diff --git a/src/FirmwarePlugin/APM/APMParameterFactMetaData.Rover.3.6.xml b/src/FirmwarePlugin/APM/APMParameterFactMetaData.Rover.3.6.xml
index f22fe26e3b607b4bec38d4fb1c3d6e2c32837919..64e19bd6fe63249810c94ee1ceb8fe012ac37829 100644
--- a/src/FirmwarePlugin/APM/APMParameterFactMetaData.Rover.3.6.xml
+++ b/src/FirmwarePlugin/APM/APMParameterFactMetaData.Rover.3.6.xml
@@ -6,11 +6,11 @@
 <param humanName="Eeprom format version number" name="APMrover2:FORMAT_VERSION" documentation="This value is incremented when changes are made to the eeprom format" user="Advanced">
 </param>
 <param humanName="Log bitmask" name="APMrover2:LOG_BITMASK" documentation="Bitmap of what log types to enable in on-board logger. This value is made up of the sum of each of the log types you want to be saved. On boards supporting microSD cards or other large block-storage devices it is usually best just to enable all log types by setting this to 65535. The individual bits are ATTITUDE_FAST=1, ATTITUDE_MEDIUM=2, GPS=4, PerformanceMonitoring=8, ControlTuning=16, NavigationTuning=32, Mode=64, IMU=128, Commands=256, Battery=512, Compass=1024, TECS=2048, Camera=4096, RCandServo=8192, Rangefinder=16384, Arming=32768, FullLogs=65535" user="Advanced">
-<field name="Bitmask">0:ATTITUDE_FAST,1:ATTITUDE_MED,2:GPS,3:PM,4:THR,5:NTUN,7:IMU,8:CMD,9:CURRENT,10:RANGEFINDER,11:COMPASS,12:CAMERA,13:STEERING,14:RC,15:ARM/DISARM,19:IMU_RAW</field>
 <values>
 <value code="0">Disabled</value>
 <value code="65535">Default</value>
 </values>
+<field name="Bitmask">0:ATTITUDE_FAST,1:ATTITUDE_MED,2:GPS,3:PM,4:THR,5:NTUN,7:IMU,8:CMD,9:CURRENT,10:RANGEFINDER,11:COMPASS,12:CAMERA,13:STEERING,14:RC,15:ARM/DISARM,19:IMU_RAW</field>
 </param>
 <param humanName="Reset Switch Channel" name="APMrover2:RST_SWITCH_CH" documentation="RC channel to use to reset to last flight mode after geofence takeover." user="Advanced">
 </param>
@@ -36,13 +36,12 @@
 <field name="Range">1 255</field>
 </param>
 <param humanName="Telemetry startup delay" name="APMrover2:TELEM_DELAY" documentation="The amount of time (in seconds) to delay radio telemetry to prevent an Xbee bricking on power up" user="Standard">
-<field name="Range">0 30</field>
-<field name="Increment">1</field>
 <field name="Units">s</field>
 <field name="UnitText">seconds</field>
+<field name="Range">0 30</field>
+<field name="Increment">1</field>
 </param>
 <param humanName="GCS PID tuning mask" name="APMrover2:GCS_PID_MASK" documentation="bitmask of PIDs to send MAVLink PID_TUNING messages for" user="Advanced">
-<field name="Bitmask">0:Steering,1:Throttle,2:Pitch,3:Left Wheel,4:Right Wheel,5:Sailboat Heel</field>
 <values>
 <value code="0">None</value>
 <value code="1">Steering</value>
@@ -52,8 +51,9 @@
 <value code="16">Right Wheel</value>
 <value code="32">Sailboat Heel</value>
 </values>
+<field name="Bitmask">0:Steering,1:Throttle,2:Pitch,3:Left Wheel,4:Right Wheel,5:Sailboat Heel</field>
 </param>
-<param humanName="Auto mode trigger pin" name="APMrover2:AUTO_TRIGGER_PIN" documentation="pin number to use to enable the throttle in auto mode. If set to -1 then don't use a trigger, otherwise this is a pin number which if held low in auto mode will enable the motor to run. If the switch is released while in AUTO then the motor will stop again. This can be used in combination with INITIAL_MODE to give a 'press button to start' rover with no receiver." user="standard">
+<param humanName="Auto mode trigger pin" name="APMrover2:AUTO_TRIGGER_PIN" documentation="pin number to use to enable the throttle in auto mode. If set to -1 then don't use a trigger, otherwise this is a pin number which if held low in auto mode will enable the motor to run. If the switch is released while in AUTO then the motor will stop again. This can be used in combination with INITIAL_MODE to give a 'press button to start' rover with no receiver." user="Standard">
 <values>
 <value code="-1">Disabled</value>
 <value code="0">APM TriggerPin0</value>
@@ -73,29 +73,23 @@
 <value code="55">Pixhawk TriggerPin55</value>
 </values>
 </param>
-<param humanName="Auto mode trigger kickstart acceleration" name="APMrover2:AUTO_KICKSTART" documentation="X acceleration in meters/second/second to use to trigger the motor start in auto mode. If set to zero then auto throttle starts immediately when the mode switch happens, otherwise the rover waits for the X acceleration to go above this value before it will start the motor" user="standard">
-<field name="Range">0 20</field>
-<field name="Increment">0.1</field>
+<param humanName="Auto mode trigger kickstart acceleration" name="APMrover2:AUTO_KICKSTART" documentation="X acceleration in meters/second/second to use to trigger the motor start in auto mode. If set to zero then auto throttle starts immediately when the mode switch happens, otherwise the rover waits for the X acceleration to go above this value before it will start the motor" user="Standard">
 <field name="Units">m/s/s</field>
 <field name="UnitText">meters per square second</field>
+<field name="Range">0 20</field>
+<field name="Increment">0.1</field>
 </param>
 <param humanName="Target cruise speed in auto modes" name="APMrover2:CRUISE_SPEED" documentation="The target speed in auto missions." user="Standard">
-<field name="Range">0 100</field>
-<field name="Increment">0.1</field>
 <field name="Units">m/s</field>
 <field name="UnitText">meters per second</field>
-</param>
-<param humanName="Pivot turn angle" name="APMrover2:PIVOT_TURN_ANGLE" documentation="Navigation angle threshold in degrees to switch to pivot steering when SKID_STEER_OUT is 1. This allows you to setup a skid steering rover to turn on the spot in auto mode when the angle it needs to turn it greater than this angle. An angle of zero means to disable pivot turning. Note that you will probably also want to set a low value for WP_RADIUS to get neat turns." user="Standard">
-<field name="Range">0 360</field>
-<field name="Increment">1</field>
-<field name="Units">deg</field>
-<field name="UnitText">degrees</field>
+<field name="Range">0 100</field>
+<field name="Increment">0.1</field>
 </param>
 <param humanName="Base throttle percentage in auto" name="APMrover2:CRUISE_THROTTLE" documentation="The base throttle percentage to use in auto mode. The CRUISE_SPEED parameter controls the target speed, but the rover starts with the CRUISE_THROTTLE setting as the initial estimate for how much throttle is needed to achieve that speed. It then adjusts the throttle based on how fast the rover is actually going." user="Standard">
-<field name="Range">0 100</field>
-<field name="Increment">1</field>
 <field name="Units">%</field>
 <field name="UnitText">percent</field>
+<field name="Range">0 100</field>
+<field name="Increment">1</field>
 </param>
 <param humanName="Pilot input steering type" name="APMrover2:PILOT_STEER_TYPE" documentation="Set this to 1 for skid steering input rovers (tank track style in RC controller). When enabled, servo1 is used for the left track control, servo3 is used for right track control" user="Standard">
 <values>
@@ -115,10 +109,10 @@
 </values>
 </param>
 <param humanName="Failsafe timeout" name="APMrover2:FS_TIMEOUT" documentation="The time in seconds that a failsafe condition must persist before the failsafe action is triggered" user="Standard">
-<field name="Range">1 100</field>
-<field name="Increment">0.5</field>
 <field name="Units">s</field>
 <field name="UnitText">seconds</field>
+<field name="Range">1 100</field>
+<field name="Increment">0.5</field>
 </param>
 <param humanName="Throttle Failsafe Enable" name="APMrover2:FS_THR_ENABLE" documentation="The throttle failsafe allows you to configure a software failsafe activated by a setting on the throttle input channel to a low value. This can be used to detect the RC transmitter going out of range. Failsafe will be triggered when the throttle channel goes below the FS_THR_VALUE for FS_TIMEOUT seconds." user="Standard">
 <values>
@@ -155,22 +149,22 @@
 <field name="Values">0.6:Strict, 0.8:Default, 1.0:Relaxed</field>
 </param>
 <param humanName="Object avoidance trigger distance" name="APMrover2:RNGFND_TRIGGR_CM" documentation="The distance from an obstacle in centimeters at which the rangefinder triggers a turn to avoid the obstacle" user="Standard">
-<field name="Range">0 1000</field>
-<field name="Increment">1</field>
 <field name="Units">cm</field>
 <field name="UnitText">centimeters</field>
+<field name="Range">0 1000</field>
+<field name="Increment">1</field>
 </param>
 <param humanName="Object avoidance turn aggressiveness and direction" name="APMrover2:RNGFND_TURN_ANGL" documentation="The aggressiveness and direction of turn to avoid an obstacle.  Large positive or negative values (i.e. -450 or 450) cause turns up to the vehicle's maximum lateral acceleration (TURN_MAX_G) while values near zero cause gentle turns. Positive means to turn right, negative means turn left." user="Standard">
