</value>
+<value code="106">Script13</value>
+<value code="107">Script14</value>
+<value code="108">Script15</value>
+<value code="109">Script16</value>
 <value code="120">NeoPixel1</value>
 <value code="121">NeoPixel2</value>
 <value code="122">NeoPixel3</value>
@@ -12239,12 +12361,16 @@
 <value code="125">RatePitch</value>
 <value code="126">RateThrust</value>
 <value code="127">RateYaw</value>
-<value code="128">Wing Sail Elevator</value>
-<value code="129">ProfiLED 1</value>
-<value code="130">ProfiLED 2</value>
-<value code="131">ProfiLED 3</value>
-<value code="132">ProfiLED Clock</value>
+<value code="128">WingSailElevator</value>
+<value code="129">ProfiLED1</value>
+<value code="130">ProfiLED2</value>
+<value code="131">ProfiLED3</value>
+<value code="132">ProfiLEDClock</value>
 <value code="133">Winch Clutch</value>
+<value code="134">SERVOn_MIN</value>
+<value code="135">SERVOn_TRIM</value>
+<value code="136">SERVOn_MAX</value>
+<value code="137">SailMastRotation</value>
 </values>
 </param>
 </parameters>
@@ -12273,22 +12399,22 @@
 <value code="1">Reversed</value>
 </values>
 </param>
-<param humanName="Servo output function" name="SERVO11_FUNCTION" documentation="Function assigned to this servo. Seeing this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function" user="Standard">
+<param humanName="Servo output function" name="SERVO11_FUNCTION" documentation="Function assigned to this servo. Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function" user="Standard">
 <values>
 <value code="0">Disabled</value>
 <value code="1">RCPassThru</value>
 <value code="2">Flap</value>
-<value code="3">Flap_auto</value>
+<value code="3">FlapAuto</value>
 <value code="4">Aileron</value>
-<value code="6">mount_pan</value>
-<value code="7">mount_tilt</value>
-<value code="8">mount_roll</value>
-<value code="9">mount_open</value>
-<value code="10">camera_trigger</value>
-<value code="12">mount2_pan</value>
-<value code="13">mount2_tilt</value>
-<value code="14">mount2_roll</value>
-<value code="15">mount2_open</value>
+<value code="6">MountPan</value>
+<value code="7">MountTilt</value>
+<value code="8">MountRoll</value>
+<value code="9">MountOpen</value>
+<value code="10">CameraTrigger</value>
+<value code="12">Mount2Pan</value>
+<value code="13">Mount2Tilt</value>
+<value code="14">Mount2Roll</value>
+<value code="15">Mount2Open</value>
 <value code="16">DifferentialSpoilerLeft1</value>
 <value code="17">DifferentialSpoilerRight1</value>
 <value code="19">Elevator</value>
@@ -12312,7 +12438,10 @@
 <value code="38">Motor6</value>
 <value code="39">Motor7</value>
 <value code="40">Motor8</value>
-<value code="41">MotorTilt</value>
+<value code="41">TiltMotorsFront</value>
+<value code="45">TiltMotorsRear</value>
+<value code="46">TiltMotorRearLeft</value>
+<value code="47">TiltMotorRearRight</value>
 <value code="51">RCIN1</value>
 <value code="52">RCIN2</value>
 <value code="53">RCIN3</value>
@@ -12336,8 +12465,8 @@
 <value code="72">TrackerPitch</value>
 <value code="73">ThrottleLeft</value>
 <value code="74">ThrottleRight</value>
-<value code="75">tiltMotorLeft</value>
-<value code="76">tiltMotorRight</value>
+<value code="75">TiltMotorFrontLeft</value>
+<value code="76">TiltMotorFrontRight</value>
 <value code="77">ElevonLeft</value>
 <value code="78">ElevonRight</value>
 <value code="79">VTailLeft</value>
@@ -12355,22 +12484,22 @@
 <value code="91">CameraAperture</value>
 <value code="92">CameraFocus</value>
 <value code="93">CameraShutterSpeed</value>
-<value code="94">Script 1</value>
-<value code="95">Script 2</value>
-<value code="96">Script 3</value>
-<value code="97">Script 4</value>
-<value code="98">Script 5</value>
-<value code="99">Script 6</value>
-<value code="100">Script 7</value>
-<value code="101">Script 8</value>
-<value code="102">Script 9</value>
-<value code="103">Script 10</value>
-<value code="104">Script 11</value>
-<value code="105">Script 12</value>
-<value code="106">Script 13</value>
-<value code="107">Script 14</value>
-<value code="108">Script 15</value>
-<value code="109">Script 16</value>
+<value code="94">Script1</value>
+<value code="95">Script2</value>
+<value code="96">Script3</value>
+<value code="97">Script4</value>
+<value code="98">Script5</value>
+<value code="99">Script6</value>
+<value code="100">Script7</value>
+<value code="101">Script8</value>
+<value code="102">Script9</value>
+<value code="103">Script10</value>
+<value code="104">Script11</value>
+<value code="105">Script12</value>
+<value code="106">Script13</value>
+<value code="107">Script14</value>
+<value code="108">Script15</value>
+<value code="109">Script16</value>
 <value code="120">NeoPixel1</value>
 <value code="121">NeoPixel2</value>
 <value code="122">NeoPixel3</value>
@@ -12379,12 +12508,16 @@
 <value code="125">RatePitch</value>
 <value code="126">RateThrust</value>
 <value code="127">RateYaw</value>
-<value code="128">Wing Sail Elevator</value>
-<value code="129">ProfiLED 1</value>
-<value code="130">ProfiLED 2</value>
-<value code="131">ProfiLED 3</value>
-<value code="132">ProfiLED Clock</value>
+<value code="128">WingSailElevator</value>
+<value code="129">ProfiLED1</value>
+<value code="130">ProfiLED2</value>
+<value code="131">ProfiLED3</value>
+<value code="132">ProfiLEDClock</value>
 <value code="133">Winch Clutch</value>
+<value code="134">SERVOn_MIN</value>
+<value code="135">SERVOn_TRIM</value>
+<value code="136">SERVOn_MAX</value>
+<value code="137">SailMastRotation</value>
 </values>
 </param>
 </parameters>
@@ -12413,22 +12546,22 @@
 <value code="1">Reversed</value>
 </values>
 </param>
-<param humanName="Servo output function" name="SERVO12_FUNCTION" documentation="Function assigned to this servo. Seeing this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function" user="Standard">
+<param humanName="Servo output function" name="SERVO12_FUNCTION" documentation="Function assigned to this servo. Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function" user="Standard">
 <values>
 <value code="0">Disabled</value>
 <value code="1">RCPassThru</value>
 <value code="2">Flap</value>
-<value code="3">Flap_auto</value>
+<value code="3">FlapAuto</value>
 <value code="4">Aileron</value>
-<value code="6">mount_pan</value>
-<value code="7">mount_tilt</value>
-<value code="8">mount_roll</value>
-<value code="9">mount_open</value>
-<value code="10">camera_trigger</value>
-<value code="12">mount2_pan</value>
-<value code="13">mount2_tilt</value>
-<value code="14">mount2_roll</value>
-<value code="15">mount2_open</value>
+<value code="6">MountPan</value>
+<value code="7">MountTilt</value>
+<value code="8">MountRoll</value>
+<value code="9">MountOpen</value>
+<value code="10">CameraTrigger</value>
+<value code="12">Mount2Pan</value>
+<value code="13">Mount2Tilt</value>
+<value code="14">Mount2Roll</value>
+<value code="15">Mount2Open</value>
 <value code="16">DifferentialSpoilerLeft1</value>
 <value code="17">DifferentialSpoilerRight1</value>
 <value code="19">Elevator</value>
@@ -12452,7 +12585,10 @@
 <value code="38">Motor6</value>
 <value code="39">Motor7</value>
 <value code="40">Motor8</value>
-<value code="41">MotorTilt</value>
+<value code="41">TiltMotorsFront</value>
+<value code="45">TiltMotorsRear</value>
+<value code="46">TiltMotorRearLeft</value>
+<value code="47">TiltMotorRearRight</value>
 <value code="51">RCIN1</value>
 <value code="52">RCIN2</value>
 <value code="53">RCIN3</value>
@@ -12476,8 +12612,8 @@
 <value code="72">TrackerPitch</value>
 <value code="73">ThrottleLeft</value>
 <value code="74">ThrottleRight</value>
-<value code="75">tiltMotorLeft</value>
-<value code="76">tiltMotorRight</value>
+<value code="75">TiltMotorFrontLeft</value>
+<value code="76">TiltMotorFrontRight</value>
 <value code="77">ElevonLeft</value>
 <value code="78">ElevonRight</value>
 <value code="79">VTailLeft</value>
@@ -12495,22 +12631,22 @@
 <value code="91">CameraAperture</value>
 <value code="92">CameraFocus</value>
 <value code="93">CameraShutterSpeed</value>
-<value code="94">Script 1</value>
-<value code="95">Script 2</value>
-<value code="96">Script 3</value>
-<value code="97">Script 4</value>
-<value code="98">Script 5</value>
-<value code="99">Script 6</value>
-<value code="100">Script 7</value>
-<value code="101">Script 8</value>
-<value code="102">Script 9</value>
-<value code="103">Script 10</value>
-<value code="104">Script 11</value>
-<value code="105">Script 12</value>
-<value code="106">Script 13</value>
-<value code="107">Script 14</value>
-<value code="108">Script 15</value>
-<value code="109">Script 16</value>
+<value code="94">Script1</value>
+<value code="95">Script2</value>
+<value code="96">Script3</value>
+<value code="97">Script4</value>
+<value code="98">Script5</value>
+<value code="99">Script6</value>
+<value code="100">Script7</value>
+<value code="101">Script8</value>
+<value code="102">Script9</value>
+<value code="103">Script10</value>
+<value code="104">Script11</value>
+<value code="105">Script12</value>
+<value code="106">Script13</value>
+<value code="107">Script14</value>
+<value code="108">Script15</value>
+<value code="109">Script16</value>
 <value code="120">NeoPixel1</value>
 <value code="121">NeoPixel2</value>
 <value code="122">NeoPixel3</value>
@@ -12519,12 +12655,16 @@
 <value code="125">RatePitch</value>
 <value code="126">RateThrust</value>
 <value code="127">RateYaw</value>
-<value code="128">Wing Sail Elevator</value>
-<value code="129">ProfiLED 1</value>
-<value code="130">ProfiLED 2</value>
-<value code="131">ProfiLED 3</value>
-<value code="132">ProfiLED Clock</value>
+<value code="128">WingSailElevator</value>
+<value code="129">ProfiLED1</value>
+<value code="130">ProfiLED2</value>
+<value code="131">ProfiLED3</value>
+<value code="132">ProfiLEDClock</value>
 <value code="133">Winch Clutch</value>
+<value code="134">SERVOn_MIN</value>
+<value code="135">SERVOn_TRIM</value>
+<value code="136">SERVOn_MAX</value>
+<value code="137">SailMastRotation</value>
 </values>
 </param>
 </parameters>
@@ -12553,22 +12693,22 @@
 <value code="1">Reversed</value>
 </values>
 </param>
-<param humanName="Servo output function" name="SERVO13_FUNCTION" documentation="Function assigned to this servo. Seeing this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function" user="Standard">
+<param humanName="Servo output function" name="SERVO13_FUNCTION" documentation="Function assigned to this servo. Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function" user="Standard">
 <values>
 <value code="0">Disabled</value>
 <value code="1">RCPassThru</value>
 <value code="2">Flap</value>
-<value code="3">Flap_auto</value>
+<value code="3">FlapAuto</value>
 <value code="4">Aileron</value>
-<value code="6">mount_pan</value>
-<value code="7">mount_tilt</value>
-<value code="8">mount_roll</value>
-<value code="9">mount_open</value>
-<value code="10">camera_trigger</value>
-<value code="12">mount2_pan</value>
-<value code="13">mount2_tilt</value>
-<value code="14">mount2_roll</value>
-<value code="15">mount2_open</value>
+<value code="6">MountPan</value>
+<value code="7">MountTilt</value>
+<value code="8">MountRoll</value>
+<value code="9">MountOpen</value>
+<value code="10">CameraTrigger</value>
+<value code="12">Mount2Pan</value>
+<value code="13">Mount2Tilt</value>
+<value code="14">Mount2Roll</value>
+<value code="15">Mount2Open</value>
 <value code="16">DifferentialSpoilerLeft1</value>
 <value code="17">DifferentialSpoilerRight1</value>
 <value code="19">Elevator</value>
@@ -12592,7 +12732,10 @@
 <value code="38">Motor6</value>
 <value code="39">Motor7</value>
 <value code="40">Motor8</value>
-<value code="41">MotorTilt</value>
+<value code="41">TiltMotorsFront</value>
+<value code="45">TiltMotorsRear</value>
+<value code="46">TiltMotorRearLeft</value>
+<value code="47">TiltMotorRearRight</value>
