diff --git a/src/AutoPilotPlugins/PX4/AirframeFactMetaData.xml b/src/AutoPilotPlugins/PX4/AirframeFactMetaData.xml
index 586c44657ec6bbf6cdc9d4187e7e2534a24f8096..1505fcd241dbb268d257cdcb0186febe9f8b9c85 100644
--- a/src/AutoPilotPlugins/PX4/AirframeFactMetaData.xml
+++ b/src/AutoPilotPlugins/PX4/AirframeFactMetaData.xml
@@ -535,18 +535,6 @@
       <output name="AUX3">feed-through of RC AUX3 channel</output>
     </airframe>
   </airframe_group>
-  <airframe_group image="PlaneVTail" name="Plane V-Tail">
-    <airframe id="2200" maintainer="Friedrich Beckmann &lt;friedrich.beckmann@hs-augsburg.de&gt;" name="X-UAV Mini Talon">
-      <class>Plane</class>
-      <maintainer>Friedrich Beckmann &lt;friedrich.beckmann@hs-augsburg.de&gt;</maintainer>
-      <type>Plane V-Tail</type>
-      <output name="MAIN1">aileron right</output>
-      <output name="MAIN2">aileron left</output>
-      <output name="MAIN3">v-tail right</output>
-      <output name="MAIN4">v-tail left</output>
-      <output name="MAIN5">throttle</output>
-    </airframe>
-  </airframe_group>
   <airframe_group image="AirframeUnknown" name="Simulation (Plane)">
     <airframe id="1000" maintainer="Lorenz Meier &lt;lorenz@px4.io&gt;" name="HILStar (XPlane)">
       <class>Plane</class>
diff --git a/src/FirmwarePlugin/PX4/PX4ParameterFactMetaData.xml b/src/FirmwarePlugin/PX4/PX4ParameterFactMetaData.xml
index 8ffa73bc89caebc331478a147303358a6845fcb5..77acd1a73d1845a3ab4ff36d3d7e1e1fb9452c69 100644
--- a/src/FirmwarePlugin/PX4/PX4ParameterFactMetaData.xml
+++ b/src/FirmwarePlugin/PX4/PX4ParameterFactMetaData.xml
@@ -3885,6 +3885,18 @@ Used to calculate increased terrain random walk nosie due to movement</short_des
       <boolean />
       <scope>modules/mavlink</scope>
     </parameter>
+    <parameter default="1" name="MAV_HASH_CHK_EN" type="INT32">
+      <short_desc>Parameter hash check</short_desc>
+      <long_desc>Disabling the parameter hash check functionality will make the mavlink instance stream parameters continuously.</long_desc>
+      <boolean />
+      <scope>modules/mavlink</scope>
+    </parameter>
+    <parameter default="1" name="MAV_HB_FORW_EN" type="INT32">
+      <short_desc>Hearbeat message forwarding</short_desc>
+      <long_desc>The mavlink hearbeat message will not be forwarded if this parameter is set to 'disabled'. The main reason for disabling heartbeats to be forwarded is because they confuse dronekit.</long_desc>
+      <boolean />
+      <scope>modules/mavlink</scope>
+    </parameter>
     <parameter default="0" name="MAV_PROTO_VER" type="INT32">
       <short_desc>MAVLink protocol version</short_desc>
       <scope>modules/mavlink</scope>
@@ -5333,6 +5345,78 @@ the setpoint will be capped to MPC_XY_VEL_MAX</short_desc>
       <reboot_required>true</reboot_required>
       <scope>modules/sensors</scope>
     </parameter>
+    <parameter default="-1" name="PWM_AUX_MAX1" type="INT32">
+      <short_desc>Set the max PWM value for the auxiliary 1 output</short_desc>
+      <long_desc>This is the maximum PWM pulse the autopilot is allowed to output. When set to -1 the value for PWM_AUX_MAX will be used</long_desc>
+      <min>-1</min>
+      <max>2200</max>
+      <unit>us</unit>
+      <reboot_required>true</reboot_required>
+      <scope>modules/sensors</scope>
+    </parameter>
+    <parameter default="-1" name="PWM_AUX_MAX2" type="INT32">
+      <short_desc>Set the max PWM value for the auxiliary 2 output</short_desc>
+      <long_desc>This is the maximum PWM pulse the autopilot is allowed to output. When set to -1 the value for PWM_AUX_MAX will be used</long_desc>
+      <min>-1</min>
+      <max>2200</max>
+      <unit>us</unit>
+      <reboot_required>true</reboot_required>
+      <scope>modules/sensors</scope>
+    </parameter>
+    <parameter default="-1" name="PWM_AUX_MAX3" type="INT32">
+      <short_desc>Set the max PWM value for the auxiliary 3 output</short_desc>
