diff --git a/src/FirmwarePlugin/APM/APMParameterFactMetaData.Sub.3.4.xml b/src/FirmwarePlugin/APM/APMParameterFactMetaData.Sub.3.4.xml
index 9c884ba..ac42cc7 100644
--- a/src/FirmwarePlugin/APM/APMParameterFactMetaData.Sub.3.4.xml
+++ b/src/FirmwarePlugin/APM/APMParameterFactMetaData.Sub.3.4.xml
@@ -108,13 +108,50 @@
 <field name="Increment">50</field>
 <field name="Units">mAh</field>
 </param>
-<param humanName="Ground Station Failsafe Enable" name="ArduSub:FS_GCS_ENABLE" documentation="Controls whether failsafe will be invoked (and what action to take) when connection with Ground station is lost for at least 5 seconds. NB. The GCS Failsafe is only active when RC_OVERRIDE is being used to control the vehicle." user="Standard">
+<param humanName="Ground Station Failsafe Enable" name="ArduSub:FS_GCS_ENABLE" documentation="Controls what action to take when GCS heartbeat is lost." user="Standard">
 <values>
 <value code="0">Disabled</value>
-<value code="1">Enabled always RTL</value>
-<value code="2">Enabled Continue with Mission in Auto Mode</value>
+<value code="1">Warn only</value>
+<value code="2">Disarm</value>
+<value code="3">Enter depth hold mode</value>
+<value code="4">Enter surface mode</value>
+</values>
+</param>
+<param humanName="Leak Failsafe Enable" name="ArduSub:FS_LEAK_ENABLE" documentation="Controls what action to take if a leak is detected." user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Warn only</value>
+<value code="2">Enter surface mode</value>
+</values>
+</param>
+<param humanName="Internal Pressure Failsafe Enable" name="ArduSub:FS_PRESS_ENABLE" documentation="Controls what action to take if internal pressure exceeds FS_PRESS_MAX parameter." user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Warn only</value>
+</values>
+</param>
+<param humanName="Internal Temperature Failsafe Enable" name="ArduSub:FS_TEMP_ENABLE" documentation="Controls what action to take if internal temperature exceeds FS_TEMP_MAX parameter." user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Warn only</value>
+</values>
+</param>
+<param humanName="Internal Pressure Failsafe Threshold" name="ArduSub:FS_PRESS_MAX" documentation="The maximum internal pressure allowed before triggering failsafe. Failsafe action is determined by FS_PRESS_ENABLE parameter" user="Standard">
+<field name="Units">Pascal</field>
+</param>
+<param humanName="Internal Temperature Failsafe Threshold" name="ArduSub:FS_TEMP_MAX" documentation="The maximum internal temperature allowed before triggering failsafe. Failsafe action is determined by FS_TEMP_ENABLE parameter." user="Standard">
+<field name="Units">Degrees Centigrade</field>
+</param>
+<param humanName="Terrain Failsafe Enable" name="ArduSub:FS_TERRAIN_ENAB" documentation="Controls what action to take if terrain information is lost during AUTO mode" user="Standard">
+<values>
+<value code="0">Disarm</value>
+<value code=" 1">Hold Position</value>
+<value code=" 2">Surface</value>
 </values>
 </param>
+<param humanName="Crosstrack correction angle limit" name="ArduSub:XTRACK_ANG_LIM" documentation="Maximum allowed angle (in degrees) between current track and desired heading during waypoint navigation" user="Standard">
+<field name="Range">10 90</field>
+</param>
 <param humanName="GPS Hdop Good" name="ArduSub:GPS_HDOP_GOOD" documentation="GPS Hdop value at or below this value represent a good position.  Used for pre-arm checks" user="Advanced">
 <field name="Range">100 900</field>
 </param>
@@ -770,6 +807,9 @@
 <value code="1">Use in RTL and Land</value>
 </values>
 </param>
+<param humanName="Takeoff navigation altitude" name="ArduSub:TKOFF_NAV_ALT" documentation="This is the altitude in meters above the takeoff point that attitude changes for navigation can begin" user="Standard">
+<field name="Range">0 5</field>
+</param>
 </parameters>
 </vehicles><libraries><parameters name="SERIAL">
 <param humanName="Serial0 baud rate" name="SERIAL0_BAUD" documentation="The baud rate used on the USB console. The APM2 can support all baudrates up to 115, and also can support 500. The PX4 can support rates of up to 1500. If you setup a rate you cannot support on APM2 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">
@@ -1918,6 +1958,8 @@
 <value code="23">mount_tilt_down</value>
 <value code="24">camera_trigger</value>
 <value code="25">camera_source_toggle</value>
+<value code="26">mount_pan_right</value>
+<value code="27">mount_pan_left</value>
 <value code="31">lights1_cycle</value>
 <value code="32">lights1_brighter</value>
 <value code="33">lights1_dimmer</value>
@@ -1932,6 +1974,18 @@
 <value code="46">trim_pitch_inc</value>
 <value code="47">trim_pitch_dec</value>
 <value code="48">input_hold_toggle</value>
+<value code="51">relay_1_on</value>
+<value code="52">relay_1_off</value>
+<value code="53">relay_1_toggle</value>
+<value code="52">relay_2_on</value>
+<value code="53">relay_2_off</value>
+<value code="54">relay_2_toggle</value>
+<value code="91">custom_1</value>
+<value code="92">custom_2</value>
+<value code="93">custom_3</value>
+<value code="94">custom_4</value>
+<value code="95">custom_5</value>
+<value code="96">custom_6</value>
 </values>
 </param>
 <param humanName="Function for button when the shift mode is toggled on" name="BTN0_SFUNCTION" documentation="Set to 0 to disable or choose a function" user="Standard">
@@ -1953,6 +2007,8 @@
 <value code="23">mount_tilt_down</value>
 <value code="24">camera_trigger</value>
 <value code="25">camera_source_toggle</value>
+<value code="26">mount_pan_right</value>
+<value code="27">mount_pan_left</value>
 <value code="31">lights1_cycle</value>
 <value code="32">lights1_brighter</value>
 <value code="33">lights1_dimmer</value>