 <value code="51">RCIN1</value>
 <value code="52">RCIN2</value>
 <value code="53">RCIN3</value>
@@ -12616,8 +12759,8 @@
 <value code="72">TrackerPitch</value>
 <value code="73">ThrottleLeft</value>
 <value code="74">ThrottleRight</value>
-<value code="75">tiltMotorLeft</value>
-<value code="76">tiltMotorRight</value>
+<value code="75">TiltMotorFrontLeft</value>
+<value code="76">TiltMotorFrontRight</value>
 <value code="77">ElevonLeft</value>
 <value code="78">ElevonRight</value>
 <value code="79">VTailLeft</value>
@@ -12635,22 +12778,22 @@
 <value code="91">CameraAperture</value>
 <value code="92">CameraFocus</value>
 <value code="93">CameraShutterSpeed</value>
-<value code="94">Script 1</value>
-<value code="95">Script 2</value>
-<value code="96">Script 3</value>
-<value code="97">Script 4</value>
-<value code="98">Script 5</value>
-<value code="99">Script 6</value>
-<value code="100">Script 7</value>
-<value code="101">Script 8</value>
-<value code="102">Script 9</value>
-<value code="103">Script 10</value>
-<value code="104">Script 11</value>
-<value code="105">Script 12</value>
-<value code="106">Script 13</value>
-<value code="107">Script 14</value>
-<value code="108">Script 15</value>
-<value code="109">Script 16</value>
+<value code="94">Script1</value>
+<value code="95">Script2</value>
+<value code="96">Script3</value>
+<value code="97">Script4</value>
+<value code="98">Script5</value>
+<value code="99">Script6</value>
+<value code="100">Script7</value>
+<value code="101">Script8</value>
+<value code="102">Script9</value>
+<value code="103">Script10</value>
+<value code="104">Script11</value>
+<value code="105">Script12</value>
+<value code="106">Script13</value>
+<value code="107">Script14</value>
+<value code="108">Script15</value>
+<value code="109">Script16</value>
 <value code="120">NeoPixel1</value>
 <value code="121">NeoPixel2</value>
 <value code="122">NeoPixel3</value>
@@ -12659,12 +12802,16 @@
 <value code="125">RatePitch</value>
 <value code="126">RateThrust</value>
 <value code="127">RateYaw</value>
-<value code="128">Wing Sail Elevator</value>
-<value code="129">ProfiLED 1</value>
-<value code="130">ProfiLED 2</value>
-<value code="131">ProfiLED 3</value>
-<value code="132">ProfiLED Clock</value>
+<value code="128">WingSailElevator</value>
+<value code="129">ProfiLED1</value>
+<value code="130">ProfiLED2</value>
+<value code="131">ProfiLED3</value>
+<value code="132">ProfiLEDClock</value>
 <value code="133">Winch Clutch</value>
+<value code="134">SERVOn_MIN</value>
+<value code="135">SERVOn_TRIM</value>
+<value code="136">SERVOn_MAX</value>
+<value code="137">SailMastRotation</value>
 </values>
 </param>
 </parameters>
@@ -12693,22 +12840,22 @@
 <value code="1">Reversed</value>
 </values>
 </param>
-<param humanName="Servo output function" name="SERVO14_FUNCTION" documentation="Function assigned to this servo. Seeing this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function" user="Standard">
+<param humanName="Servo output function" name="SERVO14_FUNCTION" documentation="Function assigned to this servo. Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function" user="Standard">
 <values>
 <value code="0">Disabled</value>
 <value code="1">RCPassThru</value>
 <value code="2">Flap</value>
-<value code="3">Flap_auto</value>
+<value code="3">FlapAuto</value>
 <value code="4">Aileron</value>
-<value code="6">mount_pan</value>
-<value code="7">mount_tilt</value>
-<value code="8">mount_roll</value>
-<value code="9">mount_open</value>
-<value code="10">camera_trigger</value>
-<value code="12">mount2_pan</value>
-<value code="13">mount2_tilt</value>
-<value code="14">mount2_roll</value>
-<value code="15">mount2_open</value>
+<value code="6">MountPan</value>
+<value code="7">MountTilt</value>
+<value code="8">MountRoll</value>
+<value code="9">MountOpen</value>
+<value code="10">CameraTrigger</value>
+<value code="12">Mount2Pan</value>
+<value code="13">Mount2Tilt</value>
+<value code="14">Mount2Roll</value>
+<value code="15">Mount2Open</value>
 <value code="16">DifferentialSpoilerLeft1</value>
 <value code="17">DifferentialSpoilerRight1</value>
 <value code="19">Elevator</value>
@@ -12732,7 +12879,10 @@
 <value code="38">Motor6</value>
 <value code="39">Motor7</value>
 <value code="40">Motor8</value>
-<value code="41">MotorTilt</value>
+<value code="41">TiltMotorsFront</value>
+<value code="45">TiltMotorsRear</value>
+<value code="46">TiltMotorRearLeft</value>
+<value code="47">TiltMotorRearRight</value>
 <value code="51">RCIN1</value>
 <value code="52">RCIN2</value>
 <value code="53">RCIN3</value>
@@ -12756,8 +12906,8 @@
 <value code="72">TrackerPitch</value>
 <value code="73">ThrottleLeft</value>
 <value code="74">ThrottleRight</value>
-<value code="75">tiltMotorLeft</value>
-<value code="76">tiltMotorRight</value>
+<value code="75">TiltMotorFrontLeft</value>
+<value code="76">TiltMotorFrontRight</value>
 <value code="77">ElevonLeft</value>
 <value code="78">ElevonRight</value>
 <value code="79">VTailLeft</value>
@@ -12775,22 +12925,22 @@
 <value code="91">CameraAperture</value>
 <value code="92">CameraFocus</value>
 <value code="93">CameraShutterSpeed</value>
-<value code="94">Script 1</value>
-<value code="95">Script 2</value>
-<value code="96">Script 3</value>
-<value code="97">Script 4</value>
-<value code="98">Script 5</value>
-<value code="99">Script 6</value>
-<value code="100">Script 7</value>
-<value code="101">Script 8</value>
-<value code="102">Script 9</value>
-<value code="103">Script 10</value>
-<value code="104">Script 11</value>
-<value code="105">Script 12</value>
-<value code="106">Script 13</value>
-<value code="107">Script 14</value>
-<value code="108">Script 15</value>
-<value code="109">Script 16</value>
+<value code="94">Script1</value>
+<value code="95">Script2</value>
+<value code="96">Script3</value>
+<value code="97">Script4</value>
+<value code="98">Script5</value>
+<value code="99">Script6</value>
+<value code="100">Script7</value>
+<value code="101">Script8</value>
+<value code="102">Script9</value>
+<value code="103">Script10</value>
+<value code="104">Script11</value>
+<value code="105">Script12</value>
+<value code="106">Script13</value>
+<value code="107">Script14</value>
+<value code="108">Script15</value>
+<value code="109">Script16</value>
 <value code="120">NeoPixel1</value>
 <value code="121">NeoPixel2</value>
 <value code="122">NeoPixel3</value>
@@ -12799,12 +12949,16 @@
 <value code="125">RatePitch</value>
 <value code="126">RateThrust</value>
 <value code="127">RateYaw</value>
-<value code="128">Wing Sail Elevator</value>
-<value code="129">ProfiLED 1</value>
-<value code="130">ProfiLED 2</value>
-<value code="131">ProfiLED 3</value>
-<value code="132">ProfiLED Clock</value>
+<value code="128">WingSailElevator</value>
+<value code="129">ProfiLED1</value>
+<value code="130">ProfiLED2</value>
+<value code="131">ProfiLED3</value>
+<value code="132">ProfiLEDClock</value>
 <value code="133">Winch Clutch</value>
+<value code="134">SERVOn_MIN</value>
+<value code="135">SERVOn_TRIM</value>
+<value code="136">SERVOn_MAX</value>
+<value code="137">SailMastRotation</value>
 </values>
 </param>
 </parameters>
@@ -12833,22 +12987,22 @@
 <value code="1">Reversed</value>
 </values>
 </param>
-<param humanName="Servo output function" name="SERVO15_FUNCTION" documentation="Function assigned to this servo. Seeing this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function" user="Standard">
+<param humanName="Servo output function" name="SERVO15_FUNCTION" documentation="Function assigned to this servo. Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function" user="Standard">
 <values>
 <value code="0">Disabled</value>
 <value code="1">RCPassThru</value>
 <value code="2">Flap</value>
-<value code="3">Flap_auto</value>
+<value code="3">FlapAuto</value>
 <value code="4">Aileron</value>
-<value code="6">mount_pan</value>
-<value code="7">mount_tilt</value>
-<value code="8">mount_roll</value>
-<value code="9">mount_open</value>
-<value code="10">camera_trigger</value>
-<value code="12">mount2_pan</value>
-<value code="13">mount2_tilt</value>
-<value code="14">mount2_roll</value>
-<value code="15">mount2_open</value>
+<value code="6">MountPan</value>
+<value code="7">MountTilt</value>
+<value code="8">MountRoll</value>
+<value code="9">MountOpen</value>
+<value code="10">CameraTrigger</value>
+<value code="12">Mount2Pan</value>
+<value code="13">Mount2Tilt</value>
+<value code="14">Mount2Roll</value>
+<value code="15">Mount2Open</value>
 <value code="16">DifferentialSpoilerLeft1</value>
 <value code="17">DifferentialSpoilerRight1</value>
 <value code="19">Elevator</value>
@@ -12872,7 +13026,10 @@
 <value code="38">Motor6</value>
 <value code="39">Motor7</value>
 <value code="40">Motor8</value>
-<value code="41">MotorTilt</value>
+<value code="41">TiltMotorsFront</value>
+<value code="45">TiltMotorsRear</value>
+<value code="46">TiltMotorRearLeft</value>
+<value code="47">TiltMotorRearRight</value>
 <value code="51">RCIN1</value>
 <value code="52">RCIN2</value>
 <value code="53">RCIN3</value>
@@ -12896,8 +13053,8 @@
 <value code="72">TrackerPitch</value>
 <value code="73">ThrottleLeft</value>
 <value code="74">ThrottleRight</value>
-<value code="75">tiltMotorLeft</value>
-<value code="76">tiltMotorRight</value>
+<value code="75">TiltMotorFrontLeft</value>
+<value code="76">TiltMotorFrontRight</value>
 <value code="77">ElevonLeft</value>
 <value code="78">ElevonRight</value>
 <value code="79">VTailLeft</value>
@@ -12915,22 +13072,22 @@
 <value code="91">CameraAperture</value>
 <value code="92">CameraFocus</value>
 <value code="93">CameraShutterSpeed</value>
-<value code="94">Script 1</value>
-<value code="95">Script 2</value>
-<value code="96">Script 3</value>
-<value code="97">Script 4</value>
-<value code="98">Script 5</value>
-<value code="99">Script 6</value>
-<value code="100">Script 7</value>
-<value code="101">Script 8</value>
-<value code="102">Script 9</value>
-<value code="103">Script 10</value>
-<value code="104">Script 11</value>
-<value code="105">Script 12</value>
-<value code="106">Script 13</value>
-<value code="107">Script 14</value>
-<value code="108">Script 15</value>
-<value code="109">Script 16</value>
+<value code="94">Script1</value>
+<value code="95">Script2</value>
+<value code="96">Script3</value>
+<value code="97">Script4</value>
+<value code="98">Script5</value>
+<value code="99">Script6</value>
+<value code="100">Script7</value>
+<value code="101">Script8</value>
+<value code="102">Script9</value>
+<value code="103">Script10</value>
+<value code="104">Script11</value>
+<value code="105">Script12</value>
+<value code="106">Script13</value>
+<value code="107">Script14</value>
+<value code="108">Script15</value>
+<value code="109">Script16</value>
 <value code="120">NeoPixel1</value>
 <value code="121">NeoPixel2</value>
 <value code="122">NeoPixel3</value>
@@ -12939,12 +13096,16 @@
 <value code="125">RatePitch</value>
 <value code="126">RateThrust</value>
 <value code="127">RateYaw</value>
-<value code="128">Wing Sail Elevator</value>
-<value code="129">ProfiLED 1</value>
-<value code="130">ProfiLED 2</value>
-<value code="131">ProfiLED 3</value>
-<value code="132">ProfiLED Clock</value>
+<value code="128">WingSailElevator</value>
+<value code="129">ProfiLED1</value>
+<value code="130">ProfiLED2</value>
+<value code="131">ProfiLED3</value>
+<value code="132">ProfiLEDClock</value>
 <value code="133">Winch Clutch</value>
+<value code="134">SERVOn_MIN</value>
+<value code="135">SERVOn_TRIM</value>
+<value code="136">SERVOn_MAX</value>
+<value code="137">SailMastRotation</value>
 </values>
 </param>
 </parameters>
@@ -12973,22 +13134,22 @@
 <value code="1">Reversed</value>
 </values>
 </param>