+      <long_desc>This is the maximum PWM pulse the autopilot is allowed to output. When set to -1 the value for PWM_AUX_MAX will be used</long_desc>
+      <min>-1</min>
+      <max>2200</max>
+      <unit>us</unit>
+      <reboot_required>true</reboot_required>
+      <scope>modules/sensors</scope>
+    </parameter>
+    <parameter default="-1" name="PWM_AUX_MAX4" type="INT32">
+      <short_desc>Set the max PWM value for the auxiliary 4 output</short_desc>
+      <long_desc>This is the maximum PWM pulse the autopilot is allowed to output. When set to -1 the value for PWM_AUX_MAX will be used</long_desc>
+      <min>-1</min>
+      <max>2200</max>
+      <unit>us</unit>
+      <reboot_required>true</reboot_required>
+      <scope>modules/sensors</scope>
+    </parameter>
+    <parameter default="-1" name="PWM_AUX_MAX5" type="INT32">
+      <short_desc>Set the max PWM value for the auxiliary 5 output</short_desc>
+      <long_desc>This is the maximum PWM pulse the autopilot is allowed to output. When set to -1 the value for PWM_AUX_MAX will be used</long_desc>
+      <min>-1</min>
+      <max>2200</max>
+      <unit>us</unit>
+      <reboot_required>true</reboot_required>
+      <scope>modules/sensors</scope>
+    </parameter>
+    <parameter default="-1" name="PWM_AUX_MAX6" type="INT32">
+      <short_desc>Set the max PWM value for the auxiliary 6 output</short_desc>
+      <long_desc>This is the maximum PWM pulse the autopilot is allowed to output. When set to -1 the value for PWM_AUX_MAX will be used</long_desc>
+      <min>-1</min>
+      <max>2200</max>
+      <unit>us</unit>
+      <reboot_required>true</reboot_required>
+      <scope>modules/sensors</scope>
+    </parameter>
+    <parameter default="-1" name="PWM_AUX_MAX7" type="INT32">
+      <short_desc>Set the max PWM value for the auxiliary 7 output</short_desc>
+      <long_desc>This is the maximum PWM pulse the autopilot is allowed to output. When set to -1 the value for PWM_AUX_MAX will be used</long_desc>
+      <min>-1</min>
+      <max>2200</max>
+      <unit>us</unit>
+      <reboot_required>true</reboot_required>
+      <scope>modules/sensors</scope>
+    </parameter>
+    <parameter default="-1" name="PWM_AUX_MAX8" type="INT32">
+      <short_desc>Set the max PWM value for the auxiliary 8 output</short_desc>
+      <long_desc>This is the maximum PWM pulse the autopilot is allowed to output. When set to -1 the value for PWM_AUX_MAX will be used</long_desc>
+      <min>-1</min>
+      <max>2200</max>
+      <unit>us</unit>
+      <reboot_required>true</reboot_required>
+      <scope>modules/sensors</scope>
+    </parameter>
     <parameter default="1000" name="PWM_AUX_MIN" type="INT32">
       <short_desc>Set the minimum PWM for the auxiliary outputs</short_desc>
       <long_desc>Set to 1000 for industry default or 900 to increase servo travel.</long_desc>
@@ -5342,6 +5426,78 @@ the setpoint will be capped to MPC_XY_VEL_MAX</short_desc>
       <reboot_required>true</reboot_required>
       <scope>modules/sensors</scope>
     </parameter>
+    <parameter default="-1" name="PWM_AUX_MIN1" type="INT32">
+      <short_desc>Set the min PWM value for the auxiliary 1 output</short_desc>
+      <long_desc>This is the minimum PWM pulse the autopilot is allowed to output. When set to -1 the value for PWM_AUX_MIN will be used</long_desc>
+      <min>-1</min>
+      <max>2200</max>
+      <unit>us</unit>
+      <reboot_required>true</reboot_required>
+      <scope>modules/sensors</scope>
+    </parameter>
+    <parameter default="-1" name="PWM_AUX_MIN2" type="INT32">
+      <short_desc>Set the min PWM value for the auxiliary 2 output</short_desc>
+      <long_desc>This is the minimum PWM pulse the autopilot is allowed to output. When set to -1 the value for PWM_AUX_MIN will be used</long_desc>
+      <min>-1</min>
+      <max>2200</max>
+      <unit>us</unit>
+      <reboot_required>true</reboot_required>
+      <scope>modules/sensors</scope>
+    </parameter>
+    <parameter default="-1" name="PWM_AUX_MIN3" type="INT32">