@@ -1967,6 +2023,18 @@
 <value code="46">trim_pitch_inc</value>
 <value code="47">trim_pitch_dec</value>
 <value code="48">input_hold_toggle</value>
+<value code="51">relay_1_on</value>
+<value code="52">relay_1_off</value>
+<value code="53">relay_1_toggle</value>
+<value code="52">relay_2_on</value>
+<value code="53">relay_2_off</value>
+<value code="54">relay_2_toggle</value>
+<value code="91">custom_1</value>
+<value code="92">custom_2</value>
+<value code="93">custom_3</value>
+<value code="94">custom_4</value>
+<value code="95">custom_5</value>
+<value code="96">custom_6</value>
 </values>
 </param>
 </parameters>
@@ -1990,6 +2058,8 @@
 <value code="23">mount_tilt_down</value>
 <value code="24">camera_trigger</value>
 <value code="25">camera_source_toggle</value>
+<value code="26">mount_pan_right</value>
+<value code="27">mount_pan_left</value>
 <value code="31">lights1_cycle</value>
 <value code="32">lights1_brighter</value>
 <value code="33">lights1_dimmer</value>
@@ -2004,6 +2074,18 @@
 <value code="46">trim_pitch_inc</value>
 <value code="47">trim_pitch_dec</value>
 <value code="48">input_hold_toggle</value>
+<value code="51">relay_1_on</value>
+<value code="52">relay_1_off</value>
+<value code="53">relay_1_toggle</value>
+<value code="52">relay_2_on</value>
+<value code="53">relay_2_off</value>
+<value code="54">relay_2_toggle</value>
+<value code="91">custom_1</value>
+<value code="92">custom_2</value>
+<value code="93">custom_3</value>
+<value code="94">custom_4</value>
+<value code="95">custom_5</value>
+<value code="96">custom_6</value>
 </values>
 </param>
 <param humanName="Function for button when the shift mode is toggled on" name="BTN1_SFUNCTION" documentation="Set to 0 to disable or choose a function" user="Standard">
@@ -2025,6 +2107,8 @@
 <value code="23">mount_tilt_down</value>
 <value code="24">camera_trigger</value>
 <value code="25">camera_source_toggle</value>
+<value code="26">mount_pan_right</value>
+<value code="27">mount_pan_left</value>
 <value code="31">lights1_cycle</value>
 <value code="32">lights1_brighter</value>
 <value code="33">lights1_dimmer</value>
@@ -2039,6 +2123,18 @@
 <value code="46">trim_pitch_inc</value>
 <value code="47">trim_pitch_dec</value>
 <value code="48">input_hold_toggle</value>
+<value code="51">relay_1_on</value>
+<value code="52">relay_1_off</value>
+<value code="53">relay_1_toggle</value>
+<value code="52">relay_2_on</value>
+<value code="53">relay_2_off</value>
+<value code="54">relay_2_toggle</value>
+<value code="91">custom_1</value>
+<value code="92">custom_2</value>
+<value code="93">custom_3</value>
+<value code="94">custom_4</value>
+<value code="95">custom_5</value>
+<value code="96">custom_6</value>
 </values>
 </param>
 </parameters>
@@ -2062,6 +2158,8 @@
 <value code="23">mount_tilt_down</value>
 <value code="24">camera_trigger</value>
 <value code="25">camera_source_toggle</value>
+<value code="26">mount_pan_right</value>
+<value code="27">mount_pan_left</value>
 <value code="31">lights1_cycle</value>
 <value code="32">lights1_brighter</value>
 <value code="33">lights1_dimmer</value>
@@ -2076,6 +2174,18 @@
 <value code="46">trim_pitch_inc</value>
 <value code="47">trim_pitch_dec</value>
 <value code="48">input_hold_toggle</value>
+<value code="51">relay_1_on</value>
+<value code="52">relay_1_off</value>
+<value code="53">relay_1_toggle</value>
+<value code="52">relay_2_on</value>
+<value code="53">relay_2_off</value>
+<value code="54">relay_2_toggle</value>
+<value code="91">custom_1</value>
+<value code="92">custom_2</value>
+<value code="93">custom_3</value>
+<value code="94">custom_4</value>
+<value code="95">custom_5</value>
+<value code="96">custom_6</value>
 </values>
 </param>
 <param humanName="Function for button when the shift mode is toggled on" name="BTN2_SFUNCTION" documentation="Set to 0 to disable or choose a function" user="Standard">
@@ -2097,6 +2207,8 @@
 <value code="23">mount_tilt_down</value>
 <value code="24">camera_trigger</value>
 <value code="25">camera_source_toggle</value>
+<value code="26">mount_pan_right</value>
+<value code="27">mount_pan_left</value>
 <value code="31">lights1_cycle</value>
 <value code="32">lights1_brighter</value>
 <value code="33">lights1_dimmer</value>
@@ -2111,6 +2223,18 @@
 <value code="46">trim_pitch_inc</value>
 <value code="47">trim_pitch_dec</value>
 <value code="48">input_hold_toggle</value>
+<value code="51">relay_1_on</value>
+<value code="52">relay_1_off</value>
+<value code="53">relay_1_toggle</value>
+<value code="52">relay_2_on</value>
+<value code="53">relay_2_off</value>
+<value code="54">relay_2_toggle</value>
+<value code="91">custom_1</value>
+<value code="92">custom_2</value>
+<value code="93">custom_3</value>
+<value code="94">custom_4</value>
+<value code="95">custom_5</value>
+<value code="96">custom_6</value>
 </values>
 </param>
 </parameters>
@@ -2134,6 +2258,8 @@
 <value code="23">mount_tilt_down</value>
 <value code="24">camera_trigger</value>
 <value code="25">camera_source_toggle</value>
+<value code="26">mount_pan_right</value>
+<value code="27">mount_pan_left</value>
 <value code="31">lights1_cycle</value>
 <value code="32">lights1_brighter</value>
 <value code="33">lights1_dimmer</value>
@@ -2148,6 +2274,18 @@
 <value code="46">trim_pitch_inc</value>
 <value code="47">trim_pitch_dec</value>
 <value code="48">input_hold_toggle</value>
+<value code="51">relay_1_on</value>
+<value code="52">relay_1_off</value>
+<value code="53">relay_1_toggle</value>
+<value code="52">relay_2_on</value>
+<value code="53">relay_2_off</value>
+<value code="54">relay_2_toggle</value>
+<value code="91">custom_1</value>
+<value code="92">custom_2</value>
+<value code="93">custom_3</value>
+<value code="94">custom_4</value>