-<param humanName="Servo output function" name="SERVO16_FUNCTION" documentation="Function assigned to this servo. Seeing this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function" user="Standard">
+<param humanName="Servo output function" name="SERVO16_FUNCTION" documentation="Function assigned to this servo. Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function" user="Standard">
 <values>
 <value code="0">Disabled</value>
 <value code="1">RCPassThru</value>
 <value code="2">Flap</value>
-<value code="3">Flap_auto</value>
+<value code="3">FlapAuto</value>
 <value code="4">Aileron</value>
-<value code="6">mount_pan</value>
-<value code="7">mount_tilt</value>
-<value code="8">mount_roll</value>
-<value code="9">mount_open</value>
-<value code="10">camera_trigger</value>
-<value code="12">mount2_pan</value>
-<value code="13">mount2_tilt</value>
-<value code="14">mount2_roll</value>
-<value code="15">mount2_open</value>
+<value code="6">MountPan</value>
+<value code="7">MountTilt</value>
+<value code="8">MountRoll</value>
+<value code="9">MountOpen</value>
+<value code="10">CameraTrigger</value>
+<value code="12">Mount2Pan</value>
+<value code="13">Mount2Tilt</value>
+<value code="14">Mount2Roll</value>
+<value code="15">Mount2Open</value>
 <value code="16">DifferentialSpoilerLeft1</value>
 <value code="17">DifferentialSpoilerRight1</value>
 <value code="19">Elevator</value>
@@ -13012,7 +13173,10 @@
 <value code="38">Motor6</value>
 <value code="39">Motor7</value>
 <value code="40">Motor8</value>
-<value code="41">MotorTilt</value>
+<value code="41">TiltMotorsFront</value>
+<value code="45">TiltMotorsRear</value>
+<value code="46">TiltMotorRearLeft</value>
+<value code="47">TiltMotorRearRight</value>
 <value code="51">RCIN1</value>
 <value code="52">RCIN2</value>
 <value code="53">RCIN3</value>
@@ -13036,8 +13200,8 @@
 <value code="72">TrackerPitch</value>
 <value code="73">ThrottleLeft</value>
 <value code="74">ThrottleRight</value>
-<value code="75">tiltMotorLeft</value>
-<value code="76">tiltMotorRight</value>
+<value code="75">TiltMotorFrontLeft</value>
+<value code="76">TiltMotorFrontRight</value>
 <value code="77">ElevonLeft</value>
 <value code="78">ElevonRight</value>
 <value code="79">VTailLeft</value>
@@ -13055,22 +13219,22 @@
 <value code="91">CameraAperture</value>
 <value code="92">CameraFocus</value>
 <value code="93">CameraShutterSpeed</value>
-<value code="94">Script 1</value>
-<value code="95">Script 2</value>
-<value code="96">Script 3</value>
-<value code="97">Script 4</value>
-<value code="98">Script 5</value>
-<value code="99">Script 6</value>
-<value code="100">Script 7</value>
-<value code="101">Script 8</value>
-<value code="102">Script 9</value>
-<value code="103">Script 10</value>
-<value code="104">Script 11</value>
-<value code="105">Script 12</value>
-<value code="106">Script 13</value>
-<value code="107">Script 14</value>
-<value code="108">Script 15</value>
-<value code="109">Script 16</value>
+<value code="94">Script1</value>
+<value code="95">Script2</value>
+<value code="96">Script3</value>
+<value code="97">Script4</value>
+<value code="98">Script5</value>
+<value code="99">Script6</value>
+<value code="100">Script7</value>
+<value code="101">Script8</value>
+<value code="102">Script9</value>
+<value code="103">Script10</value>
+<value code="104">Script11</value>
+<value code="105">Script12</value>
+<value code="106">Script13</value>
+<value code="107">Script14</value>
+<value code="108">Script15</value>
+<value code="109">Script16</value>
 <value code="120">NeoPixel1</value>
 <value code="121">NeoPixel2</value>
 <value code="122">NeoPixel3</value>
@@ -13079,12 +13243,16 @@
 <value code="125">RatePitch</value>
 <value code="126">RateThrust</value>
 <value code="127">RateYaw</value>
-<value code="128">Wing Sail Elevator</value>
-<value code="129">ProfiLED 1</value>
-<value code="130">ProfiLED 2</value>
-<value code="131">ProfiLED 3</value>
-<value code="132">ProfiLED Clock</value>
+<value code="128">WingSailElevator</value>
+<value code="129">ProfiLED1</value>
+<value code="130">ProfiLED2</value>
+<value code="131">ProfiLED3</value>
+<value code="132">ProfiLEDClock</value>
 <value code="133">Winch Clutch</value>
+<value code="134">SERVOn_MIN</value>
+<value code="135">SERVOn_TRIM</value>
+<value code="136">SERVOn_MAX</value>
+<value code="137">SailMastRotation</value>
 </values>
 </param>
 </parameters>
@@ -13113,22 +13281,22 @@
 <value code="1">Reversed</value>
 </values>
 </param>
-<param humanName="Servo output function" name="SERVO1_FUNCTION" documentation="Function assigned to this servo. Seeing this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function" user="Standard">
+<param humanName="Servo output function" name="SERVO1_FUNCTION" documentation="Function assigned to this servo. Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function" user="Standard">
 <values>
 <value code="0">Disabled</value>
 <value code="1">RCPassThru</value>
 <value code="2">Flap</value>
-<value code="3">Flap_auto</value>
+<value code="3">FlapAuto</value>
 <value code="4">Aileron</value>
-<value code="6">mount_pan</value>
-<value code="7">mount_tilt</value>
-<value code="8">mount_roll</value>
-<value code="9">mount_open</value>
-<value code="10">camera_trigger</value>
-<value code="12">mount2_pan</value>
-<value code="13">mount2_tilt</value>
-<value code="14">mount2_roll</value>
-<value code="15">mount2_open</value>
+<value code="6">MountPan</value>
+<value code="7">MountTilt</value>
+<value code="8">MountRoll</value>
+<value code="9">MountOpen</value>
+<value code="10">CameraTrigger</value>
+<value code="12">Mount2Pan</value>
+<value code="13">Mount2Tilt</value>
+<value code="14">Mount2Roll</value>
+<value code="15">Mount2Open</value>
 <value code="16">DifferentialSpoilerLeft1</value>
 <value code="17">DifferentialSpoilerRight1</value>
 <value code="19">Elevator</value>
@@ -13152,7 +13320,10 @@
 <value code="38">Motor6</value>
 <value code="39">Motor7</value>
 <value code="40">Motor8</value>
-<value code="41">MotorTilt</value>
+<value code="41">TiltMotorsFront</value>
+<value code="45">TiltMotorsRear</value>
+<value code="46">TiltMotorRearLeft</value>
+<value code="47">TiltMotorRearRight</value>
 <value code="51">RCIN1</value>
 <value code="52">RCIN2</value>
 <value code="53">RCIN3</value>
@@ -13176,8 +13347,8 @@
 <value code="72">TrackerPitch</value>
 <value code="73">ThrottleLeft</value>
 <value code="74">ThrottleRight</value>
-<value code="75">tiltMotorLeft</value>
-<value code="76">tiltMotorRight</value>
+<value code="75">TiltMotorFrontLeft</value>
+<value code="76">TiltMotorFrontRight</value>
 <value code="77">ElevonLeft</value>
 <value code="78">ElevonRight</value>
 <value code="79">VTailLeft</value>
@@ -13195,22 +13366,22 @@
 <value code="91">CameraAperture</value>
 <value code="92">CameraFocus</value>
 <value code="93">CameraShutterSpeed</value>
-<value code="94">Script 1</value>
-<value code="95">Script 2</value>
-<value code="96">Script 3</value>
-<value code="97">Script 4</value>
-<value code="98">Script 5</value>
-<value code="99">Script 6</value>
-<value code="100">Script 7</value>
-<value code="101">Script 8</value>
-<value code="102">Script 9</value>
-<value code="103">Script 10</value>
-<value code="104">Script 11</value>
-<value code="105">Script 12</value>
-<value code="106">Script 13</value>
-<value code="107">Script 14</value>
-<value code="108">Script 15</value>
-<value code="109">Script 16</value>
+<value code="94">Script1</value>
+<value code="95">Script2</value>
+<value code="96">Script3</value>
+<value code="97">Script4</value>
+<value code="98">Script5</value>
+<value code="99">Script6</value>
+<value code="100">Script7</value>
+<value code="101">Script8</value>
+<value code="102">Script9</value>
+<value code="103">Script10</value>
+<value code="104">Script11</value>
+<value code="105">Script12</value>
+<value code="106">Script13</value>
+<value code="107">Script14</value>
+<value code="108">Script15</value>
+<value code="109">Script16</value>
 <value code="120">NeoPixel1</value>
 <value code="121">NeoPixel2</value>
 <value code="122">NeoPixel3</value>
@@ -13219,12 +13390,16 @@
 <value code="125">RatePitch</value>
 <value code="126">RateThrust</value>
 <value code="127">RateYaw</value>
-<value code="128">Wing Sail Elevator</value>
-<value code="129">ProfiLED 1</value>
-<value code="130">ProfiLED 2</value>
-<value code="131">ProfiLED 3</value>
-<value code="132">ProfiLED Clock</value>
+<value code="128">WingSailElevator</value>
+<value code="129">ProfiLED1</value>
+<value code="130">ProfiLED2</value>
+<value code="131">ProfiLED3</value>
+<value code="132">ProfiLEDClock</value>
 <value code="133">Winch Clutch</value>
+<value code="134">SERVOn_MIN</value>
+<value code="135">SERVOn_TRIM</value>
+<value code="136">SERVOn_MAX</value>
+<value code="137">SailMastRotation</value>
 </values>
 </param>
 </parameters>
@@ -13253,22 +13428,22 @@
 <value code="1">Reversed</value>
 </values>
 </param>
-<param humanName="Servo output function" name="SERVO2_FUNCTION" documentation="Function assigned to this servo. Seeing this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function" user="Standard">
+<param humanName="Servo output function" name="SERVO2_FUNCTION" documentation="Function assigned to this servo. Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function" user="Standard">
 <values>
 <value code="0">Disabled</value>
 <value code="1">RCPassThru</value>
 <value code="2">Flap</value>
-<value code="3">Flap_auto</value>
+<value code="3">FlapAuto</value>
 <value code="4">Aileron</value>
-<value code="6">mount_pan</value>
-<value code="7">mount_tilt</value>
-<value code="8">mount_roll</value>
-<value code="9">mount_open</value>
-<value code="10">camera_trigger</value>
-<value code="12">mount2_pan</value>
-<value code="13">mount2_tilt</value>
-<value code="14">mount2_roll</value>
-<value code="15">mount2_open</value>
+<value code="6">MountPan</value>
+<value code="7">MountTilt</value>
+<value code="8">MountRoll</value>
+<value code="9">MountOpen</value>
+<value code="10">CameraTrigger</value>
+<value code="12">Mount2Pan</value>
+<value code="13">Mount2Tilt</value>
+<value code="14">Mount2Roll</value>
+<value code="15">Mount2Open</value>
 <value code="16">DifferentialSpoilerLeft1</value>
 <value code="17">DifferentialSpoilerRight1</value>
 <value code="19">Elevator</value>
@@ -13292,7 +13467,10 @@
 <value code="38">Motor6</value>
 <value code="39">Motor7</value>
 <value code="40">Motor8</value>
-<value code="41">MotorTilt</value>
+<value code="41">TiltMotorsFront</value>
+<value code="45">TiltMotorsRear</value>
+<value code="46">TiltMotorRearLeft</value>
+<value code="47">TiltMotorRearRight</value>
 <value code="51">RCIN1</value>
 <value code="52">RCIN2</value>
 <value code="53">RCIN3</value>
@@ -13316,8 +13494,8 @@
 <value code="72">TrackerPitch</value>
 <value code="73">ThrottleLeft</value>
 <value code="74">ThrottleRight</value>
-<value code="75">tiltMotorLeft</value>
-<value code="76">tiltMotorRight</value>
+<value code="75">TiltMotorFrontLeft</value>
+<value code="76">TiltMotorFrontRight</value>
 <value code="77">ElevonLeft</value>
 <value code="78">ElevonRight</value>
 <value code="79">VTailLeft</value>
@@ -13335,22 +13513,22 @@
 <value code="91">CameraAperture</value>
 <value code="92">CameraFocus</value>
 <value code="93">CameraShutterSpeed</value>
-<value code="94">Script 1</value>
-<value code="95">Script 2</value>
-<value code="96">Script 3</value>
-<value code="97">Script 4</value>
-<value code="98">Script 5</value>
-<value code="99">Script 6</value>
-<value code="100">Script 7</value>
-<value code="101">Script 8</value>
-<value code="102">Script 9</value>
-<value code="103">Script 10</value>
-<value code="104">Script 11</value>
-<value code="105">Script 12</value>
-<value code="106">Script 13</value>
