diff --git a/src/AutoPilotPlugins/PX4/AirframeFactMetaData.xml b/src/AutoPilotPlugins/PX4/AirframeFactMetaData.xml
index adcbccd..c762c5d 100644
--- a/src/AutoPilotPlugins/PX4/AirframeFactMetaData.xml
+++ b/src/AutoPilotPlugins/PX4/AirframeFactMetaData.xml
@@ -329,6 +329,11 @@
       <maintainer>Michael Schaeuble</maintainer>
       <type>Quadrotor x</type>
     </airframe>
+    <airframe id="4014" maintainer="Lorenz Meier &lt;lorenz@px4.io&gt;" name="S500">
+      <class>Copter</class>
+      <maintainer>Lorenz Meier &lt;lorenz@px4.io&gt;</maintainer>
+      <type>Quadrotor x</type>
+    </airframe>
     <airframe id="4020" maintainer="Thomas Gubler &lt;thomas@px4.io&gt;" name="Hobbyking Micro PCB">
       <class>Copter</class>
       <maintainer>Thomas Gubler &lt;thomas@px4.io&gt;</maintainer>
diff --git a/src/FirmwarePlugin/PX4/PX4ParameterFactMetaData.xml b/src/FirmwarePlugin/PX4/PX4ParameterFactMetaData.xml
index 6425236..eee5b8e 100644
--- a/src/FirmwarePlugin/PX4/PX4ParameterFactMetaData.xml
+++ b/src/FirmwarePlugin/PX4/PX4ParameterFactMetaData.xml
@@ -199,6 +199,7 @@ Set to 2 to use heading from motion capture</short_desc>
     </parameter>
     <parameter default="0.1" name="ATT_W_MAG" type="FLOAT">
       <short_desc>Complimentary filter magnetometer weight</short_desc>
+      <long_desc>Set to 0 to avoid using the magnetometer.</long_desc>
       <min>0</min>
       <max>1</max>
       <decimal>2</decimal>
@@ -2159,7 +2160,7 @@ This is the ratio of static pressure error to dynamic pressure generated by a wi
     </parameter>
     <parameter default="60.0" name="FW_P_RMAX_NEG" type="FLOAT">
       <short_desc>Maximum negative / down pitch rate</short_desc>
-      <long_desc>This limits the maximum pitch down up angular rate the controller will output (in degrees per second). Setting a value of zero disables the limit.</long_desc>
+      <long_desc>This limits the maximum pitch down up angular rate the controller will output (in degrees per second).</long_desc>
       <min>0.0</min>
       <max>90.0</max>
       <unit>deg/s</unit>
@@ -2169,7 +2170,7 @@ This is the ratio of static pressure error to dynamic pressure generated by a wi
     </parameter>
     <parameter default="60.0" name="FW_P_RMAX_POS" type="FLOAT">
       <short_desc>Maximum positive / up pitch rate</short_desc>
-      <long_desc>This limits the maximum pitch up angular rate the controller will output (in degrees per second). Setting a value of zero disables the limit.</long_desc>
+      <long_desc>This limits the maximum pitch up angular rate the controller will output (in degrees per second).</long_desc>
       <min>0.0</min>
       <max>90.0</max>
       <unit>deg/s</unit>
@@ -2255,7 +2256,7 @@ This is the ratio of static pressure error to dynamic pressure generated by a wi
     </parameter>
     <parameter default="70.0" name="FW_R_RMAX" type="FLOAT">
       <short_desc>Maximum roll rate</short_desc>
-      <long_desc>This limits the maximum roll rate the controller will output (in degrees per second). Setting a value of zero disables the limit.</long_desc>
+      <long_desc>This limits the maximum roll rate the controller will output (in degrees per second).</long_desc>
       <min>0.0</min>
       <max>90.0</max>
       <unit>deg/s</unit>
@@ -2317,9 +2318,9 @@ This is the ratio of static pressure error to dynamic pressure generated by a wi
       <boolean />
       <scope>modules/fw_att_control</scope>
     </parameter>
-    <parameter default="0.0" name="FW_W_RMAX" type="FLOAT">
+    <parameter default="30.0" name="FW_W_RMAX" type="FLOAT">