+<value code="95">custom_5</value>
+<value code="96">custom_6</value>
 </values>
 </param>
 <param humanName="Function for button when the shift mode is toggled on" name="BTN3_SFUNCTION" documentation="Set to 0 to disable or choose a function" user="Standard">
@@ -2169,6 +2307,8 @@
 <value code="23">mount_tilt_down</value>
 <value code="24">camera_trigger</value>
 <value code="25">camera_source_toggle</value>
+<value code="26">mount_pan_right</value>
+<value code="27">mount_pan_left</value>
 <value code="31">lights1_cycle</value>
 <value code="32">lights1_brighter</value>
 <value code="33">lights1_dimmer</value>
@@ -2183,6 +2323,18 @@
 <value code="46">trim_pitch_inc</value>
 <value code="47">trim_pitch_dec</value>
 <value code="48">input_hold_toggle</value>
+<value code="51">relay_1_on</value>
+<value code="52">relay_1_off</value>
+<value code="53">relay_1_toggle</value>
+<value code="52">relay_2_on</value>
+<value code="53">relay_2_off</value>
+<value code="54">relay_2_toggle</value>
+<value code="91">custom_1</value>
+<value code="92">custom_2</value>
+<value code="93">custom_3</value>
+<value code="94">custom_4</value>
+<value code="95">custom_5</value>
+<value code="96">custom_6</value>
 </values>
 </param>
 </parameters>
@@ -2206,6 +2358,8 @@
 <value code="23">mount_tilt_down</value>
 <value code="24">camera_trigger</value>
 <value code="25">camera_source_toggle</value>
+<value code="26">mount_pan_right</value>
+<value code="27">mount_pan_left</value>
 <value code="31">lights1_cycle</value>
 <value code="32">lights1_brighter</value>
 <value code="33">lights1_dimmer</value>
@@ -2220,6 +2374,18 @@
 <value code="46">trim_pitch_inc</value>
 <value code="47">trim_pitch_dec</value>
 <value code="48">input_hold_toggle</value>
+<value code="51">relay_1_on</value>
+<value code="52">relay_1_off</value>
+<value code="53">relay_1_toggle</value>
+<value code="52">relay_2_on</value>
+<value code="53">relay_2_off</value>
+<value code="54">relay_2_toggle</value>
+<value code="91">custom_1</value>
+<value code="92">custom_2</value>
+<value code="93">custom_3</value>
+<value code="94">custom_4</value>
+<value code="95">custom_5</value>
+<value code="96">custom_6</value>
 </values>
 </param>
 <param humanName="Function for button when the shift mode is toggled on" name="BTN4_SFUNCTION" documentation="Set to 0 to disable or choose a function" user="Standard">
@@ -2241,6 +2407,8 @@
 <value code="23">mount_tilt_down</value>
 <value code="24">camera_trigger</value>
 <value code="25">camera_source_toggle</value>
+<value code="26">mount_pan_right</value>
+<value code="27">mount_pan_left</value>
 <value code="31">lights1_cycle</value>
 <value code="32">lights1_brighter</value>
 <value code="33">lights1_dimmer</value>
@@ -2255,6 +2423,18 @@
 <value code="46">trim_pitch_inc</value>
 <value code="47">trim_pitch_dec</value>
 <value code="48">input_hold_toggle</value>
+<value code="51">relay_1_on</value>
+<value code="52">relay_1_off</value>
+<value code="53">relay_1_toggle</value>
+<value code="52">relay_2_on</value>
+<value code="53">relay_2_off</value>
+<value code="54">relay_2_toggle</value>
+<value code="91">custom_1</value>
+<value code="92">custom_2</value>
+<value code="93">custom_3</value>
+<value code="94">custom_4</value>
+<value code="95">custom_5</value>
+<value code="96">custom_6</value>
 </values>
 </param>
 </parameters>
@@ -2278,6 +2458,8 @@
 <value code="23">mount_tilt_down</value>
 <value code="24">camera_trigger</value>
 <value code="25">camera_source_toggle</value>
+<value code="26">mount_pan_right</value>
+<value code="27">mount_pan_left</value>
 <value code="31">lights1_cycle</value>
 <value code="32">lights1_brighter</value>
 <value code="33">lights1_dimmer</value>
@@ -2292,6 +2474,18 @@
 <value code="46">trim_pitch_inc</value>
 <value code="47">trim_pitch_dec</value>
 <value code="48">input_hold_toggle</value>
+<value code="51">relay_1_on</value>
+<value code="52">relay_1_off</value>
+<value code="53">relay_1_toggle</value>
+<value code="52">relay_2_on</value>
+<value code="53">relay_2_off</value>
+<value code="54">relay_2_toggle</value>
+<value code="91">custom_1</value>
+<value code="92">custom_2</value>
+<value code="93">custom_3</value>
+<value code="94">custom_4</value>
+<value code="95">custom_5</value>
+<value code="96">custom_6</value>
 </values>
 </param>
 <param humanName="Function for button when the shift mode is toggled on" name="BTN5_SFUNCTION" documentation="Set to 0 to disable or choose a function" user="Standard">
@@ -2313,6 +2507,8 @@
 <value code="23">mount_tilt_down</value>
 <value code="24">camera_trigger</value>
 <value code="25">camera_source_toggle</value>
+<value code="26">mount_pan_right</value>
+<value code="27">mount_pan_left</value>
 <value code="31">lights1_cycle</value>
 <value code="32">lights1_brighter</value>
 <value code="33">lights1_dimmer</value>
@@ -2327,6 +2523,18 @@
 <value code="46">trim_pitch_inc</value>
 <value code="47">trim_pitch_dec</value>
 <value code="48">input_hold_toggle</value>
+<value code="51">relay_1_on</value>
+<value code="52">relay_1_off</value>
+<value code="53">relay_1_toggle</value>
+<value code="52">relay_2_on</value>
+<value code="53">relay_2_off</value>
+<value code="54">relay_2_toggle</value>
+<value code="91">custom_1</value>
+<value code="92">custom_2</value>
+<value code="93">custom_3</value>
+<value code="94">custom_4</value>
+<value code="95">custom_5</value>
+<value code="96">custom_6</value>
 </values>
 </param>
 </parameters>
@@ -2350,6 +2558,8 @@
 <value code="23">mount_tilt_down</value>
 <value code="24">camera_trigger</value>
 <value code="25">camera_source_toggle</value>
+<value code="26">mount_pan_right</value>
+<value code="27">mount_pan_left</value>