-<value code="107">Script 14</value>
-<value code="108">Script 15</value>
-<value code="109">Script 16</value>
+<value code="94">Script1</value>
+<value code="95">Script2</value>
+<value code="96">Script3</value>
+<value code="97">Script4</value>
+<value code="98">Script5</value>
+<value code="99">Script6</value>
+<value code="100">Script7</value>
+<value code="101">Script8</value>
+<value code="102">Script9</value>
+<value code="103">Script10</value>
+<value code="104">Script11</value>
+<value code="105">Script12</value>
+<value code="106">Script13</value>
+<value code="107">Script14</value>
+<value code="108">Script15</value>
+<value code="109">Script16</value>
 <value code="120">NeoPixel1</value>
 <value code="121">NeoPixel2</value>
 <value code="122">NeoPixel3</value>
@@ -13359,12 +13537,16 @@
 <value code="125">RatePitch</value>
 <value code="126">RateThrust</value>
 <value code="127">RateYaw</value>
-<value code="128">Wing Sail Elevator</value>
-<value code="129">ProfiLED 1</value>
-<value code="130">ProfiLED 2</value>
-<value code="131">ProfiLED 3</value>
-<value code="132">ProfiLED Clock</value>
+<value code="128">WingSailElevator</value>
+<value code="129">ProfiLED1</value>
+<value code="130">ProfiLED2</value>
+<value code="131">ProfiLED3</value>
+<value code="132">ProfiLEDClock</value>
 <value code="133">Winch Clutch</value>
+<value code="134">SERVOn_MIN</value>
+<value code="135">SERVOn_TRIM</value>
+<value code="136">SERVOn_MAX</value>
+<value code="137">SailMastRotation</value>
 </values>
 </param>
 </parameters>
@@ -13393,22 +13575,22 @@
 <value code="1">Reversed</value>
 </values>
 </param>
-<param humanName="Servo output function" name="SERVO3_FUNCTION" documentation="Function assigned to this servo. Seeing this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function" user="Standard">
+<param humanName="Servo output function" name="SERVO3_FUNCTION" documentation="Function assigned to this servo. Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function" user="Standard">
 <values>
 <value code="0">Disabled</value>
 <value code="1">RCPassThru</value>
 <value code="2">Flap</value>
-<value code="3">Flap_auto</value>
+<value code="3">FlapAuto</value>
 <value code="4">Aileron</value>
-<value code="6">mount_pan</value>
-<value code="7">mount_tilt</value>
-<value code="8">mount_roll</value>
-<value code="9">mount_open</value>
-<value code="10">camera_trigger</value>
-<value code="12">mount2_pan</value>
-<value code="13">mount2_tilt</value>
-<value code="14">mount2_roll</value>
-<value code="15">mount2_open</value>
+<value code="6">MountPan</value>
+<value code="7">MountTilt</value>
+<value code="8">MountRoll</value>
+<value code="9">MountOpen</value>
+<value code="10">CameraTrigger</value>
+<value code="12">Mount2Pan</value>
+<value code="13">Mount2Tilt</value>
+<value code="14">Mount2Roll</value>
+<value code="15">Mount2Open</value>
 <value code="16">DifferentialSpoilerLeft1</value>
 <value code="17">DifferentialSpoilerRight1</value>
 <value code="19">Elevator</value>
@@ -13432,7 +13614,10 @@
 <value code="38">Motor6</value>
 <value code="39">Motor7</value>
 <value code="40">Motor8</value>
-<value code="41">MotorTilt</value>
+<value code="41">TiltMotorsFront</value>
+<value code="45">TiltMotorsRear</value>
+<value code="46">TiltMotorRearLeft</value>
+<value code="47">TiltMotorRearRight</value>
 <value code="51">RCIN1</value>
 <value code="52">RCIN2</value>
 <value code="53">RCIN3</value>
@@ -13456,8 +13641,8 @@
 <value code="72">TrackerPitch</value>
 <value code="73">ThrottleLeft</value>
 <value code="74">ThrottleRight</value>
-<value code="75">tiltMotorLeft</value>
-<value code="76">tiltMotorRight</value>
+<value code="75">TiltMotorFrontLeft</value>
+<value code="76">TiltMotorFrontRight</value>
 <value code="77">ElevonLeft</value>
 <value code="78">ElevonRight</value>
 <value code="79">VTailLeft</value>
@@ -13475,22 +13660,22 @@
 <value code="91">CameraAperture</value>
 <value code="92">CameraFocus</value>
 <value code="93">CameraShutterSpeed</value>
-<value code="94">Script 1</value>
-<value code="95">Script 2</value>
-<value code="96">Script 3</value>
-<value code="97">Script 4</value>
-<value code="98">Script 5</value>
-<value code="99">Script 6</value>
-<value code="100">Script 7</value>
-<value code="101">Script 8</value>
-<value code="102">Script 9</value>
-<value code="103">Script 10</value>
-<value code="104">Script 11</value>
-<value code="105">Script 12</value>
-<value code="106">Script 13</value>
-<value code="107">Script 14</value>
-<value code="108">Script 15</value>
-<value code="109">Script 16</value>
+<value code="94">Script1</value>
+<value code="95">Script2</value>
+<value code="96">Script3</value>
+<value code="97">Script4</value>
+<value code="98">Script5</value>
+<value code="99">Script6</value>
+<value code="100">Script7</value>
+<value code="101">Script8</value>
+<value code="102">Script9</value>
+<value code="103">Script10</value>
+<value code="104">Script11</value>
+<value code="105">Script12</value>
+<value code="106">Script13</value>
+<value code="107">Script14</value>
+<value code="108">Script15</value>
+<value code="109">Script16</value>
 <value code="120">NeoPixel1</value>
 <value code="121">NeoPixel2</value>
 <value code="122">NeoPixel3</value>
@@ -13499,12 +13684,16 @@
 <value code="125">RatePitch</value>
 <value code="126">RateThrust</value>
 <value code="127">RateYaw</value>
-<value code="128">Wing Sail Elevator</value>
-<value code="129">ProfiLED 1</value>
-<value code="130">ProfiLED 2</value>
-<value code="131">ProfiLED 3</value>
-<value code="132">ProfiLED Clock</value>
+<value code="128">WingSailElevator</value>
+<value code="129">ProfiLED1</value>
+<value code="130">ProfiLED2</value>
+<value code="131">ProfiLED3</value>
+<value code="132">ProfiLEDClock</value>
 <value code="133">Winch Clutch</value>
+<value code="134">SERVOn_MIN</value>
+<value code="135">SERVOn_TRIM</value>
+<value code="136">SERVOn_MAX</value>
+<value code="137">SailMastRotation</value>
 </values>
 </param>
 </parameters>
@@ -13533,22 +13722,22 @@
 <value code="1">Reversed</value>
 </values>
 </param>
-<param humanName="Servo output function" name="SERVO4_FUNCTION" documentation="Function assigned to this servo. Seeing this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function" user="Standard">
+<param humanName="Servo output function" name="SERVO4_FUNCTION" documentation="Function assigned to this servo. Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function" user="Standard">
 <values>
 <value code="0">Disabled</value>
 <value code="1">RCPassThru</value>
 <value code="2">Flap</value>
-<value code="3">Flap_auto</value>
+<value code="3">FlapAuto</value>
 <value code="4">Aileron</value>
-<value code="6">mount_pan</value>
-<value code="7">mount_tilt</value>
-<value code="8">mount_roll</value>
-<value code="9">mount_open</value>
-<value code="10">camera_trigger</value>
-<value code="12">mount2_pan</value>
-<value code="13">mount2_tilt</value>
-<value code="14">mount2_roll</value>
-<value code="15">mount2_open</value>
+<value code="6">MountPan</value>
+<value code="7">MountTilt</value>
+<value code="8">MountRoll</value>
+<value code="9">MountOpen</value>
+<value code="10">CameraTrigger</value>
+<value code="12">Mount2Pan</value>
+<value code="13">Mount2Tilt</value>
+<value code="14">Mount2Roll</value>
+<value code="15">Mount2Open</value>
 <value code="16">DifferentialSpoilerLeft1</value>
 <value code="17">DifferentialSpoilerRight1</value>
 <value code="19">Elevator</value>
@@ -13572,7 +13761,10 @@
 <value code="38">Motor6</value>
 <value code="39">Motor7</value>
 <value code="40">Motor8</value>
-<value code="41">MotorTilt</value>
+<value code="41">TiltMotorsFront</value>
+<value code="45">TiltMotorsRear</value>
+<value code="46">TiltMotorRearLeft</value>
+<value code="47">TiltMotorRearRight</value>
 <value code="51">RCIN1</value>
 <value code="52">RCIN2</value>
 <value code="53">RCIN3</value>
@@ -13596,8 +13788,8 @@
 <value code="72">TrackerPitch</value>
 <value code="73">ThrottleLeft</value>
 <value code="74">ThrottleRight</value>
-<value code="75">tiltMotorLeft</value>
-<value code="76">tiltMotorRight</value>
+<value code="75">TiltMotorFrontLeft</value>
+<value code="76">TiltMotorFrontRight</value>
 <value code="77">ElevonLeft</value>
 <value code="78">ElevonRight</value>
 <value code="79">VTailLeft</value>
@@ -13615,22 +13807,22 @@
 <value code="91">CameraAperture</value>
 <value code="92">CameraFocus</value>
 <value code="93">CameraShutterSpeed</value>
-<value code="94">Script 1</value>
-<value code="95">Script 2</value>
-<value code="96">Script 3</value>
-<value code="97">Script 4</value>
-<value code="98">Script 5</value>
-<value code="99">Script 6</value>
-<value code="100">Script 7</value>
-<value code="101">Script 8</value>
-<value code="102">Script 9</value>
-<value code="103">Script 10</value>
-<value code="104">Script 11</value>
-<value code="105">Script 12</value>
-<value code="106">Script 13</value>
-<value code="107">Script 14</value>
-<value code="108">Script 15</value>
-<value code="109">Script 16</value>
+<value code="94">Script1</value>
+<value code="95">Script2</value>
+<value code="96">Script3</value>
+<value code="97">Script4</value>
+<value code="98">Script5</value>
+<value code="99">Script6</value>
+<value code="100">Script7</value>
+<value code="101">Script8</value>
+<value code="102">Script9</value>
+<value code="103">Script10</value>
+<value code="104">Script11</value>
+<value code="105">Script12</value>
+<value code="106">Script13</value>
+<value code="107">Script14</value>
+<value code="108">Script15</value>
+<value code="109">Script16</value>
 <value code="120">NeoPixel1</value>
 <value code="121">NeoPixel2</value>
 <value code="122">NeoPixel3</value>
@@ -13639,12 +13831,16 @@
 <value code="125">RatePitch</value>
 <value code="126">RateThrust</value>
 <value code="127">RateYaw</value>
-<value code="128">Wing Sail Elevator</value>
-<value code="129">ProfiLED 1</value>
-<value code="130">ProfiLED 2</value>
-<value code="131">ProfiLED 3</value>
-<value code="132">ProfiLED Clock</value>
+<value code="128">WingSailElevator</value>
+<value code="129">ProfiLED1</value>
+<value code="130">ProfiLED2</value>
+<value code="131">ProfiLED3</value>
+<value code="132">ProfiLEDClock</value>
 <value code="133">Winch Clutch</value>
+<value code="134">SERVOn_MIN</value>
+<value code="135">SERVOn_TRIM</value>
+<value code="136">SERVOn_MAX</value>
+<value code="137">SailMastRotation</value>
 </values>
 </param>
 </parameters>
@@ -13673,22 +13869,22 @@
 <value code="1">Reversed</value>
 </values>
 </param>
-<param humanName="Servo output function" name="SERVO5_FUNCTION" documentation="Function assigned to this servo. Seeing this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function" user="Standard">
+<param humanName="Servo output function" name="SERVO5_FUNCTION" documentation="Function assigned to this servo. Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function" user="Standard">
 <values>
 <value code="0">Disabled</value>
 <value code="1">RCPassThru</value>
 <value code="2">Flap</value>
-<value code="3">Flap_auto</value>
+<value code="3">FlapAuto</value>
 <value code="4">Aileron</value>
-<value code="6">mount_pan</value>
-<value code="7">mount_tilt</value>
-<value code="8">mount_roll</value>
-<value code="9">mount_open</value>
-<value code="10">camera_trigger</value>
-<value code="12">mount2_pan</value>
-<value code="13">mount2_tilt</value>
-<value code="14">mount2_roll</value>
-<value code="15">mount2_open</value>
+<value code="6">MountPan</value>
+<value code="7">MountTilt</value>
+<value code="8">MountRoll</value>
+<value code="9">MountOpen</value>
+<value code="10">CameraTrigger</value>
+<value code="12">Mount2Pan</value>
+<value code="13">Mount2Tilt</value>