+      <short_desc>Set the min PWM value for the auxiliary 3 output</short_desc>
+      <long_desc>This is the minimum PWM pulse the autopilot is allowed to output. When set to -1 the value for PWM_AUX_MIN will be used</long_desc>
+      <min>-1</min>
+      <max>2200</max>
+      <unit>us</unit>
+      <reboot_required>true</reboot_required>
+      <scope>modules/sensors</scope>
+    </parameter>
+    <parameter default="-1" name="PWM_AUX_MIN4" type="INT32">
+      <short_desc>Set the min PWM value for the auxiliary 4 output</short_desc>
+      <long_desc>This is the minimum PWM pulse the autopilot is allowed to output. When set to -1 the value for PWM_AUX_MIN will be used</long_desc>
+      <min>-1</min>
+      <max>2200</max>
+      <unit>us</unit>
+      <reboot_required>true</reboot_required>
+      <scope>modules/sensors</scope>
+    </parameter>
+    <parameter default="-1" name="PWM_AUX_MIN5" type="INT32">
+      <short_desc>Set the min PWM value for the auxiliary 5 output</short_desc>
+      <long_desc>This is the minimum PWM pulse the autopilot is allowed to output. When set to -1 the value for PWM_AUX_MIN will be used</long_desc>
+      <min>-1</min>
+      <max>2200</max>
+      <unit>us</unit>
+      <reboot_required>true</reboot_required>
+      <scope>modules/sensors</scope>
+    </parameter>
+    <parameter default="-1" name="PWM_AUX_MIN6" type="INT32">
+      <short_desc>Set the min PWM value for the auxiliary 6 output</short_desc>
+      <long_desc>This is the minimum PWM pulse the autopilot is allowed to output. When set to -1 the value for PWM_AUX_MIN will be used</long_desc>
+      <min>-1</min>
+      <max>2200</max>
+      <unit>us</unit>
+      <reboot_required>true</reboot_required>
+      <scope>modules/sensors</scope>
+    </parameter>
+    <parameter default="-1" name="PWM_AUX_MIN7" type="INT32">
+      <short_desc>Set the min PWM value for the auxiliary 7 output</short_desc>
+      <long_desc>This is the minimum PWM pulse the autopilot is allowed to output. When set to -1 the value for PWM_AUX_MIN will be used</long_desc>
+      <min>-1</min>
+      <max>2200</max>
+      <unit>us</unit>
+      <reboot_required>true</reboot_required>
+      <scope>modules/sensors</scope>
+    </parameter>
+    <parameter default="-1" name="PWM_AUX_MIN8" type="INT32">
+      <short_desc>Set the min PWM value for the auxiliary 8 output</short_desc>
+      <long_desc>This is the minimum PWM pulse the autopilot is allowed to output. When set to -1 the value for PWM_AUX_MIN will be used</long_desc>
+      <min>-1</min>
+      <max>2200</max>
+      <unit>us</unit>
+      <reboot_required>true</reboot_required>
+      <scope>modules/sensors</scope>
+    </parameter>
     <parameter default="50" name="PWM_AUX_RATE" type="INT32">
       <short_desc>Set the PWM output frequency for the auxiliary outputs</short_desc>
       <long_desc>Set to 400 for industry default or 1000 for high frequency ESCs. Set to 0 for Oneshot125.</long_desc>
@@ -5616,6 +5772,150 @@ the setpoint will be capped to MPC_XY_VEL_MAX</short_desc>
       <reboot_required>true</reboot_required>
       <scope>modules/sensors</scope>
     </parameter>
+    <parameter default="-1" name="PWM_MAIN_MAX1" type="INT32">
+      <short_desc>Set the max PWM value for the main 1 output</short_desc>
+      <long_desc>This is the maximum PWM pulse the autopilot is allowed to output. When set to -1 the value for PWM_MAX will be used</long_desc>
+      <min>-1</min>
+      <max>2200</max>
+      <unit>us</unit>
+      <reboot_required>true</reboot_required>
+      <scope>modules/sensors</scope>
+    </parameter>
+    <parameter default="-1" name="PWM_MAIN_MAX2" type="INT32">
+      <short_desc>Set the max PWM value for the main 2 output</short_desc>
+      <long_desc>This is the maximum PWM pulse the autopilot is allowed to output. When set to -1 the value for PWM_MAX will be used</long_desc>
+      <min>-1</min>
+      <max>2200</max>