 <value code="31">lights1_cycle</value>
 <value code="32">lights1_brighter</value>
 <value code="33">lights1_dimmer</value>
@@ -2364,6 +2574,18 @@
 <value code="46">trim_pitch_inc</value>
 <value code="47">trim_pitch_dec</value>
 <value code="48">input_hold_toggle</value>
+<value code="51">relay_1_on</value>
+<value code="52">relay_1_off</value>
+<value code="53">relay_1_toggle</value>
+<value code="52">relay_2_on</value>
+<value code="53">relay_2_off</value>
+<value code="54">relay_2_toggle</value>
+<value code="91">custom_1</value>
+<value code="92">custom_2</value>
+<value code="93">custom_3</value>
+<value code="94">custom_4</value>
+<value code="95">custom_5</value>
+<value code="96">custom_6</value>
 </values>
 </param>
 <param humanName="Function for button when the shift mode is toggled on" name="BTN6_SFUNCTION" documentation="Set to 0 to disable or choose a function" user="Standard">
@@ -2385,6 +2607,8 @@
 <value code="23">mount_tilt_down</value>
 <value code="24">camera_trigger</value>
 <value code="25">camera_source_toggle</value>
+<value code="26">mount_pan_right</value>
+<value code="27">mount_pan_left</value>
 <value code="31">lights1_cycle</value>
 <value code="32">lights1_brighter</value>
 <value code="33">lights1_dimmer</value>
@@ -2399,6 +2623,18 @@
 <value code="46">trim_pitch_inc</value>
 <value code="47">trim_pitch_dec</value>
 <value code="48">input_hold_toggle</value>
+<value code="51">relay_1_on</value>
+<value code="52">relay_1_off</value>
+<value code="53">relay_1_toggle</value>
+<value code="52">relay_2_on</value>
+<value code="53">relay_2_off</value>
+<value code="54">relay_2_toggle</value>
+<value code="91">custom_1</value>
+<value code="92">custom_2</value>
+<value code="93">custom_3</value>
+<value code="94">custom_4</value>
+<value code="95">custom_5</value>
+<value code="96">custom_6</value>
 </values>
 </param>
 </parameters>
@@ -2422,6 +2658,8 @@
 <value code="23">mount_tilt_down</value>
 <value code="24">camera_trigger</value>
 <value code="25">camera_source_toggle</value>
+<value code="26">mount_pan_right</value>
+<value code="27">mount_pan_left</value>
 <value code="31">lights1_cycle</value>
 <value code="32">lights1_brighter</value>
 <value code="33">lights1_dimmer</value>
@@ -2436,6 +2674,18 @@
 <value code="46">trim_pitch_inc</value>
 <value code="47">trim_pitch_dec</value>
 <value code="48">input_hold_toggle</value>
+<value code="51">relay_1_on</value>
+<value code="52">relay_1_off</value>
+<value code="53">relay_1_toggle</value>
+<value code="52">relay_2_on</value>
+<value code="53">relay_2_off</value>
+<value code="54">relay_2_toggle</value>
+<value code="91">custom_1</value>
+<value code="92">custom_2</value>
+<value code="93">custom_3</value>
+<value code="94">custom_4</value>
+<value code="95">custom_5</value>
+<value code="96">custom_6</value>
 </values>
 </param>
 <param humanName="Function for button when the shift mode is toggled on" name="BTN7_SFUNCTION" documentation="Set to 0 to disable or choose a function" user="Standard">
@@ -2457,6 +2707,8 @@
 <value code="23">mount_tilt_down</value>
 <value code="24">camera_trigger</value>
 <value code="25">camera_source_toggle</value>
+<value code="26">mount_pan_right</value>
+<value code="27">mount_pan_left</value>
 <value code="31">lights1_cycle</value>
 <value code="32">lights1_brighter</value>
 <value code="33">lights1_dimmer</value>
@@ -2471,6 +2723,18 @@
 <value code="46">trim_pitch_inc</value>
 <value code="47">trim_pitch_dec</value>
 <value code="48">input_hold_toggle</value>
+<value code="51">relay_1_on</value>
+<value code="52">relay_1_off</value>
+<value code="53">relay_1_toggle</value>
+<value code="52">relay_2_on</value>
+<value code="53">relay_2_off</value>
+<value code="54">relay_2_toggle</value>
+<value code="91">custom_1</value>
+<value code="92">custom_2</value>
+<value code="93">custom_3</value>
+<value code="94">custom_4</value>
+<value code="95">custom_5</value>
+<value code="96">custom_6</value>
 </values>
 </param>
 </parameters>
@@ -2494,6 +2758,8 @@
 <value code="23">mount_tilt_down</value>
 <value code="24">camera_trigger</value>
 <value code="25">camera_source_toggle</value>
+<value code="26">mount_pan_right</value>
+<value code="27">mount_pan_left</value>
 <value code="31">lights1_cycle</value>
 <value code="32">lights1_brighter</value>
 <value code="33">lights1_dimmer</value>
@@ -2508,6 +2774,18 @@
 <value code="46">trim_pitch_inc</value>
 <value code="47">trim_pitch_dec</value>
 <value code="48">input_hold_toggle</value>
+<value code="51">relay_1_on</value>
+<value code="52">relay_1_off</value>
+<value code="53">relay_1_toggle</value>
+<value code="52">relay_2_on</value>
+<value code="53">relay_2_off</value>
+<value code="54">relay_2_toggle</value>
+<value code="91">custom_1</value>
+<value code="92">custom_2</value>
+<value code="93">custom_3</value>
+<value code="94">custom_4</value>
+<value code="95">custom_5</value>
+<value code="96">custom_6</value>
 </values>
 </param>
 <param humanName="Function for button when the shift mode is toggled on" name="BTN8_SFUNCTION" documentation="Set to 0 to disable or choose a function" user="Standard">
@@ -2529,6 +2807,8 @@
 <value code="23">mount_tilt_down</value>
 <value code="24">camera_trigger</value>
 <value code="25">camera_source_toggle</value>
+<value code="26">mount_pan_right</value>
+<value code="27">mount_pan_left</value>
 <value code="31">lights1_cycle</value>
 <value code="32">lights1_brighter</value>
 <value code="33">lights1_dimmer</value>
@@ -2543,6 +2823,18 @@
 <value code="46">trim_pitch_inc</value>
 <value code="47">trim_pitch_dec</value>
 <value code="48">input_hold_toggle</value>
+<value code="51">relay_1_on</value>
+<value code="52">relay_1_off</value>