+<value code="14">Mount2Roll</value>
+<value code="15">Mount2Open</value>
 <value code="16">DifferentialSpoilerLeft1</value>
 <value code="17">DifferentialSpoilerRight1</value>
 <value code="19">Elevator</value>
@@ -13712,7 +13908,10 @@
 <value code="38">Motor6</value>
 <value code="39">Motor7</value>
 <value code="40">Motor8</value>
-<value code="41">MotorTilt</value>
+<value code="41">TiltMotorsFront</value>
+<value code="45">TiltMotorsRear</value>
+<value code="46">TiltMotorRearLeft</value>
+<value code="47">TiltMotorRearRight</value>
 <value code="51">RCIN1</value>
 <value code="52">RCIN2</value>
 <value code="53">RCIN3</value>
@@ -13736,8 +13935,8 @@
 <value code="72">TrackerPitch</value>
 <value code="73">ThrottleLeft</value>
 <value code="74">ThrottleRight</value>
-<value code="75">tiltMotorLeft</value>
-<value code="76">tiltMotorRight</value>
+<value code="75">TiltMotorFrontLeft</value>
+<value code="76">TiltMotorFrontRight</value>
 <value code="77">ElevonLeft</value>
 <value code="78">ElevonRight</value>
 <value code="79">VTailLeft</value>
@@ -13755,22 +13954,22 @@
 <value code="91">CameraAperture</value>
 <value code="92">CameraFocus</value>
 <value code="93">CameraShutterSpeed</value>
-<value code="94">Script 1</value>
-<value code="95">Script 2</value>
-<value code="96">Script 3</value>
-<value code="97">Script 4</value>
-<value code="98">Script 5</value>
-<value code="99">Script 6</value>
-<value code="100">Script 7</value>
-<value code="101">Script 8</value>
-<value code="102">Script 9</value>
-<value code="103">Script 10</value>
-<value code="104">Script 11</value>
-<value code="105">Script 12</value>
-<value code="106">Script 13</value>
-<value code="107">Script 14</value>
-<value code="108">Script 15</value>
-<value code="109">Script 16</value>
+<value code="94">Script1</value>
+<value code="95">Script2</value>
+<value code="96">Script3</value>
+<value code="97">Script4</value>
+<value code="98">Script5</value>
+<value code="99">Script6</value>
+<value code="100">Script7</value>
+<value code="101">Script8</value>
+<value code="102">Script9</value>
+<value code="103">Script10</value>
+<value code="104">Script11</value>
+<value code="105">Script12</value>
+<value code="106">Script13</value>
+<value code="107">Script14</value>
+<value code="108">Script15</value>
+<value code="109">Script16</value>
 <value code="120">NeoPixel1</value>
 <value code="121">NeoPixel2</value>
 <value code="122">NeoPixel3</value>
@@ -13779,12 +13978,16 @@
 <value code="125">RatePitch</value>
 <value code="126">RateThrust</value>
 <value code="127">RateYaw</value>
-<value code="128">Wing Sail Elevator</value>
-<value code="129">ProfiLED 1</value>
-<value code="130">ProfiLED 2</value>
-<value code="131">ProfiLED 3</value>
-<value code="132">ProfiLED Clock</value>
+<value code="128">WingSailElevator</value>
+<value code="129">ProfiLED1</value>
+<value code="130">ProfiLED2</value>
+<value code="131">ProfiLED3</value>
+<value code="132">ProfiLEDClock</value>
 <value code="133">Winch Clutch</value>
+<value code="134">SERVOn_MIN</value>
+<value code="135">SERVOn_TRIM</value>
+<value code="136">SERVOn_MAX</value>
+<value code="137">SailMastRotation</value>
 </values>
 </param>
 </parameters>
@@ -13813,22 +14016,22 @@
 <value code="1">Reversed</value>
 </values>
 </param>
-<param humanName="Servo output function" name="SERVO6_FUNCTION" documentation="Function assigned to this servo. Seeing this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function" user="Standard">
+<param humanName="Servo output function" name="SERVO6_FUNCTION" documentation="Function assigned to this servo. Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function" user="Standard">
 <values>
 <value code="0">Disabled</value>
 <value code="1">RCPassThru</value>
 <value code="2">Flap</value>
-<value code="3">Flap_auto</value>
+<value code="3">FlapAuto</value>
 <value code="4">Aileron</value>
-<value code="6">mount_pan</value>
-<value code="7">mount_tilt</value>
-<value code="8">mount_roll</value>
-<value code="9">mount_open</value>
-<value code="10">camera_trigger</value>
-<value code="12">mount2_pan</value>
-<value code="13">mount2_tilt</value>
-<value code="14">mount2_roll</value>
-<value code="15">mount2_open</value>
+<value code="6">MountPan</value>
+<value code="7">MountTilt</value>
+<value code="8">MountRoll</value>
+<value code="9">MountOpen</value>
+<value code="10">CameraTrigger</value>
+<value code="12">Mount2Pan</value>
+<value code="13">Mount2Tilt</value>
+<value code="14">Mount2Roll</value>
+<value code="15">Mount2Open</value>
 <value code="16">DifferentialSpoilerLeft1</value>
 <value code="17">DifferentialSpoilerRight1</value>
 <value code="19">Elevator</value>
@@ -13852,7 +14055,10 @@
 <value code="38">Motor6</value>
 <value code="39">Motor7</value>
 <value code="40">Motor8</value>
-<value code="41">MotorTilt</value>
+<value code="41">TiltMotorsFront</value>
+<value code="45">TiltMotorsRear</value>
+<value code="46">TiltMotorRearLeft</value>
+<value code="47">TiltMotorRearRight</value>
 <value code="51">RCIN1</value>
 <value code="52">RCIN2</value>
 <value code="53">RCIN3</value>
@@ -13876,8 +14082,8 @@
 <value code="72">TrackerPitch</value>
 <value code="73">ThrottleLeft</value>
 <value code="74">ThrottleRight</value>
-<value code="75">tiltMotorLeft</value>
-<value code="76">tiltMotorRight</value>
+<value code="75">TiltMotorFrontLeft</value>
+<value code="76">TiltMotorFrontRight</value>
 <value code="77">ElevonLeft</value>
 <value code="78">ElevonRight</value>
 <value code="79">VTailLeft</value>
@@ -13895,22 +14101,22 @@
 <value code="91">CameraAperture</value>
 <value code="92">CameraFocus</value>
 <value code="93">CameraShutterSpeed</value>
-<value code="94">Script 1</value>
-<value code="95">Script 2</value>
-<value code="96">Script 3</value>
-<value code="97">Script 4</value>
-<value code="98">Script 5</value>
-<value code="99">Script 6</value>
-<value code="100">Script 7</value>
-<value code="101">Script 8</value>
-<value code="102">Script 9</value>
-<value code="103">Script 10</value>
-<value code="104">Script 11</value>
-<value code="105">Script 12</value>
-<value code="106">Script 13</value>
-<value code="107">Script 14</value>
-<value code="108">Script 15</value>
-<value code="109">Script 16</value>
+<value code="94">Script1</value>
+<value code="95">Script2</value>
+<value code="96">Script3</value>
+<value code="97">Script4</value>
+<value code="98">Script5</value>
+<value code="99">Script6</value>
+<value code="100">Script7</value>
+<value code="101">Script8</value>
+<value code="102">Script9</value>
+<value code="103">Script10</value>
+<value code="104">Script11</value>
+<value code="105">Script12</value>
+<value code="106">Script13</value>
+<value code="107">Script14</value>
+<value code="108">Script15</value>
+<value code="109">Script16</value>
 <value code="120">NeoPixel1</value>
 <value code="121">NeoPixel2</value>
 <value code="122">NeoPixel3</value>
@@ -13919,12 +14125,16 @@
 <value code="125">RatePitch</value>
 <value code="126">RateThrust</value>
 <value code="127">RateYaw</value>
-<value code="128">Wing Sail Elevator</value>
-<value code="129">ProfiLED 1</value>
-<value code="130">ProfiLED 2</value>
-<value code="131">ProfiLED 3</value>
-<value code="132">ProfiLED Clock</value>
+<value code="128">WingSailElevator</value>
+<value code="129">ProfiLED1</value>
+<value code="130">ProfiLED2</value>
+<value code="131">ProfiLED3</value>
+<value code="132">ProfiLEDClock</value>
 <value code="133">Winch Clutch</value>
+<value code="134">SERVOn_MIN</value>
+<value code="135">SERVOn_TRIM</value>
+<value code="136">SERVOn_MAX</value>
+<value code="137">SailMastRotation</value>
 </values>
 </param>
 </parameters>
@@ -13953,22 +14163,22 @@
 <value code="1">Reversed</value>
 </values>
 </param>
-<param humanName="Servo output function" name="SERVO7_FUNCTION" documentation="Function assigned to this servo. Seeing this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function" user="Standard">
+<param humanName="Servo output function" name="SERVO7_FUNCTION" documentation="Function assigned to this servo. Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function" user="Standard">
 <values>
 <value code="0">Disabled</value>
 <value code="1">RCPassThru</value>
 <value code="2">Flap</value>
-<value code="3">Flap_auto</value>
+<value code="3">FlapAuto</value>
 <value code="4">Aileron</value>
-<value code="6">mount_pan</value>
-<value code="7">mount_tilt</value>
-<value code="8">mount_roll</value>
-<value code="9">mount_open</value>
-<value code="10">camera_trigger</value>
-<value code="12">mount2_pan</value>
-<value code="13">mount2_tilt</value>
-<value code="14">mount2_roll</value>
-<value code="15">mount2_open</value>
+<value code="6">MountPan</value>
+<value code="7">MountTilt</value>
+<value code="8">MountRoll</value>
+<value code="9">MountOpen</value>
+<value code="10">CameraTrigger</value>
+<value code="12">Mount2Pan</value>
+<value code="13">Mount2Tilt</value>
+<value code="14">Mount2Roll</value>
+<value code="15">Mount2Open</value>
 <value code="16">DifferentialSpoilerLeft1</value>
 <value code="17">DifferentialSpoilerRight1</value>
 <value code="19">Elevator</value>
@@ -13992,7 +14202,10 @@
 <value code="38">Motor6</value>
 <value code="39">Motor7</value>
 <value code="40">Motor8</value>
-<value code="41">MotorTilt</value>
+<value code="41">TiltMotorsFront</value>
+<value code="45">TiltMotorsRear</value>
+<value code="46">TiltMotorRearLeft</value>
+<value code="47">TiltMotorRearRight</value>
 <value code="51">RCIN1</value>
 <value code="52">RCIN2</value>
 <value code="53">RCIN3</value>
@@ -14016,8 +14229,8 @@
 <value code="72">TrackerPitch</value>
 <value code="73">ThrottleLeft</value>
 <value code="74">ThrottleRight</value>
-<value code="75">tiltMotorLeft</value>
-<value code="76">tiltMotorRight</value>
+<value code="75">TiltMotorFrontLeft</value>
+<value code="76">TiltMotorFrontRight</value>
 <value code="77">ElevonLeft</value>
 <value code="78">ElevonRight</value>
 <value code="79">VTailLeft</value>
@@ -14035,22 +14248,22 @@
 <value code="91">CameraAperture</value>
 <value code="92">CameraFocus</value>
 <value code="93">CameraShutterSpeed</value>
-<value code="94">Script 1</value>
-<value code="95">Script 2</value>
-<value code="96">Script 3</value>
-<value code="97">Script 4</value>
-<value code="98">Script 5</value>
-<value code="99">Script 6</value>
-<value code="100">Script 7</value>
-<value code="101">Script 8</value>
-<value code="102">Script 9</value>
-<value code="103">Script 10</value>
-<value code="104">Script 11</value>
-<value code="105">Script 12</value>
-<value code="106">Script 13</value>
-<value code="107">Script 14</value>
-<value code="108">Script 15</value>
-<value code="109">Script 16</value>
+<value code="94">Script1</value>
+<value code="95">Script2</value>
+<value code="96">Script3</value>
+<value code="97">Script4</value>
+<value code="98">Script5</value>
+<value code="99">Script6</value>
+<value code="100">Script7</value>
+<value code="101">Script8</value>
+<value code="102">Script9</value>
+<value code="103">Script10</value>
+<value code="104">Script11</value>
+<value code="105">Script12</value>
+<value code="106">Script13</value>
+<value code="107">Script14</value>
+<value code="108">Script15</value>
+<value code="109">Script16</value>
 <value code="120">NeoPixel1</value>
 <value code="121">NeoPixel2</value>
 <value code="122">NeoPixel3</value>
@@ -14059,12 +14272,16 @@
 <value code="125">RatePitch</value>
 <value code="126">RateThrust</value>
 <value code="127">RateYaw</value>
-<value code="128">Wing Sail Elevator</value>
-<value code="129">ProfiLED 1</value>
-<value code="130">ProfiLED 2</value>
-<value code="131">ProfiLED 3</value>
-<value code="132">ProfiLED Clock</value>
+<value code="128">WingSailElevator</value>