-<field name="Range">-450 450</field>
-<field name="Increment">1</field>
 <field name="Units">deg</field>
 <field name="UnitText">degrees</field>
+<field name="Range">-450 450</field>
+<field name="Increment">1</field>
 </param>
 <param humanName="Object avoidance turn time" name="APMrover2:RNGFND_TURN_TIME" documentation="The amount of time in seconds to apply the RNGFND_TURN_ANGL after detecting an obstacle." user="Standard">
-<field name="Range">0 100</field>
-<field name="Increment">0.1</field>
 <field name="Units">s</field>
 <field name="UnitText">seconds</field>
+<field name="Range">0 100</field>
+<field name="Increment">0.1</field>
 </param>
 <param humanName="Object avoidance rangefinder debounce count" name="APMrover2:RNGFND_DEBOUNCE" documentation="The number of 50Hz rangefinder hits needed to trigger an obstacle avoidance event. If you get a lot of false rangefinder events then raise this number, but if you make it too large then it will cause lag in detecting obstacles, which could cause you go hit the obstacle." user="Standard">
 <field name="Range">1 100</field>
@@ -268,23 +262,11 @@
 <value code="15">Guided</value>
 </values>
 </param>
-<param humanName="Waypoint radius" name="APMrover2:WP_RADIUS" documentation="The distance in meters from a waypoint when we consider the waypoint has been reached. This determines when the rover will turn along the next waypoint path." user="Standard">
-<field name="Range">0 1000</field>
-<field name="Increment">0.1</field>
-<field name="Units">m</field>
-<field name="UnitText">meters</field>
-</param>
-<param humanName="Waypoint overshoot maximum" name="APMrover2:WP_OVERSHOOT" documentation="Waypoint overshoot maximum in meters.  The vehicle will attempt to stay within this many meters of the track as it completes one waypoint and moves to the next." user="Standard">
-<field name="Range">0 10</field>
-<field name="Increment">0.1</field>
-<field name="Units">m</field>
-<field name="UnitText">meters</field>
-</param>
 <param humanName="Turning maximum G force" name="APMrover2:TURN_MAX_G" documentation="The maximum turning acceleration (in units of gravities) that the rover can handle while remaining stable. The navigation code will keep the lateral acceleration below this level to avoid rolling over or slipping the wheels in turns" user="Standard">
-<field name="Range">0.1 10</field>
-<field name="Increment">0.01</field>
 <field name="Units">gravities</field>
 <field name="UnitText">standard acceleration due to gravity</field>
+<field name="Range">0.1 10</field>
+<field name="Increment">0.01</field>
 </param>
 <param humanName="GCS sysid enforcement" name="APMrover2:SYSID_ENFORCE" documentation="This controls whether packets from other than the expected GCS system ID will be accepted" user="Advanced">
 <values>
@@ -293,28 +275,22 @@
 </values>
 </param>
 <param humanName="Turn radius of vehicle" name="APMrover2:TURN_RADIUS" documentation="Turn radius of vehicle in meters while at low speeds.  Lower values produce tighter turns in steering mode" user="Standard">
-<field name="Range">0 10</field>
-<field name="Increment">0.1</field>
 <field name="Units">m</field>
 <field name="UnitText">meters</field>
+<field name="Range">0 10</field>
+<field name="Increment">0.1</field>
 </param>
 <param humanName="Acro mode turn rate maximum" name="APMrover2:ACRO_TURN_RATE" documentation="Acro mode turn rate maximum" user="Standard">
-<field name="Range">0 360</field>
-<field name="Increment">1</field>
 <field name="Units">deg/s</field>
 <field name="UnitText">degrees per second</field>
+<field name="Range">0 360</field>
+<field name="Increment">1</field>
 </param>
-<param humanName="Waypoint speed default" name="APMrover2:WP_SPEED" documentation="Waypoint speed default.  If zero use CRUISE_SPEED." user="Standard">
-<field name="Range">0 100</field>
-<field name="Increment">0.1</field>
+<param humanName="Return-to-Launch speed default" name="APMrover2:RTL_SPEED" documentation="Return-to-Launch speed default.  If zero use WP_SPEED or CRUISE_SPEED." user="Standard">
 <field name="Units">m/s</field>
 <field name="UnitText">meters per second</field>
-</param>
-<param humanName="Return-to-Launch speed default" name="APMrover2:RTL_SPEED" documentation="Return-to-Launch speed default.  If zero use WP_SPEED or CRUISE_SPEED." user="Standard">
 <field name="Range">0 100</field>
 <field name="Increment">0.1</field>
-<field name="Units">m/s</field>
-<field name="UnitText">meters per second</field>
 </param>
 <param humanName="Frame Class" name="APMrover2:FRAME_CLASS" documentation="Frame Class" user="Standard">
 <values>
@@ -324,23 +300,17 @@
 <value code="3">BalanceBot</value>
 </values>
 </param>
-<param humanName="Pivot turn rate" name="APMrover2:PIVOT_TURN_RATE" documentation="Desired pivot turn rate in deg/s." user="Standard">
-<field name="Range">0 360</field>
-<field name="Increment">1</field>
-<field name="Units">deg/s</field>
-<field name="UnitText">degrees per second</field>
-</param>
 <param humanName="BalanceBot Maximum Pitch" name="APMrover2:BAL_PITCH_MAX" documentation="Pitch angle in degrees at 100% throttle" user="Standard">
-<field name="Range">0 5</field>
-<field name="Increment">0.1</field>
 <field name="Units">deg</field>
 <field name="UnitText">degrees</field>
+<field name="Range">0 5</field>
+<field name="Increment">0.1</field>
 </param>
 <param humanName="Crash Angle" name="APMrover2:CRASH_ANGLE" documentation="Pitch/Roll angle limit in degrees for crash check. Zero disables check" user="Standard">
-<field name="Range">0 60</field>
-<field name="Increment">1</field>
 <field name="Units">deg</field>
 <field name="UnitText">degrees</field>
+<field name="Range">0 60</field>
+<field name="Increment">1</field>
 </param>
 <param humanName="Frame Type" name="APMrover2:FRAME_TYPE" documentation="Frame Type" user="Standard">
 <values>
@@ -365,40 +335,10 @@
 <field name="RebootRequired">True</field>
 </param>
 <param humanName="Loiter radius" name="APMrover2:LOIT_RADIUS" documentation="Vehicle will drift when within this distance of the target position" user="Standard">
-<field name="Range">0 20</field>
-<field name="Increment">1</field>
 <field name="Units">m</field>
 <field name="UnitText">meters</field>
-</param>
-<param humanName="Sail min angle" name="APMrover2:SAIL_ANGLE_MIN" documentation="Mainsheet tight, angle between centerline and boom" user="Standard">
-<field name="Range">0 90</field>
-<field name="Increment">1</field>
-<field name="Units">deg</field>
-<field name="UnitText">degrees</field>
-</param>
-<param humanName="Sail max angle" name="APMrover2:SAIL_ANGLE_MAX" documentation="Mainsheet loose, angle between centerline and boom" user="Standard">
-<field name="Range">0 90</field>
-<field name="Increment">1</field>
-<field name="Units">deg</field>
-<field name="UnitText">degrees</field>
-</param>
-<param humanName="Sail ideal angle" name="APMrover2:SAIL_ANGLE_IDEAL" documentation="Ideal angle between sail and apparent wind" user="Standard">
-<field name="Range">0 90</field>
-<field name="Increment">1</field>
-<field name="Units">deg</field>
-<field name="UnitText">degrees</field>
-</param>
-<param humanName="Sailing maximum heel angle" name="APMrover2:SAIL_HEEL_MAX" documentation="When in auto sail trim modes the heel will be limited to this value using PID control" user="Standard">
-<field name="Range">0 90</field>
-<field name="Increment">1</field>
-<field name="Units">deg</field>
-<field name="UnitText">degrees</field>
-</param>
-<param humanName="Sailing no go zone angle" name="APMrover2:SAIL_NO_GO_ANGLE" documentation="The typical closest angle to the wind the vehicle will sail at. the vehicle will sail at this angle when going upwind" user="Standard">
-<field name="Range">0 90</field>
+<field name="Range">0 20</field>
 <field name="Increment">1</field>
-<field name="Units">deg</field>
-<field name="UnitText">degrees</field>
 </param>
 <param humanName="Mission done behave" name="APMrover2:MIS_DONE_BEHAVE" documentation="Mode to become after mission done" user="Standard">
 <values>
@@ -408,10 +348,16 @@
 </values>
 </param>
 <param humanName="Balance Bot pitch trim angle" name="APMrover2:BAL_PITCH_TRIM" documentation="Balance Bot pitch trim for balancing. This offsets the tilt of the center of mass." user="Standard">
-<field name="Range">-2 2</field>
-<field name="Increment">0.1</field>
 <field name="Units">deg</field>
 <field name="UnitText">degrees</field>
+<field name="Range">-2 2</field>
+<field name="Increment">0.1</field>
+</param>
+<param humanName="Stick Mixing" name="APMrover2:STICK_MIXING" documentation="When enabled, this adds steering user stick input in auto modes, allowing the user to have some degree of control without changing modes." user="Advanced">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
