diff --git a/src/FirmwarePlugin/PX4/PX4ParameterFactMetaData.xml b/src/FirmwarePlugin/PX4/PX4ParameterFactMetaData.xml
index b2051e8..9155349 100644
--- a/src/FirmwarePlugin/PX4/PX4ParameterFactMetaData.xml
+++ b/src/FirmwarePlugin/PX4/PX4ParameterFactMetaData.xml
@@ -1062,7 +1062,7 @@ Set to 2 to use heading from motion capture</short_desc>
     </parameter>
     <parameter name="COM_ARM_AUTH_REQ" default="0" type="INT32" boolean="true">
       <short_desc>Require arm authorization to arm</short_desc>
-      <long_desc>The default allows to arm the vehicle without a arm authorization.</long_desc>
+      <long_desc>By default off. 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>
@@ -1147,9 +1147,13 @@ Set -1 to disable the check</short_desc>
       <short_desc>Arm switch is only a button</short_desc>
       <long_desc>The default uses the arm switch as real switch. If parameter set button gets handled like stick arming.</long_desc>
     </parameter>
-    <parameter name="COM_ARM_WO_GPS" default="1" type="INT32" boolean="true">
+    <parameter name="COM_ARM_WO_GPS" default="1" type="INT32">
       <short_desc>Allow arming without GPS</short_desc>
       <long_desc>The default allows to arm the vehicle without GPS signal.</long_desc>
+      <values>
+        <value code="0">Allow arming without GPS</value>
+        <value code="1">Require GPS lock to arm</value>
+      </values>
     </parameter>
     <parameter name="COM_CPU_MAX" default="90.0" type="FLOAT">
       <short_desc>Maximum allowed CPU load to still arm</short_desc>
@@ -11759,6 +11763,16 @@ How often the sensor is readout</short_desc>
     </parameter>
   </group>
   <group name="Simulation In Hardware">
+    <parameter name="SIH_BARO_OFFSET" default="0.0" type="FLOAT">
+      <short_desc>Barometer offset in meters</short_desc>
+      <long_desc>Absolute value superior to 10000 will disable barometer</long_desc>
+      <unit>m</unit>
+    </parameter>
+    <parameter name="SIH_GPS_USED" default="10" type="INT32">
+      <short_desc>Number of GPS satellites used</short_desc>
+      <min>0</min>
+      <max>50</max>
+    </parameter>
     <parameter name="SIH_IXX" default="0.025" type="FLOAT">
       <short_desc>Vehicle inertia about X axis</short_desc>
       <long_desc>The intertia is a 3 by 3 symmetric matrix. It represents the difficulty of the vehicle to modify its angular rate.</long_desc>
@@ -11886,6 +11900,21 @@ How often the sensor is readout</short_desc>
       <decimal>2</decimal>
       <increment>0.05</increment>
     </parameter>
+    <parameter name="SIH_MAG_OFFSET_X" default="0.0" type="FLOAT">
+      <short_desc>magnetometer X offset in Gauss</short_desc>
+      <long_desc>Absolute value superior to 10000 will disable magnetometer</long_desc>
+      <unit>gauss</unit>
+    </parameter>
+    <parameter name="SIH_MAG_OFFSET_Y" default="0.0" type="FLOAT">
+      <short_desc>magnetometer Y offset in Gauss</short_desc>
+      <long_desc>Absolute value superior to 10000 will disable magnetometer</long_desc>
+      <unit>gauss</unit>
+    </parameter>
+    <parameter name="SIH_MAG_OFFSET_Z" default="0.0" type="FLOAT">
+      <short_desc>magnetometer Z offset in Gauss</short_desc>
+      <long_desc>Absolute value superior to 10000 will disable magnetometer</long_desc>
+      <unit>gauss</unit>
+    </parameter>
     <parameter name="SIH_MASS" default="1.0" type="FLOAT">
       <short_desc>Vehicle mass</short_desc>
       <long_desc>This value can be measured by weighting the quad on a scale.</long_desc>
@@ -12983,6 +13012,8 @@ demanded down pitch to fixed-wing actuation</short_desc>
         <value code="2">Enable FW forward actuation in hover in altitude, position and auto modes if above MPC_LAND_ALT1.</value>
         <value code="3">Enable FW forward actuation in hover in altitude, position and auto modes if above MPC_LAND_ALT2.</value>
         <value code="4">Enable FW forward actuation in hover in altitude, position and auto modes.</value>
+        <value code="5">Enable FW forward actuation in hover in altitude, position and auto modes if above MPC_LAND_ALT1 (except LANDING).</value>
+        <value code="6">Enable FW forward actuation in hover in altitude, position and auto modes if above MPC_LAND_ALT2 (except LANDING).</value>
       </values>
     </parameter>
     <parameter name="VT_FWD_THRUST_SC" default="0.7" type="FLOAT">