+<value code="129">ProfiLED1</value>
+<value code="130">ProfiLED2</value>
+<value code="131">ProfiLED3</value>
+<value code="132">ProfiLEDClock</value>
 <value code="133">Winch Clutch</value>
+<value code="134">SERVOn_MIN</value>
+<value code="135">SERVOn_TRIM</value>
+<value code="136">SERVOn_MAX</value>
+<value code="137">SailMastRotation</value>
 </values>
 </param>
 </parameters>
@@ -14093,22 +14310,22 @@
 <value code="1">Reversed</value>
 </values>
 </param>
-<param humanName="Servo output function" name="SERVO8_FUNCTION" documentation="Function assigned to this servo. Seeing this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function" user="Standard">
+<param humanName="Servo output function" name="SERVO8_FUNCTION" documentation="Function assigned to this servo. Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function" user="Standard">
 <values>
 <value code="0">Disabled</value>
 <value code="1">RCPassThru</value>
 <value code="2">Flap</value>
-<value code="3">Flap_auto</value>
+<value code="3">FlapAuto</value>
 <value code="4">Aileron</value>
-<value code="6">mount_pan</value>
-<value code="7">mount_tilt</value>
-<value code="8">mount_roll</value>
-<value code="9">mount_open</value>
-<value code="10">camera_trigger</value>
-<value code="12">mount2_pan</value>
-<value code="13">mount2_tilt</value>
-<value code="14">mount2_roll</value>
-<value code="15">mount2_open</value>
+<value code="6">MountPan</value>
+<value code="7">MountTilt</value>
+<value code="8">MountRoll</value>
+<value code="9">MountOpen</value>
+<value code="10">CameraTrigger</value>
+<value code="12">Mount2Pan</value>
+<value code="13">Mount2Tilt</value>
+<value code="14">Mount2Roll</value>
+<value code="15">Mount2Open</value>
 <value code="16">DifferentialSpoilerLeft1</value>
 <value code="17">DifferentialSpoilerRight1</value>
 <value code="19">Elevator</value>
@@ -14132,7 +14349,10 @@
 <value code="38">Motor6</value>
 <value code="39">Motor7</value>
 <value code="40">Motor8</value>
-<value code="41">MotorTilt</value>
+<value code="41">TiltMotorsFront</value>
+<value code="45">TiltMotorsRear</value>
+<value code="46">TiltMotorRearLeft</value>
+<value code="47">TiltMotorRearRight</value>
 <value code="51">RCIN1</value>
 <value code="52">RCIN2</value>
 <value code="53">RCIN3</value>
@@ -14156,8 +14376,8 @@
 <value code="72">TrackerPitch</value>
 <value code="73">ThrottleLeft</value>
 <value code="74">ThrottleRight</value>
-<value code="75">tiltMotorLeft</value>
-<value code="76">tiltMotorRight</value>
+<value code="75">TiltMotorFrontLeft</value>
+<value code="76">TiltMotorFrontRight</value>
 <value code="77">ElevonLeft</value>
 <value code="78">ElevonRight</value>
 <value code="79">VTailLeft</value>
@@ -14175,22 +14395,22 @@
 <value code="91">CameraAperture</value>
 <value code="92">CameraFocus</value>
 <value code="93">CameraShutterSpeed</value>
-<value code="94">Script 1</value>
-<value code="95">Script 2</value>
-<value code="96">Script 3</value>
-<value code="97">Script 4</value>
-<value code="98">Script 5</value>
-<value code="99">Script 6</value>
-<value code="100">Script 7</value>
-<value code="101">Script 8</value>
-<value code="102">Script 9</value>
-<value code="103">Script 10</value>
-<value code="104">Script 11</value>
-<value code="105">Script 12</value>
-<value code="106">Script 13</value>
-<value code="107">Script 14</value>
-<value code="108">Script 15</value>
-<value code="109">Script 16</value>
+<value code="94">Script1</value>
+<value code="95">Script2</value>
+<value code="96">Script3</value>
+<value code="97">Script4</value>
+<value code="98">Script5</value>
+<value code="99">Script6</value>
+<value code="100">Script7</value>
+<value code="101">Script8</value>
+<value code="102">Script9</value>
+<value code="103">Script10</value>
+<value code="104">Script11</value>
+<value code="105">Script12</value>
+<value code="106">Script13</value>
+<value code="107">Script14</value>
+<value code="108">Script15</value>
+<value code="109">Script16</value>
 <value code="120">NeoPixel1</value>
 <value code="121">NeoPixel2</value>
 <value code="122">NeoPixel3</value>
@@ -14199,12 +14419,16 @@
 <value code="125">RatePitch</value>
 <value code="126">RateThrust</value>
 <value code="127">RateYaw</value>
-<value code="128">Wing Sail Elevator</value>
-<value code="129">ProfiLED 1</value>
-<value code="130">ProfiLED 2</value>
-<value code="131">ProfiLED 3</value>
-<value code="132">ProfiLED Clock</value>
+<value code="128">WingSailElevator</value>
+<value code="129">ProfiLED1</value>
+<value code="130">ProfiLED2</value>
+<value code="131">ProfiLED3</value>
+<value code="132">ProfiLEDClock</value>
 <value code="133">Winch Clutch</value>
+<value code="134">SERVOn_MIN</value>
+<value code="135">SERVOn_TRIM</value>
+<value code="136">SERVOn_MAX</value>
+<value code="137">SailMastRotation</value>
 </values>
 </param>
 </parameters>
@@ -14233,22 +14457,22 @@
 <value code="1">Reversed</value>
 </values>
 </param>
-<param humanName="Servo output function" name="SERVO9_FUNCTION" documentation="Function assigned to this servo. Seeing this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function" user="Standard">
+<param humanName="Servo output function" name="SERVO9_FUNCTION" documentation="Function assigned to this servo. Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function" user="Standard">
 <values>
 <value code="0">Disabled</value>
 <value code="1">RCPassThru</value>
 <value code="2">Flap</value>
-<value code="3">Flap_auto</value>
+<value code="3">FlapAuto</value>
 <value code="4">Aileron</value>
-<value code="6">mount_pan</value>
-<value code="7">mount_tilt</value>
-<value code="8">mount_roll</value>
-<value code="9">mount_open</value>
-<value code="10">camera_trigger</value>
-<value code="12">mount2_pan</value>
-<value code="13">mount2_tilt</value>
-<value code="14">mount2_roll</value>
-<value code="15">mount2_open</value>
+<value code="6">MountPan</value>
+<value code="7">MountTilt</value>
+<value code="8">MountRoll</value>
+<value code="9">MountOpen</value>
+<value code="10">CameraTrigger</value>
+<value code="12">Mount2Pan</value>
+<value code="13">Mount2Tilt</value>
+<value code="14">Mount2Roll</value>
+<value code="15">Mount2Open</value>
 <value code="16">DifferentialSpoilerLeft1</value>
 <value code="17">DifferentialSpoilerRight1</value>
 <value code="19">Elevator</value>
@@ -14272,7 +14496,10 @@
 <value code="38">Motor6</value>
 <value code="39">Motor7</value>
 <value code="40">Motor8</value>
-<value code="41">MotorTilt</value>
+<value code="41">TiltMotorsFront</value>
+<value code="45">TiltMotorsRear</value>
+<value code="46">TiltMotorRearLeft</value>
+<value code="47">TiltMotorRearRight</value>
 <value code="51">RCIN1</value>
 <value code="52">RCIN2</value>
 <value code="53">RCIN3</value>
@@ -14296,8 +14523,8 @@
 <value code="72">TrackerPitch</value>
 <value code="73">ThrottleLeft</value>
 <value code="74">ThrottleRight</value>
-<value code="75">tiltMotorLeft</value>
-<value code="76">tiltMotorRight</value>
+<value code="75">TiltMotorFrontLeft</value>
+<value code="76">TiltMotorFrontRight</value>
 <value code="77">ElevonLeft</value>
 <value code="78">ElevonRight</value>
 <value code="79">VTailLeft</value>
@@ -14315,22 +14542,22 @@
 <value code="91">CameraAperture</value>
 <value code="92">CameraFocus</value>
 <value code="93">CameraShutterSpeed</value>
-<value code="94">Script 1</value>
-<value code="95">Script 2</value>
-<value code="96">Script 3</value>
-<value code="97">Script 4</value>
-<value code="98">Script 5</value>
-<value code="99">Script 6</value>
-<value code="100">Script 7</value>
-<value code="101">Script 8</value>
-<value code="102">Script 9</value>
-<value code="103">Script 10</value>
-<value code="104">Script 11</value>
-<value code="105">Script 12</value>
-<value code="106">Script 13</value>
-<value code="107">Script 14</value>
-<value code="108">Script 15</value>
-<value code="109">Script 16</value>
+<value code="94">Script1</value>
+<value code="95">Script2</value>
+<value code="96">Script3</value>
+<value code="97">Script4</value>
+<value code="98">Script5</value>
+<value code="99">Script6</value>
+<value code="100">Script7</value>
+<value code="101">Script8</value>
+<value code="102">Script9</value>
+<value code="103">Script10</value>
+<value code="104">Script11</value>
+<value code="105">Script12</value>
+<value code="106">Script13</value>
+<value code="107">Script14</value>
+<value code="108">Script15</value>
+<value code="109">Script16</value>
 <value code="120">NeoPixel1</value>
 <value code="121">NeoPixel2</value>
 <value code="122">NeoPixel3</value>
@@ -14339,12 +14566,16 @@
 <value code="125">RatePitch</value>
 <value code="126">RateThrust</value>
 <value code="127">RateYaw</value>
-<value code="128">Wing Sail Elevator</value>
-<value code="129">ProfiLED 1</value>
-<value code="130">ProfiLED 2</value>
-<value code="131">ProfiLED 3</value>
-<value code="132">ProfiLED Clock</value>
+<value code="128">WingSailElevator</value>
+<value code="129">ProfiLED1</value>
+<value code="130">ProfiLED2</value>
+<value code="131">ProfiLED3</value>
+<value code="132">ProfiLEDClock</value>
 <value code="133">Winch Clutch</value>
+<value code="134">SERVOn_MIN</value>
+<value code="135">SERVOn_TRIM</value>
+<value code="136">SERVOn_MAX</value>
+<value code="137">SailMastRotation</value>
 </values>
 </param>
 </parameters>
@@ -14352,7 +14583,7 @@
 <param humanName="BLHeli Channel Bitmask" name="SERVO_BLH_MASK" documentation="Enable of BLHeli pass-thru servo protocol support to specific channels. This mask is in addition to motors enabled using SERVO_BLH_AUTO (if any)" user="Advanced">
 <field name="Bitmask">0:Channel1,1:Channel2,2:Channel3,3:Channel4,4:Channel5,5:Channel6,6:Channel7,7:Channel8,8:Channel9,9:Channel10,10:Channel11,11:Channel12,12:Channel13,13:Channel14,14:Channel15,15:Channel16</field>
 </param>
-<param humanName="BLHeli auto-enable for multicopter motors" name="SERVO_BLH_AUTO" documentation="If set to 1 this auto-enables BLHeli pass-thru support for all multicopter motors" user="Standard">
+<param humanName="BLHeli pass-thru auto-enable for multicopter motors" name="SERVO_BLH_AUTO" documentation="If set to 1 this auto-enables BLHeli pass-thru support for all multicopter motors" user="Standard">
 <values>
 <value code="0">Disabled</value>
 <value code="1">Enabled</value>
@@ -14412,10 +14643,28 @@
 <param humanName="BLHeli Motor Poles" name="SERVO_BLH_POLES" documentation="This allows calculation of true RPM from ESC's eRPM. The default is 14." user="Advanced">
 <field name="Range">1 127</field>
 </param>
-<param humanName="BLHeli bitmask of reversible channels" name="SERVO_BLH_REMASK" documentation="Mask of channels which are reversible. This is used for ESCs which have been configured in '3D' mode, allowing for the motor to spin in either direction" user="Advanced">
+<param humanName="BLHeli bitmask of 3D channels" name="SERVO_BLH_3DMASK" documentation="Mask of channels which are dynamically reversible. This is used to configure ESCs in '3D' mode, allowing for the motor to spin in either direction" user="Advanced">
+<field name="Bitmask">0:Channel1,1:Channel2,2:Channel3,3:Channel4,4:Channel5,5:Channel6,6:Channel7,7:Channel8,8:Channel9,9:Channel10,10:Channel11,11:Channel12,12:Channel13,13:Channel14,14:Channel15,15:Channel16</field>
+</param>
+<param humanName="BLHeli bitmask of bi-directional dshot channels" name="SERVO_BLH_BDMASK" documentation="Mask of channels which support bi-directional dshot. This is used for ESCs which have firmware that supports bi-directional dshot allowing fast rpm telemetry values to be returned for the harmonic notch." user="Advanced">
+<field name="Bitmask">0:Channel1,1:Channel2,2:Channel3,3:Channel4,4:Channel5,5:Channel6,6:Channel7,7:Channel8,8:Channel9,9:Channel10,10:Channel11,11:Channel12,12:Channel13,13:Channel14,14:Channel15,15:Channel16</field>
