diff --git a/src/FirmwarePlugin/PX4/PX4ParameterFactMetaData.xml b/src/FirmwarePlugin/PX4/PX4ParameterFactMetaData.xml
index 5ec7c6e..0b6fadc 100644
--- a/src/FirmwarePlugin/PX4/PX4ParameterFactMetaData.xml
+++ b/src/FirmwarePlugin/PX4/PX4ParameterFactMetaData.xml
@@ -137,6 +137,68 @@
       <min>0</min>
     </parameter>
   </group>
+  <group name="UAVCAN GNSS" no_code_generation="true">
+    <parameter default="0" name="gnss.warn_dimens" type="INT32">
+      <short_desc>device health warning</short_desc>
+      <long_desc>Set the device health to Warning if the dimensionality of
+              the GNSS solution is less than this value. 3 for the full (3D)
+              solution, 2 for planar (2D) solution, 1 for time-only solution,
+              0 disables the feature.
+      </long_desc>
+      <min>0</min>
+      <max>3</max>
+      <values>
+        <value code="0">disables the feature</value>
+        <value code="1">time-only solution</value>
+        <value code="2">planar (2D) solution</value>
+        <value code="3">full (3D) solution</value>
+      </values>
+    </parameter>
+    <parameter default="0" name="gnss.warn_sats" type="INT32">
+      <short_desc />
+      <long_desc>Set the device health to Warning if the number of satellites
+        used in the GNSS solution is below this threshold. Zero
+        disables the feature
+      </long_desc>
+    </parameter>
+    <parameter default="2" name="gnss.dyn_model" type="INT32">
+      <short_desc>GNSS dynamic model</short_desc>
+      <long_desc>Dynamic model used in the GNSS positioning engine. 0 –
+        Automotive, 1 – Sea, 2 – Airborne.
+      </long_desc>
+      <min>0</min>
+      <max>2</max>
+      <values>
+        <value code="0">Automotive</value>
+        <value code="1">Sea</value>
+        <value code="2">Airborne</value>
+      </values>
+    </parameter>
+    <parameter default="1" name="gnss.old_fix_msg" type="INT32">
+      <short_desc>Broadcast old GNSS fix message</short_desc>
+      <long_desc>Broadcast the old (deprecated) GNSS fix message
+        uavcan.equipment.gnss.Fix alongside the new alternative
+        uavcan.equipment.gnss.Fix2. It is recommended to
+        disable this feature to reduce the CAN bus traffic.
+      </long_desc>
+      <min>0</min>
+      <max>1</max>
+      <values>
+        <value code="0">Fix2</value>
+        <value code="1">Fix and Fix2</value>
+      </values>
+    </parameter>
+    <parameter default="0" name="uavcan.pubp-pres" type="INT32">
+      <short_desc />
+      <long_desc>Set the device health to Warning if the number of satellites
+        used in the GNSS solution is below this threshold. Zero
+        disables the feature
+      </long_desc>
+      <unit>microseconds</unit>
+      <min>0</min>
+      <max>1000000</max>
+    </parameter>
+  </group>
   <group name="Airspeed Validator">
     <parameter default="1.0" name="ARSP_ARSP_SCALE" type="FLOAT">
       <short_desc>Airspeed scale (scale from IAS to CAS/EAS)</short_desc>