+<value code="53">relay_1_toggle</value>
+<value code="52">relay_2_on</value>
+<value code="53">relay_2_off</value>
+<value code="54">relay_2_toggle</value>
+<value code="91">custom_1</value>
+<value code="92">custom_2</value>
+<value code="93">custom_3</value>
+<value code="94">custom_4</value>
+<value code="95">custom_5</value>
+<value code="96">custom_6</value>
 </values>
 </param>
 </parameters>
@@ -2566,6 +2858,8 @@
 <value code="23">mount_tilt_down</value>
 <value code="24">camera_trigger</value>
 <value code="25">camera_source_toggle</value>
+<value code="26">mount_pan_right</value>
+<value code="27">mount_pan_left</value>
 <value code="31">lights1_cycle</value>
 <value code="32">lights1_brighter</value>
 <value code="33">lights1_dimmer</value>
@@ -2580,6 +2874,18 @@
 <value code="46">trim_pitch_inc</value>
 <value code="47">trim_pitch_dec</value>
 <value code="48">input_hold_toggle</value>
+<value code="51">relay_1_on</value>
+<value code="52">relay_1_off</value>
+<value code="53">relay_1_toggle</value>
+<value code="52">relay_2_on</value>
+<value code="53">relay_2_off</value>
+<value code="54">relay_2_toggle</value>
+<value code="91">custom_1</value>
+<value code="92">custom_2</value>
+<value code="93">custom_3</value>
+<value code="94">custom_4</value>
+<value code="95">custom_5</value>
+<value code="96">custom_6</value>
 </values>
 </param>
 <param humanName="Function for button when the shift mode is toggled on" name="BTN9_SFUNCTION" documentation="Set to 0 to disable or choose a function" user="Standard">
@@ -2601,6 +2907,8 @@
 <value code="23">mount_tilt_down</value>
 <value code="24">camera_trigger</value>
 <value code="25">camera_source_toggle</value>
+<value code="26">mount_pan_right</value>
+<value code="27">mount_pan_left</value>
 <value code="31">lights1_cycle</value>
 <value code="32">lights1_brighter</value>
 <value code="33">lights1_dimmer</value>
@@ -2615,6 +2923,18 @@
 <value code="46">trim_pitch_inc</value>
 <value code="47">trim_pitch_dec</value>
 <value code="48">input_hold_toggle</value>
+<value code="51">relay_1_on</value>
+<value code="52">relay_1_off</value>
+<value code="53">relay_1_toggle</value>
+<value code="52">relay_2_on</value>
+<value code="53">relay_2_off</value>
+<value code="54">relay_2_toggle</value>
+<value code="91">custom_1</value>
+<value code="92">custom_2</value>
+<value code="93">custom_3</value>
+<value code="94">custom_4</value>
+<value code="95">custom_5</value>
+<value code="96">custom_6</value>
 </values>
 </param>
 </parameters>
@@ -2638,6 +2958,8 @@
 <value code="23">mount_tilt_down</value>
 <value code="24">camera_trigger</value>
 <value code="25">camera_source_toggle</value>
+<value code="26">mount_pan_right</value>
+<value code="27">mount_pan_left</value>
 <value code="31">lights1_cycle</value>
 <value code="32">lights1_brighter</value>
 <value code="33">lights1_dimmer</value>
@@ -2652,6 +2974,18 @@
 <value code="46">trim_pitch_inc</value>
 <value code="47">trim_pitch_dec</value>
 <value code="48">input_hold_toggle</value>
+<value code="51">relay_1_on</value>
+<value code="52">relay_1_off</value>
+<value code="53">relay_1_toggle</value>
+<value code="52">relay_2_on</value>
+<value code="53">relay_2_off</value>
+<value code="54">relay_2_toggle</value>
+<value code="91">custom_1</value>
+<value code="92">custom_2</value>
+<value code="93">custom_3</value>
+<value code="94">custom_4</value>
+<value code="95">custom_5</value>
+<value code="96">custom_6</value>
 </values>
 </param>
 <param humanName="Function for button when the shift mode is toggled on" name="BTN10_SFUNCTION" documentation="Set to 0 to disable or choose a function" user="Standard">
@@ -2673,6 +3007,8 @@
 <value code="23">mount_tilt_down</value>
 <value code="24">camera_trigger</value>
 <value code="25">camera_source_toggle</value>
+<value code="26">mount_pan_right</value>
+<value code="27">mount_pan_left</value>
 <value code="31">lights1_cycle</value>
 <value code="32">lights1_brighter</value>
 <value code="33">lights1_dimmer</value>
@@ -2687,6 +3023,18 @@
 <value code="46">trim_pitch_inc</value>
 <value code="47">trim_pitch_dec</value>
 <value code="48">input_hold_toggle</value>
+<value code="51">relay_1_on</value>
+<value code="52">relay_1_off</value>
+<value code="53">relay_1_toggle</value>
+<value code="52">relay_2_on</value>
+<value code="53">relay_2_off</value>
+<value code="54">relay_2_toggle</value>
+<value code="91">custom_1</value>
+<value code="92">custom_2</value>
+<value code="93">custom_3</value>
+<value code="94">custom_4</value>
+<value code="95">custom_5</value>
+<value code="96">custom_6</value>
 </values>
 </param>
 </parameters>
@@ -2710,6 +3058,8 @@
 <value code="23">mount_tilt_down</value>
 <value code="24">camera_trigger</value>
 <value code="25">camera_source_toggle</value>
+<value code="26">mount_pan_right</value>
+<value code="27">mount_pan_left</value>
 <value code="31">lights1_cycle</value>
 <value code="32">lights1_brighter</value>
 <value code="33">lights1_dimmer</value>
@@ -2724,6 +3074,18 @@
 <value code="46">trim_pitch_inc</value>
 <value code="47">trim_pitch_dec</value>
 <value code="48">input_hold_toggle</value>
+<value code="51">relay_1_on</value>
+<value code="52">relay_1_off</value>
+<value code="53">relay_1_toggle</value>
+<value code="52">relay_2_on</value>
+<value code="53">relay_2_off</value>
+<value code="54">relay_2_toggle</value>
+<value code="91">custom_1</value>
+<value code="92">custom_2</value>
+<value code="93">custom_3</value>
+<value code="94">custom_4</value>
+<value code="95">custom_5</value>
+<value code="96">custom_6</value>
 </values>
 </param>
 <param humanName="Function for button when the shift mode is toggled on" name="BTN11_SFUNCTION" documentation="Set to 0 to disable or choose a function" user="Standard">