 </param>
 <param humanName="Channel 7 option" name="APMrover2:CH7_OPTION" documentation="What to do use channel 7 for" user="Standard">
 <values>
@@ -432,6 +378,36 @@
 </param>
 <param humanName="Auxiliary switch channel" name="APMrover2:AUX_CH" documentation="RC Channel to use for auxiliary functions including saving waypoints" user="Advanced">
 </param>
+<param humanName="Pivot turn angle" name="APMrover2:PIVOT_TURN_ANGLE" documentation="Navigation angle threshold in degrees to switch to pivot steering when SKID_STEER_OUT is 1. This allows you to setup a skid steering rover to turn on the spot in auto mode when the angle it needs to turn it greater than this angle. An angle of zero means to disable pivot turning. Note that you will probably also want to set a low value for WP_RADIUS to get neat turns." user="Standard">
+<field name="Units">deg</field>
+<field name="UnitText">degrees</field>
+<field name="Range">0 360</field>
+<field name="Increment">1</field>
+</param>
+<param humanName="Waypoint radius" name="APMrover2:WP_RADIUS" documentation="The distance in meters from a waypoint when we consider the waypoint has been reached. This determines when the rover will turn along the next waypoint path." user="Standard">
+<field name="Units">m</field>
+<field name="UnitText">meters</field>
+<field name="Range">0 1000</field>
+<field name="Increment">0.1</field>
+</param>
+<param humanName="Waypoint overshoot maximum" name="APMrover2:WP_OVERSHOOT" documentation="Waypoint overshoot maximum in meters.  The vehicle will attempt to stay within this many meters of the track as it completes one waypoint and moves to the next." user="Standard">
+<field name="Units">m</field>
+<field name="UnitText">meters</field>
+<field name="Range">0 10</field>
+<field name="Increment">0.1</field>
+</param>
+<param humanName="Waypoint speed default" name="APMrover2:WP_SPEED" documentation="Waypoint speed default.  If zero use CRUISE_SPEED." user="Standard">
+<field name="Units">m/s</field>
+<field name="UnitText">meters per second</field>
+<field name="Range">0 100</field>
+<field name="Increment">0.1</field>
+</param>
+<param humanName="Pivot turn rate" name="APMrover2:PIVOT_TURN_RATE" documentation="Desired pivot turn rate in deg/s." user="Standard">
+<field name="Units">deg/s</field>
+<field name="UnitText">degrees per second</field>
+<field name="Range">0 360</field>
+<field name="Increment">1</field>
+</param>
 </parameters>
 </vehicles><libraries><parameters name="AFS_">
 <param humanName="Enable Advanced Failsafe" name="AFS_ENABLE" documentation="This enables the advanced failsafe system. If this is set to zero (disable) then all the other AFS options have no effect" user="Advanced">
@@ -439,6 +415,19 @@
 <param humanName="Manual Pin" name="AFS_MAN_PIN" documentation="This sets a digital output pin to set high when in manual mode" user="Advanced">
 </param>
 <param humanName="Heartbeat Pin" name="AFS_HB_PIN" documentation="This sets a digital output pin which is cycled at 10Hz when termination is not activated. Note that if a FS_TERM_PIN is set then the heartbeat pin will continue to cycle at 10Hz when termination is activated, to allow the termination board to distinguish between autopilot crash and termination." user="Advanced">
+<values>
+<value code="-1">Disabled</value>
+<value code="49">BB Blue GP0 pin 4</value>
+<value code="50">AUXOUT1</value>
+<value code="51">AUXOUT2</value>
+<value code="52">AUXOUT3</value>
+<value code="53">AUXOUT4</value>
+<value code="54">AUXOUT5</value>
+<value code="55">AUXOUT6</value>
+<value code="57">BB Blue GP0 pin 3</value>
+<value code="113">BB Blue GP0 pin 6</value>
+<value code="116">BB Blue GP0 pin 5</value>
+</values>
 </param>
 <param humanName="Comms Waypoint" name="AFS_WP_COMMS" documentation="Waypoint number to navigate to on comms loss" user="Advanced">
 </param>
@@ -449,6 +438,19 @@
 <param humanName="Terminate action" name="AFS_TERM_ACTION" documentation="This can be used to force an action on flight termination. Normally this is handled by an external failsafe board, but you can setup APM to handle it here. Please consult the wiki for more information on the possible values of the parameter" user="Advanced">
 </param>
 <param humanName="Terminate Pin" name="AFS_TERM_PIN" documentation="This sets a digital output pin to set high on flight termination" user="Advanced">
+<values>
+<value code="-1">Disabled</value>
+<value code="49">BB Blue GP0 pin 4</value>
+<value code="50">AUXOUT1</value>
+<value code="51">AUXOUT2</value>
+<value code="52">AUXOUT3</value>
+<value code="53">AUXOUT4</value>
+<value code="54">AUXOUT5</value>
+<value code="55">AUXOUT6</value>
+<value code="57">BB Blue GP0 pin 3</value>
+<value code="113">BB Blue GP0 pin 6</value>
+<value code="116">BB Blue GP0 pin 5</value>
+</values>
 </param>
 <param humanName="AMSL limit" name="AFS_AMSL_LIMIT" documentation="This sets the AMSL (above mean sea level) altitude limit. If the pressure altitude determined by QNH exceeds this limit then flight termination will be forced. Note that this limit is in meters, whereas pressure altitude limits are often quoted in feet. A value of zero disables the pressure altitude limit." user="Advanced">
 <field name="Units">m</field>
@@ -500,27 +502,27 @@
 </param>
 <param humanName="Maximum wind" name="AHRS_WIND_MAX" documentation="This sets the maximum allowable difference between ground speed and airspeed. This allows the plane to cope with a failing airspeed sensor. A value of zero means to use the airspeed as is." user="Advanced">
 <field name="Range">0 127</field>
-<field name="Increment">1</field>
 <field name="Units">m/s</field>
 <field name="UnitText">meters per second</field>
+<field name="Increment">1</field>
 </param>
 <param humanName="AHRS Trim Roll" name="AHRS_TRIM_X" documentation="Compensates for the roll angle difference between the control board and the frame. Positive values make the vehicle roll right." user="Standard">
-<field name="Range">-0.1745 +0.1745</field>
-<field name="Increment">0.01</field>
 <field name="Units">rad</field>
 <field name="UnitText">radians</field>
-</param>
-<param humanName="AHRS Trim Pitch" name="AHRS_TRIM_Y" documentation="Compensates for the pitch angle difference between the control board and the frame. Positive values make the vehicle pitch up/back." user="Standard">
 <field name="Range">-0.1745 +0.1745</field>
 <field name="Increment">0.01</field>
+</param>
+<param humanName="AHRS Trim Pitch" name="AHRS_TRIM_Y" documentation="Compensates for the pitch angle difference between the control board and the frame. Positive values make the vehicle pitch up/back." user="Standard">
 <field name="Units">rad</field>
 <field name="UnitText">radians</field>
-</param>
-<param humanName="AHRS Trim Yaw" name="AHRS_TRIM_Z" documentation="Not Used" user="Advanced">
 <field name="Range">-0.1745 +0.1745</field>
 <field name="Increment">0.01</field>
+</param>
+<param humanName="AHRS Trim Yaw" name="AHRS_TRIM_Z" documentation="Not Used" user="Advanced">
 <field name="Units">rad</field>
 <field name="UnitText">radians</field>
+<field name="Range">-0.1745 +0.1745</field>
+<field name="Increment">0.01</field>
 </param>
 <param humanName="Board Orientation" name="AHRS_ORIENTATION" documentation="Overall board orientation relative to the standard orientation for the board type. This rotates the IMU and compass readings to allow the board to be oriented in your vehicle at any 90 or 45 degree angle. This option takes affect on next boot. After changing you will need to re-level your vehicle." user="Advanced">
 <values>
@@ -585,21 +587,21 @@
 </param>
 <param humanName="Board orientation roll offset" name="AHRS_CUSTOM_ROLL" documentation="Autopilot mounting position roll offset. Positive values = roll right, negative values = roll left. This parameter is only used when AHRS_ORIENTATION is set to CUSTOM." user="Advanced">
 <field name="Range">-180 180</field>
-<field name="Increment">1</field>
 <field name="Units">deg</field>
 <field name="UnitText">degrees</field>
+<field name="Increment">1</field>
 </param>
 <param humanName="Board orientation pitch offset" name="AHRS_CUSTOM_PIT" documentation="Autopilot mounting position pitch offset. Positive values = pitch up, negative values = pitch down. This parameter is only used when AHRS_ORIENTATION is set to CUSTOM." user="Advanced">
 <field name="Range">-180 180</field>
-<field name="Increment">1</field>
 <field name="Units">deg</field>
 <field name="UnitText">degrees</field>
+<field name="Increment">1</field>
 </param>
 <param humanName="Board orientation yaw offset" name="AHRS_CUSTOM_YAW" documentation="Autopilot mounting position yaw offset. Positive values = yaw right, negative values = yaw left. This parameter is only used when AHRS_ORIENTATION is set to CUSTOM." user="Advanced">