+</param>
+<param humanName="BLHeli bitmask of reversed channels" name="SERVO_BLH_RVMASK" documentation="Mask of channels which are reversed. This is used to configure ESCs in reversed mode" user="Advanced">
 <field name="Bitmask">0:Channel1,1:Channel2,2:Channel3,3:Channel4,4:Channel5,5:Channel6,6:Channel7,7:Channel8,8:Channel9,9:Channel10,10:Channel11,11:Channel12,12:Channel13,13:Channel14,14:Channel15,15:Channel16</field>
 </param>
 </parameters>
+<parameters name="SERVO_FTW_">
+<param humanName="Servo channel output bitmask" name="SERVO_FTW_MASK" documentation="Servo channel mask specifying FETtec ESC output." user="Standard">
+<field name="Bitmask">0:SERVO1,1:SERVO2,2:SERVO3,3:SERVO4,4:SERVO5,5:SERVO6,6:SERVO7,7:SERVO8,8:SERVO9,9:SERVO10,10:SERVO11,11:SERVO12</field>
+<field name="RebootRequired">True</field>
+</param>
+<param humanName="Servo channel reverse rotation bitmask" name="SERVO_FTW_RVMASK" documentation="Servo channel mask to reverse rotation of FETtec ESC outputs." user="Standard">
+<field name="Bitmask">0:SERVO1,1:SERVO2,2:SERVO3,3:SERVO4,4:SERVO5,5:SERVO6,6:SERVO7,7:SERVO8,8:SERVO9,9:SERVO10,10:SERVO11,11:SERVO12</field>
+</param>
+<param humanName="Nr. electrical poles" name="SERVO_FTW_POLES" documentation="Number of motor electrical poles" user="Standard">
+<field name="Range">2 50</field>
+</param>
+</parameters>
 <parameters name="SERVO_ROB_">
 <param humanName="Robotis servo position min" name="SERVO_ROB_POSMIN" documentation="Position minimum at servo min value. This should be within the position control range of the servos, normally 0 to 4095" user="Standard">
 <field name="Range">0 4095</field>
@@ -14440,49 +14689,49 @@
 <param humanName="Raw sensor stream rate" name="SR0_RAW_SENS" documentation="Stream rate of RAW_IMU, SCALED_IMU2, SCALED_PRESSURE, and SENSOR_OFFSETS to ground station" user="Advanced">
 <field name="Units">Hz</field>
 <field name="UnitText">hertz</field>
-<field name="Range">0 10</field>
+<field name="Range">0 50</field>
 <field name="Increment">1</field>
 </param>
 <param humanName="Extended status stream rate to ground station" name="SR0_EXT_STAT" documentation="Stream rate of SYS_STATUS, MEMINFO, MISSION_CURRENT, GPS_RAW_INT, NAV_CONTROLLER_OUTPUT, and LIMITS_STATUS to ground station" user="Advanced">
 <field name="Units">Hz</field>
 <field name="UnitText">hertz</field>
-<field name="Range">0 10</field>
+<field name="Range">0 50</field>
 <field name="Increment">1</field>
 </param>
 <param humanName="RC Channel stream rate to ground station" name="SR0_RC_CHAN" documentation="Stream rate of SERVO_OUTPUT_RAW and RC_CHANNELS_RAW to ground station" user="Advanced">
 <field name="Units">Hz</field>
 <field name="UnitText">hertz</field>
-<field name="Range">0 10</field>
+<field name="Range">0 50</field>
 <field name="Increment">1</field>
 </param>
 <param humanName="Position stream rate to ground station" name="SR0_POSITION" documentation="Stream rate of GLOBAL_POSITION_INT to ground station" user="Advanced">
 <field name="Units">Hz</field>
 <field name="UnitText">hertz</field>
-<field name="Range">0 10</field>
+<field name="Range">0 50</field>
 <field name="Increment">1</field>
 </param>
 <param humanName="Extra data type 1 stream rate to ground station" name="SR0_EXTRA1" documentation="Stream rate of ATTITUDE and SIMSTATE (SITL only) to ground station" user="Advanced">
 <field name="Units">Hz</field>
 <field name="UnitText">hertz</field>
-<field name="Range">0 10</field>
+<field name="Range">0 50</field>
 <field name="Increment">1</field>
 </param>
 <param humanName="Extra data type 2 stream rate to ground station" name="SR0_EXTRA2" documentation="Stream rate of VFR_HUD to ground station" user="Advanced">
 <field name="Units">Hz</field>
 <field name="UnitText">hertz</field>
-<field name="Range">0 10</field>
+<field name="Range">0 50</field>
 <field name="Increment">1</field>
 </param>
 <param humanName="Extra data type 3 stream rate to ground station" name="SR0_EXTRA3" documentation="Stream rate of AHRS, HWSTATUS, and SYSTEM_TIME to ground station" user="Advanced">
 <field name="Units">Hz</field>
 <field name="UnitText">hertz</field>
-<field name="Range">0 10</field>
+<field name="Range">0 50</field>
 <field name="Increment">1</field>
 </param>
 <param humanName="Parameter stream rate to ground station" name="SR0_PARAMS" documentation="Stream rate of PARAM_VALUE to ground station" user="Advanced">
 <field name="Units">Hz</field>
 <field name="UnitText">hertz</field>
-<field name="Range">0 10</field>
+<field name="Range">0 50</field>
 <field name="Increment">1</field>
 </param>
 </parameters>
@@ -14490,49 +14739,49 @@
 <param humanName="Raw sensor stream rate" name="SR1_RAW_SENS" documentation="Stream rate of RAW_IMU, SCALED_IMU2, SCALED_PRESSURE, and SENSOR_OFFSETS to ground station" user="Advanced">
 <field name="Units">Hz</field>
 <field name="UnitText">hertz</field>
-<field name="Range">0 10</field>
+<field name="Range">0 50</field>
 <field name="Increment">1</field>
 </param>
 <param humanName="Extended status stream rate to ground station" name="SR1_EXT_STAT" documentation="Stream rate of SYS_STATUS, MEMINFO, MISSION_CURRENT, GPS_RAW_INT, NAV_CONTROLLER_OUTPUT, and LIMITS_STATUS to ground station" user="Advanced">
 <field name="Units">Hz</field>
 <field name="UnitText">hertz</field>
-<field name="Range">0 10</field>
+<field name="Range">0 50</field>
 <field name="Increment">1</field>
 </param>
 <param humanName="RC Channel stream rate to ground station" name="SR1_RC_CHAN" documentation="Stream rate of SERVO_OUTPUT_RAW and RC_CHANNELS_RAW to ground station" user="Advanced">
 <field name="Units">Hz</field>
 <field name="UnitText">hertz</field>
-<field name="Range">0 10</field>
+<field name="Range">0 50</field>
 <field name="Increment">1</field>
 </param>
 <param humanName="Position stream rate to ground station" name="SR1_POSITION" documentation="Stream rate of GLOBAL_POSITION_INT to ground station" user="Advanced">
 <field name="Units">Hz</field>
 <field name="UnitText">hertz</field>
-<field name="Range">0 10</field>
+<field name="Range">0 50</field>
 <field name="Increment">1</field>
 </param>
 <param humanName="Extra data type 1 stream rate to ground station" name="SR1_EXTRA1" documentation="Stream rate of ATTITUDE and SIMSTATE (SITL only) to ground station" user="Advanced">
 <field name="Units">Hz</field>
 <field name="UnitText">hertz</field>
-<field name="Range">0 10</field>
+<field name="Range">0 50</field>
 <field name="Increment">1</field>
 </param>
 <param humanName="Extra data type 2 stream rate to ground station" name="SR1_EXTRA2" documentation="Stream rate of VFR_HUD to ground station" user="Advanced">
 <field name="Units">Hz</field>
 <field name="UnitText">hertz</field>
-<field name="Range">0 10</field>
+<field name="Range">0 50</field>
 <field name="Increment">1</field>
 </param>
 <param humanName="Extra data type 3 stream rate to ground station" name="SR1_EXTRA3" documentation="Stream rate of AHRS, HWSTATUS, and SYSTEM_TIME to ground station" user="Advanced">
 <field name="Units">Hz</field>
 <field name="UnitText">hertz</field>
-<field name="Range">0 10</field>
+<field name="Range">0 50</field>
 <field name="Increment">1</field>
 </param>
 <param humanName="Parameter stream rate to ground station" name="SR1_PARAMS" documentation="Stream rate of PARAM_VALUE to ground station" user="Advanced">
 <field name="Units">Hz</field>
 <field name="UnitText">hertz</field>
-<field name="Range">0 10</field>
+<field name="Range">0 50</field>
 <field name="Increment">1</field>
 </param>
 </parameters>
@@ -14540,49 +14789,49 @@
 <param humanName="Raw sensor stream rate" name="SR2_RAW_SENS" documentation="Stream rate of RAW_IMU, SCALED_IMU2, SCALED_PRESSURE, and SENSOR_OFFSETS to ground station" user="Advanced">
 <field name="Units">Hz</field>
 <field name="UnitText">hertz</field>
-<field name="Range">0 10</field>
+<field name="Range">0 50</field>
 <field name="Increment">1</field>
 </param>
 <param humanName="Extended status stream rate to ground station" name="SR2_EXT_STAT" documentation="Stream rate of SYS_STATUS, MEMINFO, MISSION_CURRENT, GPS_RAW_INT, NAV_CONTROLLER_OUTPUT, and LIMITS_STATUS to ground station" user="Advanced">
 <field name="Units">Hz</field>
 <field name="UnitText">hertz</field>
-<field name="Range">0 10</field>
+<field name="Range">0 50</field>
 <field name="Increment">1</field>
 </param>
 <param humanName="RC Channel stream rate to ground station" name="SR2_RC_CHAN" documentation="Stream rate of SERVO_OUTPUT_RAW and RC_CHANNELS_RAW to ground station" user="Advanced">
 <field name="Units">Hz</field>
 <field name="UnitText">hertz</field>
-<field name="Range">0 10</field>
+<field name="Range">0 50</field>
 <field name="Increment">1</field>
 </param>
 <param humanName="Position stream rate to ground station" name="SR2_POSITION" documentation="Stream rate of GLOBAL_POSITION_INT to ground station" user="Advanced">
 <field name="Units">Hz</field>
 <field name="UnitText">hertz</field>
-<field name="Range">0 10</field>
+<field name="Range">0 50</field>
 <field name="Increment">1</field>
 </param>
 <param humanName="Extra data type 1 stream rate to ground station" name="SR2_EXTRA1" documentation="Stream rate of ATTITUDE and SIMSTATE (SITL only) to ground station" user="Advanced">
 <field name="Units">Hz</field>
 <field name="UnitText">hertz</field>
-<field name="Range">0 10</field>
+<field name="Range">0 50</field>
 <field name="Increment">1</field>
 </param>
 <param humanName="Extra data type 2 stream rate to ground station" name="SR2_EXTRA2" documentation="Stream rate of VFR_HUD to ground station" user="Advanced">
 <field name="Units">Hz</field>
 <field name="UnitText">hertz</field>
-<field name="Range">0 10</field>
+<field name="Range">0 50</field>
 <field name="Increment">1</field>
 </param>
 <param humanName="Extra data type 3 stream rate to ground station" name="SR2_EXTRA3" documentation="Stream rate of AHRS, HWSTATUS, and SYSTEM_TIME to ground station" user="Advanced">
 <field name="Units">Hz</field>
 <field name="UnitText">hertz</field>
-<field name="Range">0 10</field>
+<field name="Range">0 50</field>
 <field name="Increment">1</field>
 </param>
 <param humanName="Parameter stream rate to ground station" name="SR2_PARAMS" documentation="Stream rate of PARAM_VALUE to ground station" user="Advanced">
 <field name="Units">Hz</field>
 <field name="UnitText">hertz</field>
-<field name="Range">0 10</field>
+<field name="Range">0 50</field>
 <field name="Increment">1</field>
 </param>
 </parameters>
@@ -14590,49 +14839,199 @@
 <param humanName="Raw sensor stream rate" name="SR3_RAW_SENS" documentation="Stream rate of RAW_IMU, SCALED_IMU2, SCALED_PRESSURE, and SENSOR_OFFSETS to ground station" user="Advanced">
 <field name="Units">Hz</field>
 <field name="UnitText">hertz</field>
-<field name="Range">0 10</field>
+<field name="Range">0 50</field>
 <field name="Increment">1</field>
 </param>
 <param humanName="Extended status stream rate to ground station" name="SR3_EXT_STAT" documentation="Stream rate of SYS_STATUS, MEMINFO, MISSION_CURRENT, GPS_RAW_INT, NAV_CONTROLLER_OUTPUT, and LIMITS_STATUS to ground station" user="Advanced">
 <field name="Units">Hz</field>
 <field name="UnitText">hertz</field>
-<field name="Range">0 10</field>
+<field name="Range">0 50</field>
 <field name="Increment">1</field>
 </param>
 <param humanName="RC Channel stream rate to ground station" name="SR3_RC_CHAN" documentation="Stream rate of SERVO_OUTPUT_RAW and RC_CHANNELS_RAW to ground station" user="Advanced">
 <field name="Units">Hz</field>
 <field name="UnitText">hertz</field>
-<field name="Range">0 10</field>
+<field name="Range">0 50</field>
 <field name="Increment">1</field>
 </param>