+      <unit>us</unit>
+      <reboot_required>true</reboot_required>
+      <scope>modules/sensors</scope>
+    </parameter>
+    <parameter default="-1" name="PWM_MAIN_MAX3" type="INT32">
+      <short_desc>Set the max PWM value for the main 3 output</short_desc>
+      <long_desc>This is the maximum PWM pulse the autopilot is allowed to output. When set to -1 the value for PWM_MAX will be used</long_desc>
+      <min>-1</min>
+      <max>2200</max>
+      <unit>us</unit>
+      <reboot_required>true</reboot_required>
+      <scope>modules/sensors</scope>
+    </parameter>
+    <parameter default="-1" name="PWM_MAIN_MAX4" type="INT32">
+      <short_desc>Set the max PWM value for the main 4 output</short_desc>
+      <long_desc>This is the maximum PWM pulse the autopilot is allowed to output. When set to -1 the value for PWM_MAX will be used</long_desc>
+      <min>-1</min>
+      <max>2200</max>
+      <unit>us</unit>
+      <reboot_required>true</reboot_required>
+      <scope>modules/sensors</scope>
+    </parameter>
+    <parameter default="-1" name="PWM_MAIN_MAX5" type="INT32">
+      <short_desc>Set the max PWM value for the main 5 output</short_desc>
+      <long_desc>This is the maximum PWM pulse the autopilot is allowed to output. When set to -1 the value for PWM_MAX will be used</long_desc>
+      <min>-1</min>
+      <max>2200</max>
+      <unit>us</unit>
+      <reboot_required>true</reboot_required>
+      <scope>modules/sensors</scope>
+    </parameter>
+    <parameter default="-1" name="PWM_MAIN_MAX6" type="INT32">
+      <short_desc>Set the max PWM value for the main 6 output</short_desc>
+      <long_desc>This is the maximum PWM pulse the autopilot is allowed to output. When set to -1 the value for PWM_MAX will be used</long_desc>
+      <min>-1</min>
+      <max>2200</max>
+      <unit>us</unit>
+      <reboot_required>true</reboot_required>
+      <scope>modules/sensors</scope>
+    </parameter>
+    <parameter default="-1" name="PWM_MAIN_MAX7" type="INT32">
+      <short_desc>Set the max PWM value for the main 7 output</short_desc>
+      <long_desc>This is the maximum PWM pulse the autopilot is allowed to output. When set to -1 the value for PWM_MAX will be used</long_desc>
+      <min>-1</min>
+      <max>2200</max>
+      <unit>us</unit>
+      <reboot_required>true</reboot_required>
+      <scope>modules/sensors</scope>
+    </parameter>
+    <parameter default="-1" name="PWM_MAIN_MAX8" type="INT32">
+      <short_desc>Set the max PWM value for the main 8 output</short_desc>
+      <long_desc>This is the maximum PWM pulse the autopilot is allowed to output. When set to -1 the value for PWM_MAX will be used</long_desc>
+      <min>-1</min>
+      <max>2200</max>
+      <unit>us</unit>
+      <reboot_required>true</reboot_required>
+      <scope>modules/sensors</scope>
+    </parameter>
+    <parameter default="-1" name="PWM_MAIN_MIN1" type="INT32">
+      <short_desc>Set the min PWM value for the main 1 output</short_desc>
+      <long_desc>This is the minimum PWM pulse the autopilot is allowed to output. When set to -1 the value for PWM_MIN will be used</long_desc>
+      <min>-1</min>
+      <max>2200</max>
+      <unit>us</unit>
+      <reboot_required>true</reboot_required>
+      <scope>modules/sensors</scope>
+    </parameter>
+    <parameter default="-1" name="PWM_MAIN_MIN2" type="INT32">
+      <short_desc>Set the min PWM value for the main 2 output</short_desc>
+      <long_desc>This is the minimum PWM pulse the autopilot is allowed to output. When set to -1 the value for PWM_MIN will be used</long_desc>
+      <min>-1</min>
+      <max>2200</max>
+      <unit>us</unit>
+      <reboot_required>true</reboot_required>
+      <scope>modules/sensors</scope>
+    </parameter>
+    <parameter default="-1" name="PWM_MAIN_MIN3" type="INT32">
+      <short_desc>Set the min PWM value for the main 3 output</short_desc>