 <field name="Range">-180 180</field>
-<field name="Increment">1</field>
 <field name="Units">deg</field>
 <field name="UnitText">degrees</field>
+<field name="Increment">1</field>
 </param>
 </parameters>
 <parameters name="ARMING_">
@@ -611,7 +613,6 @@
 </values>
 </param>
 <param humanName="Arm Checks to Peform (bitmask)" name="ARMING_CHECK" documentation="Checks prior to arming motor. This is a bitmask of checks that will be performed before allowing arming. The default is no checks, allowing arming at any time. You can select whatever checks you prefer by adding together the values of each check type to set this parameter. For example, to only allow arming when you have GPS lock and no RC failsafe you would set ARMING_CHECK to 72. For most users it is recommended that you set this to 1 to enable all checks." user="Standard">
-<field name="Bitmask">0:All,1:Barometer,2:Compass,3:GPS lock,4:INS,5:Parameters,6:RC Channels,7:Board voltage,8:Battery Level,9:Airspeed,10:Logging Available,11:Hardware safety switch,12:GPS Configuration,13:System</field>
 <values>
 <value code="0">None</value>
 <value code="1">All</value>
@@ -629,11 +630,12 @@
 <value code="4096">GPS configuration</value>
 <value code="8192">System</value>
 </values>
+<field name="Bitmask">0:All,1:Barometer,2:Compass,3:GPS lock,4:INS,5:Parameters,6:RC Channels,7:Board voltage,8:Battery Level,9:Airspeed,10:Logging Available,11:Hardware safety switch,12:GPS Configuration,13:System</field>
 </param>
 <param humanName="Accelerometer error threshold" name="ARMING_ACCTHRESH" documentation="Accelerometer error threshold used to determine inconsistent accelerometers. Compares this error range to other accelerometers to detect a hardware or calibration error. Lower value means tighter check and harder to pass arming check. Not all accelerometers are created equal." user="Advanced">
-<field name="Range">0.25 3.0</field>
 <field name="Units">m/s/s</field>
 <field name="UnitText">meters per square second</field>
+<field name="Range">0.25 3.0</field>
 </param>
 <param humanName="Arming with Rudder enable/disable" name="ARMING_RUDDER" documentation="Allow arm/disarm by rudder input. When enabled arming can be done with right rudder, disarming with left rudder. Rudder arming only works in manual throttle modes with throttle at zero +- deadzone (RCx_DZ)" user="Advanced">
 <values>
@@ -825,7 +827,7 @@
 <field name="Range">1.000 10.000</field>
 <field name="Increment">0.1</field>
 </param>
-<param humanName="Steering control angular acceleration maximum" name="ATC_STR_ACC_MAX" documentation="Steering control angular acceleartion maximum (in deg/s/s).  0 to disable acceleration limiting" user="Standard">
+<param humanName="Steering control angular acceleration maximum" name="ATC_STR_ACC_MAX" documentation="Steering control angular acceleration maximum (in deg/s/s).  0 to disable acceleration limiting" user="Standard">
 <field name="Range">0 1000</field>
 <field name="Increment">0.1</field>
 <field name="Units">deg/s/s</field>
@@ -899,31 +901,31 @@
 </param>
 </parameters>
 <parameters name="AVOID_">
-<param humanName="Avoidance control enable/disable" name="AVOID_ENABLE" documentation="Enabled/disable stopping at fence" user="Standard">
-<field name="Bitmask">0:StopAtFence,1:UseProximitySensor,2:StopAtBeaconFence</field>
+<param humanName="Avoidance control enable/disable" name="AVOID_ENABLE" documentation="Enabled/disable avoidance input sources" user="Standard">
 <values>
 <value code="0">None</value>
-<value code="1">StopAtFence</value>
+<value code="1">UseFence</value>
 <value code="2">UseProximitySensor</value>
-<value code="3">StopAtFence and UseProximitySensor</value>
-<value code="4">StopAtBeaconFence</value>
+<value code="3">UseFence and UseProximitySensor</value>
+<value code="4">UseBeaconFence</value>
 <value code="7">All</value>
 </values>
+<field name="Bitmask">0:UseFence,1:UseProximitySensor,2:UseBeaconFence</field>
 </param>
 <param humanName="Avoidance max lean angle in non-GPS flight modes" name="AVOID_ANGLE_MAX" documentation="Max lean angle used to avoid obstacles while in non-GPS modes" user="Standard">
-<field name="Range">0 4500</field>
 <field name="Units">cdeg</field>
 <field name="UnitText">centidegrees</field>
+<field name="Range">0 4500</field>
 </param>
 <param humanName="Avoidance distance maximum in non-GPS flight modes" name="AVOID_DIST_MAX" documentation="Distance from object at which obstacle avoidance will begin in non-GPS modes" user="Standard">
-<field name="Range">1 30</field>
 <field name="Units">m</field>
 <field name="UnitText">meters</field>
+<field name="Range">1 30</field>
 </param>
 <param humanName="Avoidance distance margin in GPS modes" name="AVOID_MARGIN" documentation="Vehicle will attempt to stay at least this distance (in meters) from objects while in GPS modes" user="Standard">
-<field name="Range">1 10</field>
 <field name="Units">m</field>
 <field name="UnitText">meters</field>
+<field name="Range">1 10</field>
 </param>
 <param humanName="Avoidance behaviour" name="AVOID_BEHAVE" documentation="Avoidance behaviour (slide or stop)" user="Standard">
 <values>
@@ -953,6 +955,8 @@
 <value code="-1">Disabled</value>
 <value code=" 2">Pixhawk/Pixracer/Navio2/Pixhawk2_PM1</value>
 <value code=" 13">Pixhawk2_PM2</value>
+<value code=" 14">CubeOrange</value>
+<value code=" 13">CubeOrange_PM2</value>
 <value code=" 100">PX4-v1</value>
 </values>
 <field name="RebootRequired">True</field>
@@ -962,6 +966,8 @@
 <value code="-1">Disabled</value>
 <value code=" 3">Pixhawk/Pixracer/Navio2/Pixhawk2_PM1</value>
 <value code=" 14">Pixhawk2_PM2</value>
+<value code=" 15">CubeOrange</value>
+<value code=" 4">CubeOrange_PM2</value>
 <value code=" 101">PX4-v1</value>
 </values>
 <field name="RebootRequired">True</field>
@@ -977,22 +983,22 @@
 <field name="UnitText">volt</field>
 </param>
 <param humanName="Battery capacity" name="BATT2_CAPACITY" documentation="Capacity of the battery in mAh when full" user="Standard">
-<field name="Increment">50</field>
 <field name="Units">mAh</field>
 <field name="UnitText">milliampere hour</field>
+<field name="Increment">50</field>
 </param>
 <param humanName="Maximum allowed power (Watts)" name="BATT2_WATT_MAX" documentation="If battery wattage (voltage * current) exceeds this value then the system will reduce max throttle (THR_MAX, TKOFF_THR_MAX and THR_MIN for reverse thrust) to satisfy this limit. This helps limit high current to low C rated batteries regardless of battery voltage. The max throttle will slowly grow back to THR_MAX (or TKOFF_THR_MAX ) and THR_MIN if demanding the current max and under the watt max. Use 0 to disable." user="Advanced">
-<field name="Increment">1</field>
 <field name="Units">W</field>
 <field name="UnitText">watt</field>
+<field name="Increment">1</field>
 </param>
 <param humanName="Battery serial number" name="BATT2_SERIAL_NUM" documentation="Battery serial number, automatically filled in for SMBus batteries, otherwise will be -1. With UAVCAN it is the battery_id." user="Advanced">
 </param>
 <param humanName="Low voltage timeout" name="BATT2_LOW_TIMER" documentation="This is the timeout in seconds before a low voltage event will be triggered. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs. A value of zero disables low voltage errors." user="Advanced">
-<field name="Range">0 120</field>
-<field name="Increment">1</field>
 <field name="Units">s</field>
 <field name="UnitText">seconds</field>
+<field name="Increment">1</field>
+<field name="Range">0 120</field>
 </param>
 <param humanName="Failsafe voltage source" name="BATT2_FS_VOLTSRC" documentation="Voltage type used for detection of low voltage event" user="Advanced">
 <values>
@@ -1001,24 +1007,24 @@
 </values>
 </param>
 <param humanName="Low battery voltage" name="BATT2_LOW_VOLT" documentation="Battery voltage that triggers a low battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT2_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT2_FS_LOW_ACT parameter." user="Standard">
-<field name="Increment">0.1</field>
 <field name="Units">V</field>
 <field name="UnitText">volt</field>
+<field name="Increment">0.1</field>
 </param>
 <param humanName="Low battery capacity" name="BATT2_LOW_MAH" documentation="Battery capacity at which the low battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT2_FS_LOW_ACT parameter." user="Standard">
-<field name="Increment">50</field>
 <field name="Units">mAh</field>
 <field name="UnitText">milliampere hour</field>
+<field name="Increment">50</field>
 </param>
 <param humanName="Critical battery voltage" name="BATT2_CRT_VOLT" documentation="Battery voltage that triggers a critical battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT2_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT2_FS_CRT_ACT parameter." user="Standard">
-<field name="Increment">0.1</field>