 <param humanName="Position stream rate to ground station" name="SR3_POSITION" documentation="Stream rate of GLOBAL_POSITION_INT to ground station" user="Advanced">
 <field name="Units">Hz</field>
 <field name="UnitText">hertz</field>
-<field name="Range">0 10</field>
+<field name="Range">0 50</field>
 <field name="Increment">1</field>
 </param>
 <param humanName="Extra data type 1 stream rate to ground station" name="SR3_EXTRA1" documentation="Stream rate of ATTITUDE and SIMSTATE (SITL only) to ground station" user="Advanced">
 <field name="Units">Hz</field>
 <field name="UnitText">hertz</field>
-<field name="Range">0 10</field>
+<field name="Range">0 50</field>
 <field name="Increment">1</field>
 </param>
 <param humanName="Extra data type 2 stream rate to ground station" name="SR3_EXTRA2" documentation="Stream rate of VFR_HUD to ground station" user="Advanced">
 <field name="Units">Hz</field>
 <field name="UnitText">hertz</field>
-<field name="Range">0 10</field>
+<field name="Range">0 50</field>
 <field name="Increment">1</field>
 </param>
 <param humanName="Extra data type 3 stream rate to ground station" name="SR3_EXTRA3" documentation="Stream rate of AHRS, HWSTATUS, and SYSTEM_TIME to ground station" user="Advanced">
 <field name="Units">Hz</field>
 <field name="UnitText">hertz</field>
-<field name="Range">0 10</field>
+<field name="Range">0 50</field>
 <field name="Increment">1</field>
 </param>
 <param humanName="Parameter stream rate to ground station" name="SR3_PARAMS" documentation="Stream rate of PARAM_VALUE to ground station" user="Advanced">
 <field name="Units">Hz</field>
 <field name="UnitText">hertz</field>
-<field name="Range">0 10</field>
+<field name="Range">0 50</field>
+<field name="Increment">1</field>
+</param>
+</parameters>
+<parameters name="SR4_">
+<param humanName="Raw sensor stream rate" name="SR4_RAW_SENS" documentation="Stream rate of RAW_IMU, SCALED_IMU2, SCALED_PRESSURE, and SENSOR_OFFSETS to ground station" user="Advanced">
+<field name="Units">Hz</field>
+<field name="UnitText">hertz</field>
+<field name="Range">0 50</field>
+<field name="Increment">1</field>
+</param>
+<param humanName="Extended status stream rate to ground station" name="SR4_EXT_STAT" documentation="Stream rate of SYS_STATUS, MEMINFO, MISSION_CURRENT, GPS_RAW_INT, NAV_CONTROLLER_OUTPUT, and LIMITS_STATUS to ground station" user="Advanced">
+<field name="Units">Hz</field>
+<field name="UnitText">hertz</field>
+<field name="Range">0 50</field>
+<field name="Increment">1</field>
+</param>
+<param humanName="RC Channel stream rate to ground station" name="SR4_RC_CHAN" documentation="Stream rate of SERVO_OUTPUT_RAW and RC_CHANNELS_RAW to ground station" user="Advanced">
+<field name="Units">Hz</field>
+<field name="UnitText">hertz</field>
+<field name="Range">0 50</field>
+<field name="Increment">1</field>
+</param>
+<param humanName="Position stream rate to ground station" name="SR4_POSITION" documentation="Stream rate of GLOBAL_POSITION_INT to ground station" user="Advanced">
+<field name="Units">Hz</field>
+<field name="UnitText">hertz</field>
+<field name="Range">0 50</field>
+<field name="Increment">1</field>
+</param>
+<param humanName="Extra data type 1 stream rate to ground station" name="SR4_EXTRA1" documentation="Stream rate of ATTITUDE and SIMSTATE (SITL only) to ground station" user="Advanced">
+<field name="Units">Hz</field>
+<field name="UnitText">hertz</field>
+<field name="Range">0 50</field>
+<field name="Increment">1</field>
+</param>
+<param humanName="Extra data type 2 stream rate to ground station" name="SR4_EXTRA2" documentation="Stream rate of VFR_HUD to ground station" user="Advanced">
+<field name="Units">Hz</field>
+<field name="UnitText">hertz</field>
+<field name="Range">0 50</field>
+<field name="Increment">1</field>
+</param>
+<param humanName="Extra data type 3 stream rate to ground station" name="SR4_EXTRA3" documentation="Stream rate of AHRS, HWSTATUS, and SYSTEM_TIME to ground station" user="Advanced">
+<field name="Units">Hz</field>
+<field name="UnitText">hertz</field>
+<field name="Range">0 50</field>
+<field name="Increment">1</field>
+</param>
+<param humanName="Parameter stream rate to ground station" name="SR4_PARAMS" documentation="Stream rate of PARAM_VALUE to ground station" user="Advanced">
+<field name="Units">Hz</field>
+<field name="UnitText">hertz</field>
+<field name="Range">0 50</field>
+<field name="Increment">1</field>
+</param>
+</parameters>
+<parameters name="SR5_">
+<param humanName="Raw sensor stream rate" name="SR5_RAW_SENS" documentation="Stream rate of RAW_IMU, SCALED_IMU2, SCALED_PRESSURE, and SENSOR_OFFSETS to ground station" user="Advanced">
+<field name="Units">Hz</field>
+<field name="UnitText">hertz</field>
+<field name="Range">0 50</field>
+<field name="Increment">1</field>
+</param>
+<param humanName="Extended status stream rate to ground station" name="SR5_EXT_STAT" documentation="Stream rate of SYS_STATUS, MEMINFO, MISSION_CURRENT, GPS_RAW_INT, NAV_CONTROLLER_OUTPUT, and LIMITS_STATUS to ground station" user="Advanced">
+<field name="Units">Hz</field>
+<field name="UnitText">hertz</field>
+<field name="Range">0 50</field>
+<field name="Increment">1</field>
+</param>
+<param humanName="RC Channel stream rate to ground station" name="SR5_RC_CHAN" documentation="Stream rate of SERVO_OUTPUT_RAW and RC_CHANNELS_RAW to ground station" user="Advanced">
+<field name="Units">Hz</field>
+<field name="UnitText">hertz</field>
+<field name="Range">0 50</field>
+<field name="Increment">1</field>
+</param>
+<param humanName="Position stream rate to ground station" name="SR5_POSITION" documentation="Stream rate of GLOBAL_POSITION_INT to ground station" user="Advanced">
+<field name="Units">Hz</field>
+<field name="UnitText">hertz</field>
+<field name="Range">0 50</field>
+<field name="Increment">1</field>
+</param>
+<param humanName="Extra data type 1 stream rate to ground station" name="SR5_EXTRA1" documentation="Stream rate of ATTITUDE and SIMSTATE (SITL only) to ground station" user="Advanced">
+<field name="Units">Hz</field>
+<field name="UnitText">hertz</field>
+<field name="Range">0 50</field>
+<field name="Increment">1</field>
+</param>
+<param humanName="Extra data type 2 stream rate to ground station" name="SR5_EXTRA2" documentation="Stream rate of VFR_HUD to ground station" user="Advanced">
+<field name="Units">Hz</field>
+<field name="UnitText">hertz</field>
+<field name="Range">0 50</field>
+<field name="Increment">1</field>
+</param>
+<param humanName="Extra data type 3 stream rate to ground station" name="SR5_EXTRA3" documentation="Stream rate of AHRS, HWSTATUS, and SYSTEM_TIME to ground station" user="Advanced">
+<field name="Units">Hz</field>
+<field name="UnitText">hertz</field>
+<field name="Range">0 50</field>
+<field name="Increment">1</field>
+</param>
+<param humanName="Parameter stream rate to ground station" name="SR5_PARAMS" documentation="Stream rate of PARAM_VALUE to ground station" user="Advanced">
+<field name="Units">Hz</field>
+<field name="UnitText">hertz</field>
+<field name="Range">0 50</field>
+<field name="Increment">1</field>
+</param>
+</parameters>
+<parameters name="SR6_">
+<param humanName="Raw sensor stream rate" name="SR6_RAW_SENS" documentation="Stream rate of RAW_IMU, SCALED_IMU2, SCALED_PRESSURE, and SENSOR_OFFSETS to ground station" user="Advanced">
+<field name="Units">Hz</field>
+<field name="UnitText">hertz</field>
+<field name="Range">0 50</field>
+<field name="Increment">1</field>
+</param>
+<param humanName="Extended status stream rate to ground station" name="SR6_EXT_STAT" documentation="Stream rate of SYS_STATUS, MEMINFO, MISSION_CURRENT, GPS_RAW_INT, NAV_CONTROLLER_OUTPUT, and LIMITS_STATUS to ground station" user="Advanced">
+<field name="Units">Hz</field>
+<field name="UnitText">hertz</field>
+<field name="Range">0 50</field>
+<field name="Increment">1</field>
+</param>
+<param humanName="RC Channel stream rate to ground station" name="SR6_RC_CHAN" documentation="Stream rate of SERVO_OUTPUT_RAW and RC_CHANNELS_RAW to ground station" user="Advanced">
+<field name="Units">Hz</field>
+<field name="UnitText">hertz</field>
+<field name="Range">0 50</field>
+<field name="Increment">1</field>
+</param>
+<param humanName="Position stream rate to ground station" name="SR6_POSITION" documentation="Stream rate of GLOBAL_POSITION_INT to ground station" user="Advanced">
+<field name="Units">Hz</field>
+<field name="UnitText">hertz</field>
+<field name="Range">0 50</field>
+<field name="Increment">1</field>
+</param>
+<param humanName="Extra data type 1 stream rate to ground station" name="SR6_EXTRA1" documentation="Stream rate of ATTITUDE and SIMSTATE (SITL only) to ground station" user="Advanced">
+<field name="Units">Hz</field>
+<field name="UnitText">hertz</field>
+<field name="Range">0 50</field>
+<field name="Increment">1</field>
+</param>
+<param humanName="Extra data type 2 stream rate to ground station" name="SR6_EXTRA2" documentation="Stream rate of VFR_HUD to ground station" user="Advanced">
+<field name="Units">Hz</field>
+<field name="UnitText">hertz</field>
+<field name="Range">0 50</field>
+<field name="Increment">1</field>
+</param>
+<param humanName="Extra data type 3 stream rate to ground station" name="SR6_EXTRA3" documentation="Stream rate of AHRS, HWSTATUS, and SYSTEM_TIME to ground station" user="Advanced">
+<field name="Units">Hz</field>
+<field name="UnitText">hertz</field>
+<field name="Range">0 50</field>
+<field name="Increment">1</field>
+</param>
+<param humanName="Parameter stream rate to ground station" name="SR6_PARAMS" documentation="Stream rate of PARAM_VALUE to ground station" user="Advanced">
+<field name="Units">Hz</field>
+<field name="UnitText">hertz</field>
+<field name="Range">0 50</field>
 <field name="Increment">1</field>
 </param>
 </parameters>
@@ -14739,8 +15138,11 @@
 <field name="ReadOnly">True</field>
 <field name="Range">5000 6000</field>
 </param>
-<param humanName="Video Transmitter Options" name="VTX_OPTIONS" documentation="Video Transmitter Options." user="Advanced">
-<field name="Bitmask">0:Pitmode</field>
+<param humanName="Video Transmitter Options" name="VTX_OPTIONS" documentation="Video Transmitter Options. Pitmode puts the VTX in a low power state. Unlocked enables certain restricted frequencies and power levels. Do not enable the Unlocked option unless you have appropriate permissions in your jurisdiction to transmit at high power levels." user="Advanced">
+<field name="Bitmask">0:Pitmode,1:Pitmode until armed,2:Pitmode when disarmed,3:Unlocked,4:Add leading zero byte to requests</field>
+</param>
+<param humanName="Video Transmitter Max Power Level" name="VTX_MAX_POWER" documentation="Video Transmitter Maximum Power Level. Different VTXs support different power levels, this prevents the power aux switch from requesting too high a power level. The switch supports 6 power levels and the selected power will be a subdivision between 0 and this setting.">
+<field name="Range">25 1000</field>
 </param>
 </parameters>
 <parameters name="WPNAV_">
@@ -14786,5 +15188,16 @@
 <value code="1">Enable</value>
 </values>
 </param>
+<param humanName="Waypoint Jerk" name="WPNAV_JERK" documentation="Defines the horizontal jerk in m/s/s used during missions" user="Standard">
+<field name="Units">m/s/s/s</field>
+<field name="UnitText">meters per cubic second</field>
+<field name="Range">1 20</field>
+</param>
+<param humanName="Waypoint Terrain following altitude margin" name="WPNAV_TER_MARGIN" documentation="Waypoint Terrain following altitude margin.  Vehicle will stop if distance from target altitude is larger than this margin (in meters)" user="Advanced">
+<field name="Units">m</field>
+<field name="UnitText">meters</field>
+<field name="Range">0.1 100</field>
+</param>
 </parameters>
-</libraries></paramfile>
+</libraries>
+</paramfile>