diff --git a/src/FirmwarePlugin/PX4/PX4ParameterFactMetaData.xml b/src/FirmwarePlugin/PX4/PX4ParameterFactMetaData.xml
index 36c1a3d..6a3063d 100644
--- a/src/FirmwarePlugin/PX4/PX4ParameterFactMetaData.xml
+++ b/src/FirmwarePlugin/PX4/PX4ParameterFactMetaData.xml
@@ -895,20 +895,29 @@ Set to 2 to use heading from motion capture</short_desc>
     </parameter>
   </group>
   <group name="Commander">
-    <parameter name="COM_ARM_AUTH" default="256010" type="INT32">
-      <short_desc>Arm authorization parameters, this uint32_t will be split between starting from the LSB:
-- 8bits to authorizer system id
-- 16bits to authentication method parameter, this will be used to store a timeout for the first 2 methods but can be used to another parameter for other new authentication methods.
-- 7bits to authentication method
-- one arm = 0
-- two step arm = 1
-* the MSB bit is not used to avoid problems in the conversion between int and uint</short_desc>
-      <long_desc>Default value: (10 &lt;&lt; 0 | 1000 &lt;&lt; 8 | 0 &lt;&lt; 24) = 256010 - authorizer system id = 10 - authentication method parameter = 1000 msec of timeout - authentication method = during arm</long_desc>
+    <parameter name="COM_ARM_AUTH_ID" default="10" type="INT32">
+      <short_desc>Arm authorizer system id</short_desc>
+      <long_desc>Used if arm authorization is requested by COM_ARM_AUTH_REQ.</long_desc>
+    </parameter>
+    <parameter name="COM_ARM_AUTH_MET" default="0" type="INT32">
+      <short_desc>Arm authorization method</short_desc>
+      <long_desc>Methods: - one arm: request authorization and arm when authorization is received - two step arm: 1st arm command request an authorization and 2nd arm command arm the drone if authorized Used if arm authorization is requested by COM_ARM_AUTH_REQ.</long_desc>
+      <values>
+        <value code="0">one arm</value>
+        <value code="1">two step arm</value>
+      </values>
     </parameter>
     <parameter name="COM_ARM_AUTH_REQ" default="0" type="INT32">
       <short_desc>Require arm authorization to arm</short_desc>
       <long_desc>The default allows to arm the vehicle without a arm authorization.</long_desc>
     </parameter>
+    <parameter name="COM_ARM_AUTH_TO" default="1" type="FLOAT">
+      <short_desc>Arm authorization timeout</short_desc>
+      <long_desc>Timeout for authorizer answer. Used if arm authorization is requested by COM_ARM_AUTH_REQ.</long_desc>
+      <unit>s</unit>
+      <decimal>1</decimal>
+      <increment>0.1</increment>
+    </parameter>
     <parameter name="COM_ARM_CHK_ESCS" default="1" type="INT32">
       <short_desc>Require all the ESCs to be detected to arm</short_desc>
       <long_desc>This param is specific for ESCs reporting status. Normal ESCs configurations are not affected by the change of this param.</long_desc>