 <field name="Units">V</field>
 <field name="UnitText">volt</field>
+<field name="Increment">0.1</field>
 </param>
 <param humanName="Battery critical capacity" name="BATT2_CRT_MAH" documentation="Battery capacity at which the critical battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT2__FS_CRT_ACT parameter." user="Standard">
-<field name="Increment">50</field>
 <field name="Units">mAh</field>
 <field name="UnitText">milliampere hour</field>
+<field name="Increment">50</field>
 </param>
 <param humanName="Low battery failsafe action" name="BATT2_FS_LOW_ACT" documentation="What action the vehicle should perform if it hits a low battery failsafe" user="Standard">
 <values>
@@ -1041,14 +1047,14 @@
 </values>
 </param>
 <param humanName="Required arming voltage" name="BATT2_ARM_VOLT" documentation="Battery voltage level which is required to arm the aircraft. Set to 0 to allow arming at any voltage." user="Advanced">
-<field name="Increment">0.1</field>
 <field name="Units">V</field>
 <field name="UnitText">volt</field>
+<field name="Increment">0.1</field>
 </param>
 <param humanName="Required arming remaining capacity" name="BATT2_ARM_MAH" documentation="Battery capacity remaining which is required to arm the aircraft. Set to 0 to allow arming at any capacity. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate, which can lead to this check not providing sufficent protection, it is recommended to always use this in conjunction with the BATT2__ARM_VOLT parameter." user="Advanced">
-<field name="Increment">50</field>
 <field name="Units">mAh</field>
 <field name="UnitText">milliampere hour</field>
+<field name="Increment">50</field>
 </param>
 </parameters>
 <parameters name="BATT3_">
@@ -1072,6 +1078,8 @@
 <value code="-1">Disabled</value>
 <value code=" 2">Pixhawk/Pixracer/Navio2/Pixhawk2_PM1</value>
 <value code=" 13">Pixhawk2_PM2</value>
+<value code=" 14">CubeOrange</value>
+<value code=" 13">CubeOrange_PM2</value>
 <value code=" 100">PX4-v1</value>
 </values>
 <field name="RebootRequired">True</field>
@@ -1081,6 +1089,8 @@
 <value code="-1">Disabled</value>
 <value code=" 3">Pixhawk/Pixracer/Navio2/Pixhawk2_PM1</value>
 <value code=" 14">Pixhawk2_PM2</value>
+<value code=" 15">CubeOrange</value>
+<value code=" 4">CubeOrange_PM2</value>
 <value code=" 101">PX4-v1</value>
 </values>
 <field name="RebootRequired">True</field>
@@ -1096,22 +1106,22 @@
 <field name="UnitText">volt</field>
 </param>
 <param humanName="Battery capacity" name="BATT3_CAPACITY" documentation="Capacity of the battery in mAh when full" user="Standard">
-<field name="Increment">50</field>
 <field name="Units">mAh</field>
 <field name="UnitText">milliampere hour</field>
+<field name="Increment">50</field>
 </param>
 <param humanName="Maximum allowed power (Watts)" name="BATT3_WATT_MAX" documentation="If battery wattage (voltage * current) exceeds this value then the system will reduce max throttle (THR_MAX, TKOFF_THR_MAX and THR_MIN for reverse thrust) to satisfy this limit. This helps limit high current to low C rated batteries regardless of battery voltage. The max throttle will slowly grow back to THR_MAX (or TKOFF_THR_MAX ) and THR_MIN if demanding the current max and under the watt max. Use 0 to disable." user="Advanced">
-<field name="Increment">1</field>
 <field name="Units">W</field>
 <field name="UnitText">watt</field>
+<field name="Increment">1</field>
 </param>
 <param humanName="Battery serial number" name="BATT3_SERIAL_NUM" documentation="Battery serial number, automatically filled in for SMBus batteries, otherwise will be -1. With UAVCAN it is the battery_id." user="Advanced">
 </param>
 <param humanName="Low voltage timeout" name="BATT3_LOW_TIMER" documentation="This is the timeout in seconds before a low voltage event will be triggered. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs. A value of zero disables low voltage errors." user="Advanced">
-<field name="Range">0 120</field>
-<field name="Increment">1</field>
 <field name="Units">s</field>
 <field name="UnitText">seconds</field>
+<field name="Increment">1</field>
+<field name="Range">0 120</field>
 </param>
 <param humanName="Failsafe voltage source" name="BATT3_FS_VOLTSRC" documentation="Voltage type used for detection of low voltage event" user="Advanced">
 <values>
@@ -1120,24 +1130,24 @@
 </values>
 </param>
 <param humanName="Low battery voltage" name="BATT3_LOW_VOLT" documentation="Battery voltage that triggers a low battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT3_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT3_FS_LOW_ACT parameter." user="Standard">
-<field name="Increment">0.1</field>
 <field name="Units">V</field>
 <field name="UnitText">volt</field>
+<field name="Increment">0.1</field>
 </param>
 <param humanName="Low battery capacity" name="BATT3_LOW_MAH" documentation="Battery capacity at which the low battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT3_FS_LOW_ACT parameter." user="Standard">
-<field name="Increment">50</field>
 <field name="Units">mAh</field>
 <field name="UnitText">milliampere hour</field>
+<field name="Increment">50</field>
 </param>
 <param humanName="Critical battery voltage" name="BATT3_CRT_VOLT" documentation="Battery voltage that triggers a critical battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT3_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT3_FS_CRT_ACT parameter." user="Standard">
-<field name="Increment">0.1</field>
 <field name="Units">V</field>
 <field name="UnitText">volt</field>
+<field name="Increment">0.1</field>
 </param>
 <param humanName="Battery critical capacity" name="BATT3_CRT_MAH" documentation="Battery capacity at which the critical battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT3__FS_CRT_ACT parameter." user="Standard">
-<field name="Increment">50</field>
 <field name="Units">mAh</field>
 <field name="UnitText">milliampere hour</field>
+<field name="Increment">50</field>
 </param>
 <param humanName="Low battery failsafe action" name="BATT3_FS_LOW_ACT" documentation="What action the vehicle should perform if it hits a low battery failsafe" user="Standard">
 <values>
@@ -1160,14 +1170,14 @@
 </values>
 </param>
 <param humanName="Required arming voltage" name="BATT3_ARM_VOLT" documentation="Battery voltage level which is required to arm the aircraft. Set to 0 to allow arming at any voltage." user="Advanced">
-<field name="Increment">0.1</field>
 <field name="Units">V</field>
 <field name="UnitText">volt</field>
+<field name="Increment">0.1</field>
 </param>
 <param humanName="Required arming remaining capacity" name="BATT3_ARM_MAH" documentation="Battery capacity remaining which is required to arm the aircraft. Set to 0 to allow arming at any capacity. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate, which can lead to this check not providing sufficent protection, it is recommended to always use this in conjunction with the BATT3__ARM_VOLT parameter." user="Advanced">
-<field name="Increment">50</field>
 <field name="Units">mAh</field>
 <field name="UnitText">milliampere hour</field>
+<field name="Increment">50</field>
 </param>
 </parameters>
 <parameters name="BATT4_">
@@ -1191,6 +1201,8 @@
 <value code="-1">Disabled</value>
 <value code=" 2">Pixhawk/Pixracer/Navio2/Pixhawk2_PM1</value>
 <value code=" 13">Pixhawk2_PM2</value>
+<value code=" 14">CubeOrange</value>
+<value code=" 13">CubeOrange_PM2</value>
 <value code=" 100">PX4-v1</value>
 </values>
 <field name="RebootRequired">True</field>
@@ -1200,6 +1212,8 @@
 <value code="-1">Disabled</value>
 <value code=" 3">Pixhawk/Pixracer/Navio2/Pixhawk2_PM1</value>
 <value code=" 14">Pixhawk2_PM2</value>
+<value code=" 15">CubeOrange</value>
+<value code=" 4">CubeOrange_PM2</value>
 <value code=" 101">PX4-v1</value>
 </values>
 <field name="RebootRequired">True</field>
@@ -1215,22 +1229,22 @@
 <field name="UnitText">volt</field>
 </param>
 <param humanName="Battery capacity" name="BATT4_CAPACITY" documentation="Capacity of the battery in mAh when full" user="Standard">
-<field name="Increment">50</field>
 <field name="Units">mAh</field>
 <field name="UnitText">milliampere hour</field>
+<field name="Increment">50</field>
 </param>
 <param humanName="Maximum allowed power (Watts)" name="BATT4_WATT_MAX" documentation="If battery wattage (voltage * current) exceeds this value then the system will reduce max throttle (THR_MAX, TKOFF_THR_MAX and THR_MIN for reverse thrust) to satisfy this limit. This helps limit high current to low C rated batteries regardless of battery voltage. The max throttle will slowly grow back to THR_MAX (or TKOFF_THR_MAX ) and THR_MIN if demanding the current max and under the watt max. Use 0 to disable." user="Advanced">
-<field name="Increment">1</field>
 <field name="Units">W</field>
 <field name="UnitText">watt</field>
+<field name="Increment">1</field>
 </param>
