diff --git a/src/FirmwarePlugin/PX4/PX4ParameterFactMetaData.xml b/src/FirmwarePlugin/PX4/PX4ParameterFactMetaData.xml
index 9e86625..d7e6027 100644
--- a/src/FirmwarePlugin/PX4/PX4ParameterFactMetaData.xml
+++ b/src/FirmwarePlugin/PX4/PX4ParameterFactMetaData.xml
@@ -4051,43 +4051,6 @@
-
- X Position of IRLOCK in body frame (forward)
- m
- 3
- true
-
-
- Y Position of IRLOCK in body frame (right)
- m
- 3
- true
-
-
- Z Position of IRLOCK in body frame (downward)
- m
- 3
- true
-
-
- Rotation of IRLOCK sensor relative to airframe
- Default orientation of Yaw 90°
- -1
- 40
- true
-
- No rotation
- Yaw 45°
- Yaw 90°
- Yaw 135°
- Yaw 180°
- Yaw 225°
- Yaw 270°
- Yaw 315°
-
-
-
-
Acceleration uncertainty
Variance of acceleration measurement used for landing target position prediction. Higher values results in tighter following of the measurements and more lenient outlier rejection
@@ -4130,6 +4093,41 @@
0.01
3
+
+ X Position of IRLOCK in body frame (forward)
+ m
+ 3
+ true
+
+
+ Y Position of IRLOCK in body frame (right)
+ m
+ 3
+ true
+
+
+ Z Position of IRLOCK in body frame (downward)
+ m
+ 3
+ true
+
+
+ Rotation of IRLOCK sensor relative to airframe
+ Default orientation of Yaw 90°
+ -1
+ 40
+ true
+
+ No rotation
+ Yaw 45°
+ Yaw 90°
+ Yaw 135°
+ Yaw 180°
+ Yaw 225°
+ Yaw 270°
+ Yaw 315°
+
+
Initial landing target velocity uncertainty
Initial variance of the relative landing target velocity in x and y directions
@@ -4687,10 +4685,9 @@
1
- Take-off altitude
- This is the minimum altitude the system will take off to.
+ Default take-off altitude
+ This is the relative altitude the system will take off to if not otherwise specified.
0
- 80
m
1
0.5
@@ -8305,6 +8302,45 @@
Internal device counter is reset to 0 when overrun this value, counter is able to store up to 6 digits reset of counter takes some time - measurement with reset has worse accuracy. 0 means reset counter after every measurement.
true
+
+ AFBR Rangefinder Short/Long Range Threshold Hysteresis
+ This parameter defines the hysteresis for switching between short and long range mode.
+ 1
+ 10
+ m
+
+
+ AFBR Rangefinder Long Range Rate
+ This parameter defines measurement rate of the AFBR Rangefinder in long range mode.
+ 1
+ 100
+
+
+ AFBR Rangefinder Mode
+ This parameter defines the mode of the AFBR Rangefinder.
+ 0
+ 3
+ true
+
+ Short Range Mode
+ Long Range Mode
+ High Speed Short Range Mode
+ High Speed Long Range Mode
+
+
+
+ AFBR Rangefinder Short Range Rate
+ This parameter defines measurement rate of the AFBR Rangefinder in short range mode.
+ 1
+ 100
+
+
+ AFBR Rangefinder Short/Long Range Threshold
+ This parameter defines the threshold for switching between short and long range mode. The mode will switch from short to long range when the distance is greater than the threshold plus the hysteresis. The mode will switch from long to short range when the distance is less than the threshold minus the hysteresis.
+ 1
+ 50
+ m
+
QNH for barometer
500