+      <long_desc>This is the minimum PWM pulse the autopilot is allowed to output. When set to -1 the value for PWM_MIN will be used</long_desc>
+      <min>-1</min>
+      <max>2200</max>
+      <unit>us</unit>
+      <reboot_required>true</reboot_required>
+      <scope>modules/sensors</scope>
+    </parameter>
+    <parameter default="-1" name="PWM_MAIN_MIN4" type="INT32">
+      <short_desc>Set the min PWM value for the main 4 output</short_desc>
+      <long_desc>This is the minimum PWM pulse the autopilot is allowed to output. When set to -1 the value for PWM_MIN will be used</long_desc>
+      <min>-1</min>
+      <max>2200</max>
+      <unit>us</unit>
+      <reboot_required>true</reboot_required>
+      <scope>modules/sensors</scope>
+    </parameter>
+    <parameter default="-1" name="PWM_MAIN_MIN5" type="INT32">
+      <short_desc>Set the min PWM value for the main 5 output</short_desc>
+      <long_desc>This is the minimum PWM pulse the autopilot is allowed to output. When set to -1 the value for PWM_MIN will be used</long_desc>
+      <min>-1</min>
+      <max>2200</max>
+      <unit>us</unit>
+      <reboot_required>true</reboot_required>
+      <scope>modules/sensors</scope>
+    </parameter>
+    <parameter default="-1" name="PWM_MAIN_MIN6" type="INT32">
+      <short_desc>Set the min PWM value for the main 6 output</short_desc>
+      <long_desc>This is the minimum PWM pulse the autopilot is allowed to output. When set to -1 the value for PWM_MIN will be used</long_desc>
+      <min>-1</min>
+      <max>2200</max>
+      <unit>us</unit>
+      <reboot_required>true</reboot_required>
+      <scope>modules/sensors</scope>
+    </parameter>
+    <parameter default="-1" name="PWM_MAIN_MIN7" type="INT32">
+      <short_desc>Set the min PWM value for the main 7 output</short_desc>
+      <long_desc>This is the minimum PWM pulse the autopilot is allowed to output. When set to -1 the value for PWM_MIN will be used</long_desc>
+      <min>-1</min>
+      <max>2200</max>
+      <unit>us</unit>
+      <reboot_required>true</reboot_required>
+      <scope>modules/sensors</scope>
+    </parameter>
+    <parameter default="-1" name="PWM_MAIN_MIN8" type="INT32">
+      <short_desc>Set the min PWM value for the main 8 output</short_desc>
+      <long_desc>This is the minimum PWM pulse the autopilot is allowed to output. When set to -1 the value for PWM_MIN will be used</long_desc>
+      <min>-1</min>
+      <max>2200</max>
+      <unit>us</unit>
+      <reboot_required>true</reboot_required>
+      <scope>modules/sensors</scope>
+    </parameter>
     <parameter default="0" name="PWM_MAIN_REV1" type="INT32">
       <short_desc>Invert direction of main output channel 1</short_desc>
       <long_desc>Enable to invert the channel.</long_desc>
@@ -8909,6 +9209,13 @@ is less than 50% of this value</short_desc>
       <reboot_required>true</reboot_required>
       <scope>modules/systemlib</scope>
     </parameter>
+    <parameter default="0" name="SYS_BL_UPDATE" type="INT32">
+      <short_desc>Bootloader update</short_desc>
+      <long_desc>If enabled, update the bootloader on the next boot. WARNING: do not cut the power during an update process, otherwise you will have to recover using some alternative method (e.g. JTAG). Instructions: - Insert an SD card - Enable this parameter - Reboot the board (plug the power or send a reboot command) - Wait until the board comes back up (or at least 2 minutes) - If it does not come back, check the file bootlog.txt on the SD card</long_desc>
+      <boolean />
+      <reboot_required>true</reboot_required>
+      <scope>modules/systemlib</scope>
+    </parameter>
     <parameter default="0" name="SYS_CAL_ACCEL" type="INT32">
       <short_desc>Enable auto start of accelerometer thermal calibration at the next power up</short_desc>
       <long_desc>0 : Set to 0 to do nothing 1 : Set to 1 to start a calibration at next boot This parameter is reset to zero when the the temperature calibration starts. default (0, no calibration)</long_desc>