 <param humanName="Battery serial number" name="BATT4_SERIAL_NUM" documentation="Battery serial number, automatically filled in for SMBus batteries, otherwise will be -1. With UAVCAN it is the battery_id." user="Advanced">
 </param>
 <param humanName="Low voltage timeout" name="BATT4_LOW_TIMER" documentation="This is the timeout in seconds before a low voltage event will be triggered. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs. A value of zero disables low voltage errors." user="Advanced">
-<field name="Range">0 120</field>
-<field name="Increment">1</field>
 <field name="Units">s</field>
 <field name="UnitText">seconds</field>
+<field name="Increment">1</field>
+<field name="Range">0 120</field>
 </param>
 <param humanName="Failsafe voltage source" name="BATT4_FS_VOLTSRC" documentation="Voltage type used for detection of low voltage event" user="Advanced">
 <values>
@@ -1239,24 +1253,24 @@
 </values>
 </param>
 <param humanName="Low battery voltage" name="BATT4_LOW_VOLT" documentation="Battery voltage that triggers a low battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT4_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT4_FS_LOW_ACT parameter." user="Standard">
-<field name="Increment">0.1</field>
 <field name="Units">V</field>
 <field name="UnitText">volt</field>
+<field name="Increment">0.1</field>
 </param>
 <param humanName="Low battery capacity" name="BATT4_LOW_MAH" documentation="Battery capacity at which the low battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT4_FS_LOW_ACT parameter." user="Standard">
-<field name="Increment">50</field>
 <field name="Units">mAh</field>
 <field name="UnitText">milliampere hour</field>
+<field name="Increment">50</field>
 </param>
 <param humanName="Critical battery voltage" name="BATT4_CRT_VOLT" documentation="Battery voltage that triggers a critical battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT4_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT4_FS_CRT_ACT parameter." user="Standard">
-<field name="Increment">0.1</field>
 <field name="Units">V</field>
 <field name="UnitText">volt</field>
+<field name="Increment">0.1</field>
 </param>
 <param humanName="Battery critical capacity" name="BATT4_CRT_MAH" documentation="Battery capacity at which the critical battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT4__FS_CRT_ACT parameter." user="Standard">
-<field name="Increment">50</field>
 <field name="Units">mAh</field>
 <field name="UnitText">milliampere hour</field>
+<field name="Increment">50</field>
 </param>
 <param humanName="Low battery failsafe action" name="BATT4_FS_LOW_ACT" documentation="What action the vehicle should perform if it hits a low battery failsafe" user="Standard">
 <values>
@@ -1279,14 +1293,14 @@
 </values>
 </param>
 <param humanName="Required arming voltage" name="BATT4_ARM_VOLT" documentation="Battery voltage level which is required to arm the aircraft. Set to 0 to allow arming at any voltage." user="Advanced">
-<field name="Increment">0.1</field>
 <field name="Units">V</field>
 <field name="UnitText">volt</field>
+<field name="Increment">0.1</field>
 </param>
 <param humanName="Required arming remaining capacity" name="BATT4_ARM_MAH" documentation="Battery capacity remaining which is required to arm the aircraft. Set to 0 to allow arming at any capacity. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate, which can lead to this check not providing sufficent protection, it is recommended to always use this in conjunction with the BATT4__ARM_VOLT parameter." user="Advanced">
-<field name="Increment">50</field>
 <field name="Units">mAh</field>
 <field name="UnitText">milliampere hour</field>
+<field name="Increment">50</field>
 </param>
 </parameters>
 <parameters name="BATT5_">
@@ -1310,6 +1324,8 @@
 <value code="-1">Disabled</value>
 <value code=" 2">Pixhawk/Pixracer/Navio2/Pixhawk2_PM1</value>
 <value code=" 13">Pixhawk2_PM2</value>
+<value code=" 14">CubeOrange</value>
+<value code=" 13">CubeOrange_PM2</value>
 <value code=" 100">PX4-v1</value>
 </values>
 <field name="RebootRequired">True</field>
@@ -1319,6 +1335,8 @@
 <value code="-1">Disabled</value>
 <value code=" 3">Pixhawk/Pixracer/Navio2/Pixhawk2_PM1</value>
 <value code=" 14">Pixhawk2_PM2</value>
+<value code=" 15">CubeOrange</value>
+<value code=" 4">CubeOrange_PM2</value>
 <value code=" 101">PX4-v1</value>
 </values>
 <field name="RebootRequired">True</field>
@@ -1334,22 +1352,22 @@
 <field name="UnitText">volt</field>
 </param>
 <param humanName="Battery capacity" name="BATT5_CAPACITY" documentation="Capacity of the battery in mAh when full" user="Standard">
-<field name="Increment">50</field>
 <field name="Units">mAh</field>
 <field name="UnitText">milliampere hour</field>
+<field name="Increment">50</field>
 </param>
 <param humanName="Maximum allowed power (Watts)" name="BATT5_WATT_MAX" documentation="If battery wattage (voltage * current) exceeds this value then the system will reduce max throttle (THR_MAX, TKOFF_THR_MAX and THR_MIN for reverse thrust) to satisfy this limit. This helps limit high current to low C rated batteries regardless of battery voltage. The max throttle will slowly grow back to THR_MAX (or TKOFF_THR_MAX ) and THR_MIN if demanding the current max and under the watt max. Use 0 to disable." user="Advanced">
-<field name="Increment">1</field>
 <field name="Units">W</field>
 <field name="UnitText">watt</field>
+<field name="Increment">1</field>
 </param>
 <param humanName="Battery serial number" name="BATT5_SERIAL_NUM" documentation="Battery serial number, automatically filled in for SMBus batteries, otherwise will be -1. With UAVCAN it is the battery_id." user="Advanced">
 </param>
 <param humanName="Low voltage timeout" name="BATT5_LOW_TIMER" documentation="This is the timeout in seconds before a low voltage event will be triggered. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs. A value of zero disables low voltage errors." user="Advanced">
-<field name="Range">0 120</field>
-<field name="Increment">1</field>
 <field name="Units">s</field>
 <field name="UnitText">seconds</field>
+<field name="Increment">1</field>
+<field name="Range">0 120</field>
 </param>
 <param humanName="Failsafe voltage source" name="BATT5_FS_VOLTSRC" documentation="Voltage type used for detection of low voltage event" user="Advanced">
 <values>
@@ -1358,24 +1376,24 @@
 </values>
 </param>
 <param humanName="Low battery voltage" name="BATT5_LOW_VOLT" documentation="Battery voltage that triggers a low battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT5_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT5_FS_LOW_ACT parameter." user="Standard">
-<field name="Increment">0.1</field>
 <field name="Units">V</field>
 <field name="UnitText">volt</field>
+<field name="Increment">0.1</field>
 </param>
 <param humanName="Low battery capacity" name="BATT5_LOW_MAH" documentation="Battery capacity at which the low battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT5_FS_LOW_ACT parameter." user="Standard">
-<field name="Increment">50</field>
 <field name="Units">mAh</field>
 <field name="UnitText">milliampere hour</field>
+<field name="Increment">50</field>
 </param>
 <param humanName="Critical battery voltage" name="BATT5_CRT_VOLT" documentation="Battery voltage that triggers a critical battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT5_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT5_FS_CRT_ACT parameter." user="Standard">
-<field name="Increment">0.1</field>
 <field name="Units">V</field>
 <field name="UnitText">volt</field>
+<field name="Increment">0.1</field>
 </param>
 <param humanName="Battery critical capacity" name="BATT5_CRT_MAH" documentation="Battery capacity at which the critical battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT5__FS_CRT_ACT parameter." user="Standard">
-<field name="Increment">50</field>
 <field name="Units">mAh</field>
 <field name="UnitText">milliampere hour</field>
+<field name="Increment">50</field>
 </param>
 <param humanName="Low battery failsafe action" name="BATT5_FS_LOW_ACT" documentation="What action the vehicle should perform if it hits a low battery failsafe" user="Standard">
 <values>
@@ -1398,14 +1416,14 @@
 </values>
 </param>
 <param humanName="Required arming voltage" name="BATT5_ARM_VOLT" documentation="Battery voltage level which is required to arm the aircraft. Set to 0 to allow arming at any voltage." user="Advanced">
-<field name="Increment">0.1</field>
 <field name="Units">V</field>
 <field name="UnitText">volt</field>
+<field name="Increment">0.1</field>
 </param>
 <param humanName="Required arming remaining capacity" name="BATT5_ARM_MAH" documentation="Battery capacity remaining which is required to arm the aircraft. Set to 0 to allow arming at any capacity. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate, which can lead to this check not providing sufficent protection, it is recommended to always use this in conjunction with the BATT5__ARM_VOLT parameter." user="Advanced">