@@ -2745,6 +3107,8 @@
 <value code="23">mount_tilt_down</value>
 <value code="24">camera_trigger</value>
 <value code="25">camera_source_toggle</value>
+<value code="26">mount_pan_right</value>
+<value code="27">mount_pan_left</value>
 <value code="31">lights1_cycle</value>
 <value code="32">lights1_brighter</value>
 <value code="33">lights1_dimmer</value>
@@ -2759,6 +3123,18 @@
 <value code="46">trim_pitch_inc</value>
 <value code="47">trim_pitch_dec</value>
 <value code="48">input_hold_toggle</value>
+<value code="51">relay_1_on</value>
+<value code="52">relay_1_off</value>
+<value code="53">relay_1_toggle</value>
+<value code="52">relay_2_on</value>
+<value code="53">relay_2_off</value>
+<value code="54">relay_2_toggle</value>
+<value code="91">custom_1</value>
+<value code="92">custom_2</value>
+<value code="93">custom_3</value>
+<value code="94">custom_4</value>
+<value code="95">custom_5</value>
+<value code="96">custom_6</value>
 </values>
 </param>
 </parameters>
@@ -2782,6 +3158,8 @@
 <value code="23">mount_tilt_down</value>
 <value code="24">camera_trigger</value>
 <value code="25">camera_source_toggle</value>
+<value code="26">mount_pan_right</value>
+<value code="27">mount_pan_left</value>
 <value code="31">lights1_cycle</value>
 <value code="32">lights1_brighter</value>
 <value code="33">lights1_dimmer</value>
@@ -2796,6 +3174,18 @@
 <value code="46">trim_pitch_inc</value>
 <value code="47">trim_pitch_dec</value>
 <value code="48">input_hold_toggle</value>
+<value code="51">relay_1_on</value>
+<value code="52">relay_1_off</value>
+<value code="53">relay_1_toggle</value>
+<value code="52">relay_2_on</value>
+<value code="53">relay_2_off</value>
+<value code="54">relay_2_toggle</value>
+<value code="91">custom_1</value>
+<value code="92">custom_2</value>
+<value code="93">custom_3</value>
+<value code="94">custom_4</value>
+<value code="95">custom_5</value>
+<value code="96">custom_6</value>
 </values>
 </param>
 <param humanName="Function for button when the shift mode is toggled on" name="BTN12_SFUNCTION" documentation="Set to 0 to disable or choose a function" user="Standard">
@@ -2817,6 +3207,8 @@
 <value code="23">mount_tilt_down</value>
 <value code="24">camera_trigger</value>
 <value code="25">camera_source_toggle</value>
+<value code="26">mount_pan_right</value>
+<value code="27">mount_pan_left</value>
 <value code="31">lights1_cycle</value>
 <value code="32">lights1_brighter</value>
 <value code="33">lights1_dimmer</value>
@@ -2831,6 +3223,18 @@
 <value code="46">trim_pitch_inc</value>
 <value code="47">trim_pitch_dec</value>
 <value code="48">input_hold_toggle</value>
+<value code="51">relay_1_on</value>
+<value code="52">relay_1_off</value>
+<value code="53">relay_1_toggle</value>
+<value code="52">relay_2_on</value>
+<value code="53">relay_2_off</value>
+<value code="54">relay_2_toggle</value>
+<value code="91">custom_1</value>
+<value code="92">custom_2</value>
+<value code="93">custom_3</value>
+<value code="94">custom_4</value>
+<value code="95">custom_5</value>
+<value code="96">custom_6</value>
 </values>
 </param>
 </parameters>
@@ -2854,6 +3258,8 @@
 <value code="23">mount_tilt_down</value>
 <value code="24">camera_trigger</value>
 <value code="25">camera_source_toggle</value>
+<value code="26">mount_pan_right</value>
+<value code="27">mount_pan_left</value>
 <value code="31">lights1_cycle</value>
 <value code="32">lights1_brighter</value>
 <value code="33">lights1_dimmer</value>
@@ -2868,6 +3274,18 @@
 <value code="46">trim_pitch_inc</value>
 <value code="47">trim_pitch_dec</value>
 <value code="48">input_hold_toggle</value>
+<value code="51">relay_1_on</value>
+<value code="52">relay_1_off</value>
+<value code="53">relay_1_toggle</value>
+<value code="52">relay_2_on</value>
+<value code="53">relay_2_off</value>
+<value code="54">relay_2_toggle</value>
+<value code="91">custom_1</value>
+<value code="92">custom_2</value>
+<value code="93">custom_3</value>
+<value code="94">custom_4</value>
+<value code="95">custom_5</value>
+<value code="96">custom_6</value>
 </values>
 </param>
 <param humanName="Function for button when the shift mode is toggled on" name="BTN13_SFUNCTION" documentation="Set to 0 to disable or choose a function" user="Standard">
@@ -2889,6 +3307,8 @@
 <value code="23">mount_tilt_down</value>
 <value code="24">camera_trigger</value>
 <value code="25">camera_source_toggle</value>
+<value code="26">mount_pan_right</value>
+<value code="27">mount_pan_left</value>
 <value code="31">lights1_cycle</value>
 <value code="32">lights1_brighter</value>
 <value code="33">lights1_dimmer</value>
@@ -2903,6 +3323,18 @@
 <value code="46">trim_pitch_inc</value>
 <value code="47">trim_pitch_dec</value>
 <value code="48">input_hold_toggle</value>
+<value code="51">relay_1_on</value>
+<value code="52">relay_1_off</value>
+<value code="53">relay_1_toggle</value>
+<value code="52">relay_2_on</value>
+<value code="53">relay_2_off</value>
+<value code="54">relay_2_toggle</value>
+<value code="91">custom_1</value>
+<value code="92">custom_2</value>
+<value code="93">custom_3</value>
+<value code="94">custom_4</value>
+<value code="95">custom_5</value>
+<value code="96">custom_6</value>
 </values>
 </param>
 </parameters>
@@ -2926,6 +3358,8 @@
 <value code="23">mount_tilt_down</value>
 <value code="24">camera_trigger</value>
 <value code="25">camera_source_toggle</value>
+<value code="26">mount_pan_right</value>
+<value code="27">mount_pan_left</value>
 <value code="31">lights1_cycle</value>
 <value code="32">lights1_brighter</value>
 <value code="33">lights1_dimmer</value>
@@ -2940,6 +3374,18 @@
 <value code="46">trim_pitch_inc</value>
 <value code="47">trim_pitch_dec</value>