       <short_desc>Maximum wheel steering rate</short_desc>
-      <long_desc>This limits the maximum wheel steering rate the controller will output (in degrees per second). Setting a value of zero disables the limit.</long_desc>
+      <long_desc>This limits the maximum wheel steering rate the controller will output (in degrees per second).</long_desc>
       <min>0.0</min>
       <max>90.0</max>
       <unit>deg/s</unit>
@@ -2337,7 +2338,7 @@ This is the ratio of static pressure error to dynamic pressure generated by a wi
       <increment>0.05</increment>
       <scope>modules/fw_att_control</scope>
     </parameter>
-    <parameter default="0.0" name="FW_YR_I" type="FLOAT">
+    <parameter default="0.01" name="FW_YR_I" type="FLOAT">
       <short_desc>Yaw rate integrator gain</short_desc>
       <long_desc>This gain defines how much control response will result out of a steady state error. It trims any constant error.</long_desc>
       <min>0.0</min>
@@ -2366,9 +2367,9 @@ This is the ratio of static pressure error to dynamic pressure generated by a wi
       <increment>0.005</increment>
       <scope>modules/fw_att_control</scope>
     </parameter>
-    <parameter default="0.0" name="FW_Y_RMAX" type="FLOAT">
+    <parameter default="50.0" name="FW_Y_RMAX" type="FLOAT">
       <short_desc>Maximum yaw rate</short_desc>
-      <long_desc>This limits the maximum yaw rate the controller will output (in degrees per second). Setting a value of zero disables the limit.</long_desc>
+      <long_desc>This limits the maximum yaw rate the controller will output (in degrees per second).</long_desc>
       <min>0.0</min>
       <max>90.0</max>
       <unit>deg/s</unit>
@@ -8592,6 +8593,7 @@ This is used for gathering replay logs for the ekf2 module</short_desc>
         <value code="1921600">ESP8266 (921600 baud, 8N1)</value>
         <value code="3115200">Normal Telemetry (115200 baud, 8N1)</value>
         <value code="5115200">Minimal Telemetry (115200 baud, 8N1)</value>
+        <value code="6460800">RTPS Client (460800 baud)</value>
       </values>
     </parameter>
     <parameter default="0" name="SYS_FMU_TASK" type="INT32">
@@ -8601,6 +8603,20 @@ This is used for gathering replay logs for the ekf2 module</short_desc>
       <reboot_required>true</reboot_required>
       <scope>drivers/px4fmu</scope>
     </parameter>
+    <parameter default="1" name="SYS_HAS_BARO" type="INT32">
+      <short_desc>Control if the vehicle has a barometer</short_desc>
+      <long_desc>Disable this if the board has no barometer, such as some of the the Omnibus F4 SD variants. If disabled, the preflight checks will not check for the presence of a barometer.</long_desc>
+      <boolean />
+      <reboot_required>true</reboot_required>
+      <scope>modules/systemlib</scope>
+    </parameter>
+    <parameter default="1" name="SYS_HAS_MAG" type="INT32">
+      <short_desc>Control if the vehicle has a magnetometer</short_desc>
+      <long_desc>Disable this if the board has no magnetometer, such as the Omnibus F4 SD. If disabled, the preflight checks will not check for the presence of a magnetometer.</long_desc>
+      <boolean />
+      <reboot_required>true</reboot_required>
+      <scope>modules/systemlib</scope>
+    </parameter>
     <parameter default="0" name="SYS_HITL" type="INT32">
       <short_desc>Enable HITL mode on next boot</short_desc>
       <long_desc>While enabled the system will boot in HITL mode and not enable all sensors and checks. When disabled the same vehicle can be normally flown outdoors.</long_desc>