-<field name="Increment">50</field>
 <field name="Units">mAh</field>
 <field name="UnitText">milliampere hour</field>
+<field name="Increment">50</field>
 </param>
 </parameters>
 <parameters name="BATT6_">
@@ -1429,6 +1447,8 @@
 <value code="-1">Disabled</value>
 <value code=" 2">Pixhawk/Pixracer/Navio2/Pixhawk2_PM1</value>
 <value code=" 13">Pixhawk2_PM2</value>
+<value code=" 14">CubeOrange</value>
+<value code=" 13">CubeOrange_PM2</value>
 <value code=" 100">PX4-v1</value>
 </values>
 <field name="RebootRequired">True</field>
@@ -1438,6 +1458,8 @@
 <value code="-1">Disabled</value>
 <value code=" 3">Pixhawk/Pixracer/Navio2/Pixhawk2_PM1</value>
 <value code=" 14">Pixhawk2_PM2</value>
+<value code=" 15">CubeOrange</value>
+<value code=" 4">CubeOrange_PM2</value>
 <value code=" 101">PX4-v1</value>
 </values>
 <field name="RebootRequired">True</field>
@@ -1453,22 +1475,22 @@
 <field name="UnitText">volt</field>
 </param>
 <param humanName="Battery capacity" name="BATT6_CAPACITY" documentation="Capacity of the battery in mAh when full" user="Standard">
-<field name="Increment">50</field>
 <field name="Units">mAh</field>
 <field name="UnitText">milliampere hour</field>
+<field name="Increment">50</field>
 </param>
 <param humanName="Maximum allowed power (Watts)" name="BATT6_WATT_MAX" documentation="If battery wattage (voltage * current) exceeds this value then the system will reduce max throttle (THR_MAX, TKOFF_THR_MAX and THR_MIN for reverse thrust) to satisfy this limit. This helps limit high current to low C rated batteries regardless of battery voltage. The max throttle will slowly grow back to THR_MAX (or TKOFF_THR_MAX ) and THR_MIN if demanding the current max and under the watt max. Use 0 to disable." user="Advanced">
-<field name="Increment">1</field>
 <field name="Units">W</field>
 <field name="UnitText">watt</field>
+<field name="Increment">1</field>
 </param>
 <param humanName="Battery serial number" name="BATT6_SERIAL_NUM" documentation="Battery serial number, automatically filled in for SMBus batteries, otherwise will be -1. With UAVCAN it is the battery_id." user="Advanced">
 </param>
 <param humanName="Low voltage timeout" name="BATT6_LOW_TIMER" documentation="This is the timeout in seconds before a low voltage event will be triggered. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs. A value of zero disables low voltage errors." user="Advanced">
-<field name="Range">0 120</field>
-<field name="Increment">1</field>
 <field name="Units">s</field>
 <field name="UnitText">seconds</field>
+<field name="Increment">1</field>
+<field name="Range">0 120</field>
 </param>
 <param humanName="Failsafe voltage source" name="BATT6_FS_VOLTSRC" documentation="Voltage type used for detection of low voltage event" user="Advanced">
 <values>
@@ -1477,24 +1499,24 @@
 </values>
 </param>
 <param humanName="Low battery voltage" name="BATT6_LOW_VOLT" documentation="Battery voltage that triggers a low battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT6_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT6_FS_LOW_ACT parameter." user="Standard">
-<field name="Increment">0.1</field>
 <field name="Units">V</field>
 <field name="UnitText">volt</field>
+<field name="Increment">0.1</field>
 </param>
 <param humanName="Low battery capacity" name="BATT6_LOW_MAH" documentation="Battery capacity at which the low battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT6_FS_LOW_ACT parameter." user="Standard">
-<field name="Increment">50</field>
 <field name="Units">mAh</field>
 <field name="UnitText">milliampere hour</field>
+<field name="Increment">50</field>
 </param>
 <param humanName="Critical battery voltage" name="BATT6_CRT_VOLT" documentation="Battery voltage that triggers a critical battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT6_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT6_FS_CRT_ACT parameter." user="Standard">
-<field name="Increment">0.1</field>
 <field name="Units">V</field>
 <field name="UnitText">volt</field>
+<field name="Increment">0.1</field>
 </param>
 <param humanName="Battery critical capacity" name="BATT6_CRT_MAH" documentation="Battery capacity at which the critical battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT6__FS_CRT_ACT parameter." user="Standard">
-<field name="Increment">50</field>
 <field name="Units">mAh</field>
 <field name="UnitText">milliampere hour</field>
+<field name="Increment">50</field>
 </param>
 <param humanName="Low battery failsafe action" name="BATT6_FS_LOW_ACT" documentation="What action the vehicle should perform if it hits a low battery failsafe" user="Standard">
 <values>
@@ -1517,14 +1539,14 @@
 </values>
 </param>
 <param humanName="Required arming voltage" name="BATT6_ARM_VOLT" documentation="Battery voltage level which is required to arm the aircraft. Set to 0 to allow arming at any voltage." user="Advanced">
-<field name="Increment">0.1</field>
 <field name="Units">V</field>
 <field name="UnitText">volt</field>
+<field name="Increment">0.1</field>
 </param>
 <param humanName="Required arming remaining capacity" name="BATT6_ARM_MAH" documentation="Battery capacity remaining which is required to arm the aircraft. Set to 0 to allow arming at any capacity. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate, which can lead to this check not providing sufficent protection, it is recommended to always use this in conjunction with the BATT6__ARM_VOLT parameter." user="Advanced">
-<field name="Increment">50</field>
 <field name="Units">mAh</field>
 <field name="UnitText">milliampere hour</field>
+<field name="Increment">50</field>
 </param>
 </parameters>
 <parameters name="BATT7_">
@@ -1548,6 +1570,8 @@
 <value code="-1">Disabled</value>
 <value code=" 2">Pixhawk/Pixracer/Navio2/Pixhawk2_PM1</value>
 <value code=" 13">Pixhawk2_PM2</value>
+<value code=" 14">CubeOrange</value>
+<value code=" 13">CubeOrange_PM2</value>
 <value code=" 100">PX4-v1</value>
 </values>
 <field name="RebootRequired">True</field>
@@ -1557,6 +1581,8 @@
 <value code="-1">Disabled</value>
 <value code=" 3">Pixhawk/Pixracer/Navio2/Pixhawk2_PM1</value>
 <value code=" 14">Pixhawk2_PM2</value>
+<value code=" 15">CubeOrange</value>
+<value code=" 4">CubeOrange_PM2</value>
 <value code=" 101">PX4-v1</value>
 </values>
 <field name="RebootRequired">True</field>
@@ -1572,22 +1598,22 @@
 <field name="UnitText">volt</field>
 </param>
 <param humanName="Battery capacity" name="BATT7_CAPACITY" documentation="Capacity of the battery in mAh when full" user="Standard">
-<field name="Increment">50</field>
 <field name="Units">mAh</field>
 <field name="UnitText">milliampere hour</field>
+<field name="Increment">50</field>
 </param>
 <param humanName="Maximum allowed power (Watts)" name="BATT7_WATT_MAX" documentation="If battery wattage (voltage * current) exceeds this value then the system will reduce max throttle (THR_MAX, TKOFF_THR_MAX and THR_MIN for reverse thrust) to satisfy this limit. This helps limit high current to low C rated batteries regardless of battery voltage. The max throttle will slowly grow back to THR_MAX (or TKOFF_THR_MAX ) and THR_MIN if demanding the current max and under the watt max. Use 0 to disable." user="Advanced">
-<field name="Increment">1</field>
 <field name="Units">W</field>
 <field name="UnitText">watt</field>
+<field name="Increment">1</field>
 </param>
 <param humanName="Battery serial number" name="BATT7_SERIAL_NUM" documentation="Battery serial number, automatically filled in for SMBus batteries, otherwise will be -1. With UAVCAN it is the battery_id." user="Advanced">
 </param>
 <param humanName="Low voltage timeout" name="BATT7_LOW_TIMER" documentation="This is the timeout in seconds before a low voltage event will be triggered. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs. A value of zero disables low voltage errors." user="Advanced">
-<field name="Range">0 120</field>
-<field name="Increment">1</field>
 <field name="Units">s</field>
 <field name="UnitText">seconds</field>
+<field name="Increment">1</field>
+<field name="Range">0 120</field>
 </param>
 <param humanName="Failsafe voltage source" name="BATT7_FS_VOLTSRC" documentation="Voltage type used for detection of low voltage event" user="Advanced">
 <values>
@@ -1596,24 +1622,24 @@
 </values>
 </param>
 <param humanName="Low battery voltage" name="BATT7_LOW_VOLT" documentation="Battery voltage that triggers a low battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT7_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT7_FS_LOW_ACT parameter." user="Standard">
-<field name="Increment">0.1</field>
 <field name="Units">V</field>
 <field name="UnitText">volt</field>
+<field name="Increment">0.1</field>
 </param>