 <value code="48">input_hold_toggle</value>
+<value code="51">relay_1_on</value>
+<value code="52">relay_1_off</value>
+<value code="53">relay_1_toggle</value>
+<value code="52">relay_2_on</value>
+<value code="53">relay_2_off</value>
+<value code="54">relay_2_toggle</value>
+<value code="91">custom_1</value>
+<value code="92">custom_2</value>
+<value code="93">custom_3</value>
+<value code="94">custom_4</value>
+<value code="95">custom_5</value>
+<value code="96">custom_6</value>
 </values>
 </param>
 <param humanName="Function for button when the shift mode is toggled on" name="BTN14_SFUNCTION" documentation="Set to 0 to disable or choose a function" user="Standard">
@@ -2961,6 +3407,8 @@
 <value code="23">mount_tilt_down</value>
 <value code="24">camera_trigger</value>
 <value code="25">camera_source_toggle</value>
+<value code="26">mount_pan_right</value>
+<value code="27">mount_pan_left</value>
 <value code="31">lights1_cycle</value>
 <value code="32">lights1_brighter</value>
 <value code="33">lights1_dimmer</value>
@@ -2975,6 +3423,18 @@
 <value code="46">trim_pitch_inc</value>
 <value code="47">trim_pitch_dec</value>
 <value code="48">input_hold_toggle</value>
+<value code="51">relay_1_on</value>
+<value code="52">relay_1_off</value>
+<value code="53">relay_1_toggle</value>
+<value code="52">relay_2_on</value>
+<value code="53">relay_2_off</value>
+<value code="54">relay_2_toggle</value>
+<value code="91">custom_1</value>
+<value code="92">custom_2</value>
+<value code="93">custom_3</value>
+<value code="94">custom_4</value>
+<value code="95">custom_5</value>
+<value code="96">custom_6</value>
 </values>
 </param>
 </parameters>
@@ -2998,6 +3458,8 @@
 <value code="23">mount_tilt_down</value>
 <value code="24">camera_trigger</value>
 <value code="25">camera_source_toggle</value>
+<value code="26">mount_pan_right</value>
+<value code="27">mount_pan_left</value>
 <value code="31">lights1_cycle</value>
 <value code="32">lights1_brighter</value>
 <value code="33">lights1_dimmer</value>
@@ -3012,6 +3474,18 @@
 <value code="46">trim_pitch_inc</value>
 <value code="47">trim_pitch_dec</value>
 <value code="48">input_hold_toggle</value>
+<value code="51">relay_1_on</value>
+<value code="52">relay_1_off</value>
+<value code="53">relay_1_toggle</value>
+<value code="52">relay_2_on</value>
+<value code="53">relay_2_off</value>
+<value code="54">relay_2_toggle</value>
+<value code="91">custom_1</value>
+<value code="92">custom_2</value>
+<value code="93">custom_3</value>
+<value code="94">custom_4</value>
+<value code="95">custom_5</value>
+<value code="96">custom_6</value>
 </values>
 </param>
 <param humanName="Function for button when the shift mode is toggled on" name="BTN15_SFUNCTION" documentation="Set to 0 to disable or choose a function" user="Standard">
@@ -3033,6 +3507,8 @@
 <value code="23">mount_tilt_down</value>
 <value code="24">camera_trigger</value>
 <value code="25">camera_source_toggle</value>
+<value code="26">mount_pan_right</value>
+<value code="27">mount_pan_left</value>
 <value code="31">lights1_cycle</value>
 <value code="32">lights1_brighter</value>
 <value code="33">lights1_dimmer</value>
@@ -3047,6 +3523,18 @@
 <value code="46">trim_pitch_inc</value>
 <value code="47">trim_pitch_dec</value>
 <value code="48">input_hold_toggle</value>
+<value code="51">relay_1_on</value>
+<value code="52">relay_1_off</value>
+<value code="53">relay_1_toggle</value>
+<value code="52">relay_2_on</value>
+<value code="53">relay_2_off</value>
+<value code="54">relay_2_toggle</value>
+<value code="91">custom_1</value>
+<value code="92">custom_2</value>
+<value code="93">custom_3</value>
+<value code="94">custom_4</value>
+<value code="95">custom_5</value>
+<value code="96">custom_6</value>
 </values>
 </param>
 </parameters>
@@ -4952,6 +5440,68 @@
 </values>
 </param>
 </parameters>
+<parameters name="LEAK">
+<param humanName="Pin that leak detector is connected to" name="LEAK1_PIN" documentation="Pin that the leak detector is connected to" user="Standard">
+<values>
+<value code="-1">Disabled</value>
+<value code="50">Pixhawk Aux1</value>
+<value code="51">Pixhawk Aux2</value>
+<value code="52">Pixhawk Aux3</value>
+<value code="53">Pixhawk Aux4</value>
+<value code="54">Pixhawk Aux5</value>
+<value code="55">Pixhawk Aux6</value>
+<value code="13">Pixhawk 3.3ADC1</value>
+<value code="14">Pixhawk 3.3ADC2</value>
+<value code="15">Pixhawk 6.6ADC</value>
+</values>
+</param>
+<param humanName="Default reading of leak detector when dry" name="LEAK1_LOGIC" documentation="Default reading of leak detector when dry" user="Standard">
+<values>
+<value code="0">Low</value>
+<value code="1">High</value>
+</values>
+</param>
+<param humanName="Pin that leak detector is connected to" name="LEAK2_PIN" documentation="Pin that the leak detector is connected to" user="Standard">
+<values>
+<value code="-1">Disabled</value>
+<value code="50">Pixhawk Aux1</value>
+<value code="51">Pixhawk Aux2</value>
+<value code="52">Pixhawk Aux3</value>
+<value code="53">Pixhawk Aux4</value>
+<value code="54">Pixhawk Aux5</value>
+<value code="55">Pixhawk Aux6</value>
+<value code="13">Pixhawk 3.3ADC1</value>
+<value code="14">Pixhawk 3.3ADC2</value>
+<value code="15">Pixhawk 6.6ADC</value>
+</values>
+</param>
+<param humanName="Default reading of leak detector when dry" name="LEAK2_LOGIC" documentation="Default reading of leak detector when dry" user="Standard">
+<values>
+<value code="0">Low</value>
+<value code="1">High</value>
+</values>
+</param>
+<param humanName="Pin that leak detector is connected to" name="LEAK3_PIN" documentation="Pin that the leak detector is connected to" user="Standard">
+<values>
+<value code="-1">Disabled</value>
+<value code="50">Pixhawk Aux1</value>
+<value code="51">Pixhawk Aux2</value>
+<value code="52">Pixhawk Aux3</value>
+<value code="53">Pixhawk Aux4</value>
+<value code="54">Pixhawk Aux5</value>
+<value code="55">Pixhawk Aux6</value>
+<value code="13">Pixhawk 3.3ADC1</value>
+<value code="14">Pixhawk 3.3ADC2</value>
+<value code="15">Pixhawk 6.6ADC</value>
+</values>
+</param>
+<param humanName="Default reading of leak detector when dry" name="LEAK3_LOGIC" documentation="Default reading of leak detector when dry" user="Standard">
+<values>
+<value code="0">Low</value>
+<value code="1">High</value>
+</values>
+</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">
 <values>
@@ -5095,18 +5645,6 @@
 <field name="Range">0.0 1.5</field>
 <field name="Increment">0.1</field>
 </param>
-<param humanName="Maximum allowed motor gain" name="MOT_GAIN_MAX" documentation="Maximum allowed motor gain for scaling power output" user="Standard">
-<field name="Range">0.1 1.0</field>
-<field name="Increment">0.01</field>
-</param>
-<param humanName="Minimum allowed motor gain" name="MOT_GAIN_MIN" documentation="Minimum allowed motor gain for scaling power output" user="Standard">
-<field name="Range">0.1 1.0</field>
-<field name="Increment">0.01</field>
-</param>
-<param humanName="Number of gain levels between min and max" name="MOT_GAIN_STEPS" documentation="Number of gain levels between min and max" user="Standard">
-<field name="Range">1 10</field>
-<field name="Increment">1</field>
-</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">
@@ -5491,9 +6029,9 @@
 <field name="Range">100 1000</field>
 <field name="Increment">25</field>
 </param>
-<param humanName="Output complementary filter time constant (centi-sec)" name="EK2_TAU_OUTPUT" documentation="Sets the time constant of the output complementary filter/predictor in centi-seconds. Set to a negative number to use a computationally cheaper and less accurate method with an automatically calculated time constant." user="Advanced">
-<field name="Range">-1 100</field>
-<field name="Increment">10</field>
+<param humanName="Output complementary filter time constant (centi-sec)" name="EK2_TAU_OUTPUT" documentation="Sets the time constant of the output complementary filter/predictor in centi-seconds." user="Advanced">
+<field name="Range">10 50</field>
+<field name="Increment">5</field>
 </param>
 <param humanName="Earth magnetic field process noise (gauss/s)" name="EK2_MAGE_P_NSE" documentation="This state process noise controls the growth of earth magnetic field state error estimates. Increasing it makes earth magnetic field estimation faster and noisier." user="Advanced">
 <field name="Range">0.00001 0.01</field>
@@ -6026,6 +6564,42 @@
 <param humanName="ADSB vehicle list size" name="ADSB_LIST_MAX" documentation="ADSB list size of nearest vehicles. Longer lists take longer to refresh with lower SRx_ADSB values." user="Advanced">
 <field name="Range">1 100</field>
 </param>
+<param humanName="ADSB vehicle list radius filter" name="ADSB_LIST_RADIUS" documentation="ADSB vehicle list radius filter. Vehicles detected outside this radius will be completely ignored. They will not show up in the SRx_ADSB stream to the GCS and will not be considered in any avoidance calculations." user="Advanced">
+<field name="Range">1 100000</field>
+</param>
+<param humanName="ICAO_ID vehicle identifaction number" name="ADSB_ICAO_ID" documentation="ICAO_ID unique vehicle identifaction number of this aircraft. This is a integer limited to 24bits. If set to 0 then one will be randomly generated. If set to -1 then static information is not sent, transceiver is assumed pre-programmed." user="Advanced">
+<field name="Range">-1 16777215</field>
+</param>
+<param humanName="Emitter type" name="ADSB_EMIT_TYPE" documentation="ADSB classification for the type of vehicle emitting the transponder signal. Default value is 14 (UAV)." user="Advanced">
+<values>
+<value code="0">NoInfo</value>
+<value code="1">Light</value>
+<value code="2">Small</value>
+<value code="3">Large</value>
+<value code="4">HighVortexlarge</value>
+<value code="5">Heavy</value>
+<value code="6">HighlyManuv</value>
+<value code="7">Rotocraft</value>
+<value code="8">RESERVED</value>
+<value code="9">Glider</value>
+<value code="10">LightAir</value>
+<value code="11">Parachute</value>
+<value code="12">UltraLight</value>
+<value code="13">RESERVED</value>
+<value code="14">UAV</value>
+<value code="15">Space</value>
+<value code="16">RESERVED</value>
+<value code="17">EmergencySurface</value>
+<value code="18">ServiceSurface</value>
+<value code="19">PointObstacle</value>
+</values>
+</param>
+<param humanName="Aircraft length and width" name="ADSB_LEN_WIDTH" documentation="Aircraft length and width encoding." user="Advanced">
+</param>
+<param humanName="GPS antenna lateral offset" name="ADSB_OFFSET_LAT" documentation="GPS antenna lateral offset." user="Advanced">
+</param>
+<param humanName="GPS antenna longitudinal offset" name="ADSB_OFFSET_LON" documentation="GPS antenna longitudinal offset." user="Advanced">
+</param>
 </parameters>
 <parameters name="NTF_">
 <param humanName="LED Brightness" name="NTF_LED_BRIGHT" documentation="Select the RGB LED brightness level. When USB is connected brightness will never be higher than low regardless of the setting." user="Advanced">
@@ -6042,5 +6616,11 @@
 <value code="1">Enable</value>
 </values>
 </param>
+<param humanName="Setup for MAVLink LED override" name="NTF_LED_OVERRIDE" documentation="This sets up the board RGB LED for override by MAVLink. Normal notify LED control is disabled" user="Advanced">
+<values>
+<value code="0">Disable</value>
+<value code="1">Enable</value>
+</values>
+</param>
 </parameters>
 </libraries></paramfile>