 <param humanName="Low battery capacity" name="BATT7_LOW_MAH" documentation="Battery capacity at which the low battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT7_FS_LOW_ACT parameter." user="Standard">
-<field name="Increment">50</field>
 <field name="Units">mAh</field>
 <field name="UnitText">milliampere hour</field>
+<field name="Increment">50</field>
 </param>
 <param humanName="Critical battery voltage" name="BATT7_CRT_VOLT" documentation="Battery voltage that triggers a critical battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT7_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT7_FS_CRT_ACT parameter." user="Standard">
-<field name="Increment">0.1</field>
 <field name="Units">V</field>
 <field name="UnitText">volt</field>
+<field name="Increment">0.1</field>
 </param>
 <param humanName="Battery critical capacity" name="BATT7_CRT_MAH" documentation="Battery capacity at which the critical battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT7__FS_CRT_ACT parameter." user="Standard">
-<field name="Increment">50</field>
 <field name="Units">mAh</field>
 <field name="UnitText">milliampere hour</field>
+<field name="Increment">50</field>
 </param>
 <param humanName="Low battery failsafe action" name="BATT7_FS_LOW_ACT" documentation="What action the vehicle should perform if it hits a low battery failsafe" user="Standard">
 <values>
@@ -1636,14 +1662,14 @@
 </values>
 </param>
 <param humanName="Required arming voltage" name="BATT7_ARM_VOLT" documentation="Battery voltage level which is required to arm the aircraft. Set to 0 to allow arming at any voltage." user="Advanced">
-<field name="Increment">0.1</field>
 <field name="Units">V</field>
 <field name="UnitText">volt</field>
+<field name="Increment">0.1</field>
 </param>
 <param humanName="Required arming remaining capacity" name="BATT7_ARM_MAH" documentation="Battery capacity remaining which is required to arm the aircraft. Set to 0 to allow arming at any capacity. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate, which can lead to this check not providing sufficent protection, it is recommended to always use this in conjunction with the BATT7__ARM_VOLT parameter." user="Advanced">
-<field name="Increment">50</field>
 <field name="Units">mAh</field>
 <field name="UnitText">milliampere hour</field>
+<field name="Increment">50</field>
 </param>
 </parameters>
 <parameters name="BATT8_">
@@ -1667,6 +1693,8 @@
 <value code="-1">Disabled</value>
 <value code=" 2">Pixhawk/Pixracer/Navio2/Pixhawk2_PM1</value>
 <value code=" 13">Pixhawk2_PM2</value>
+<value code=" 14">CubeOrange</value>
+<value code=" 13">CubeOrange_PM2</value>
 <value code=" 100">PX4-v1</value>
 </values>
 <field name="RebootRequired">True</field>
@@ -1676,6 +1704,8 @@
 <value code="-1">Disabled</value>
 <value code=" 3">Pixhawk/Pixracer/Navio2/Pixhawk2_PM1</value>
 <value code=" 14">Pixhawk2_PM2</value>
+<value code=" 15">CubeOrange</value>
+<value code=" 4">CubeOrange_PM2</value>
 <value code=" 101">PX4-v1</value>
 </values>
 <field name="RebootRequired">True</field>
@@ -1691,22 +1721,22 @@
 <field name="UnitText">volt</field>
 </param>
 <param humanName="Battery capacity" name="BATT8_CAPACITY" documentation="Capacity of the battery in mAh when full" user="Standard">
-<field name="Increment">50</field>
 <field name="Units">mAh</field>
 <field name="UnitText">milliampere hour</field>
+<field name="Increment">50</field>
 </param>
 <param humanName="Maximum allowed power (Watts)" name="BATT8_WATT_MAX" documentation="If battery wattage (voltage * current) exceeds this value then the system will reduce max throttle (THR_MAX, TKOFF_THR_MAX and THR_MIN for reverse thrust) to satisfy this limit. This helps limit high current to low C rated batteries regardless of battery voltage. The max throttle will slowly grow back to THR_MAX (or TKOFF_THR_MAX ) and THR_MIN if demanding the current max and under the watt max. Use 0 to disable." user="Advanced">
-<field name="Increment">1</field>
 <field name="Units">W</field>
 <field name="UnitText">watt</field>
+<field name="Increment">1</field>
 </param>
 <param humanName="Battery serial number" name="BATT8_SERIAL_NUM" documentation="Battery serial number, automatically filled in for SMBus batteries, otherwise will be -1. With UAVCAN it is the battery_id." user="Advanced">
 </param>
 <param humanName="Low voltage timeout" name="BATT8_LOW_TIMER" documentation="This is the timeout in seconds before a low voltage event will be triggered. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs. A value of zero disables low voltage errors." user="Advanced">
-<field name="Range">0 120</field>
-<field name="Increment">1</field>
 <field name="Units">s</field>
 <field name="UnitText">seconds</field>
+<field name="Increment">1</field>
+<field name="Range">0 120</field>
 </param>
 <param humanName="Failsafe voltage source" name="BATT8_FS_VOLTSRC" documentation="Voltage type used for detection of low voltage event" user="Advanced">
 <values>
@@ -1715,24 +1745,24 @@
 </values>
 </param>
 <param humanName="Low battery voltage" name="BATT8_LOW_VOLT" documentation="Battery voltage that triggers a low battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT8_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT8_FS_LOW_ACT parameter." user="Standard">
-<field name="Increment">0.1</field>
 <field name="Units">V</field>
 <field name="UnitText">volt</field>
+<field name="Increment">0.1</field>
 </param>
 <param humanName="Low battery capacity" name="BATT8_LOW_MAH" documentation="Battery capacity at which the low battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT8_FS_LOW_ACT parameter." user="Standard">
-<field name="Increment">50</field>
 <field name="Units">mAh</field>
 <field name="UnitText">milliampere hour</field>
+<field name="Increment">50</field>
 </param>
 <param humanName="Critical battery voltage" name="BATT8_CRT_VOLT" documentation="Battery voltage that triggers a critical battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT8_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT8_FS_CRT_ACT parameter." user="Standard">
-<field name="Increment">0.1</field>
 <field name="Units">V</field>
 <field name="UnitText">volt</field>
+<field name="Increment">0.1</field>
 </param>
 <param humanName="Battery critical capacity" name="BATT8_CRT_MAH" documentation="Battery capacity at which the critical battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT8__FS_CRT_ACT parameter." user="Standard">
-<field name="Increment">50</field>
 <field name="Units">mAh</field>
 <field name="UnitText">milliampere hour</field>
+<field name="Increment">50</field>
 </param>
 <param humanName="Low battery failsafe action" name="BATT8_FS_LOW_ACT" documentation="What action the vehicle should perform if it hits a low battery failsafe" user="Standard">
 <values>
@@ -1755,14 +1785,14 @@
 </values>
 </param>
 <param humanName="Required arming voltage" name="BATT8_ARM_VOLT" documentation="Battery voltage level which is required to arm the aircraft. Set to 0 to allow arming at any voltage." user="Advanced">
-<field name="Increment">0.1</field>
 <field name="Units">V</field>
 <field name="UnitText">volt</field>
+<field name="Increment">0.1</field>
 </param>
 <param humanName="Required arming remaining capacity" name="BATT8_ARM_MAH" documentation="Battery capacity remaining which is required to arm the aircraft. Set to 0 to allow arming at any capacity. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate, which can lead to this check not providing sufficent protection, it is recommended to always use this in conjunction with the BATT8__ARM_VOLT parameter." user="Advanced">
-<field name="Increment">50</field>
 <field name="Units">mAh</field>
 <field name="UnitText">milliampere hour</field>
+<field name="Increment">50</field>
 </param>
 </parameters>
 <parameters name="BATT9_">
@@ -1786,6 +1816,8 @@
 <value code="-1">Disabled</value>
 <value code=" 2">Pixhawk/Pixracer/Navio2/Pixhawk2_PM1</value>
 <value code=" 13">Pixhawk2_PM2</value>
+<value code=" 14">CubeOrange</value>
+<value code=" 13">CubeOrange_PM2</value>
 <value code=" 100">PX4-v1</value>
 </values>
 <field name="RebootRequired">True</field>
@@ -1795,6 +1827,8 @@
 <value code="-1">Disabled</value>
 <value code=" 3">Pixhawk/Pixracer/Navio2/Pixhawk2_PM1</value>
 <value code=" 14">Pixhawk2_PM2</value>
+<value code=" 15">CubeOrange</value>
+<value code=" 4">CubeOrange_PM2</value>
 <value code=" 101">PX4-v1</value>
 </values>
 <field name="RebootRequired">True</field>
@@ -1810,22 +1844,22 @@
 <field name="UnitText">volt</field>
 </param>
 <param humanName="Battery capacity" name="BATT9_CAPACITY" documentation="Capacity of the battery in mAh when full" user="Standard">
-<field name="Increment">50</field>
 <field name="Units">mAh</field>
 <field name="UnitText">milliampere hour</field>
+<field name="Increment">50</field>
 </param>
 <param humanName="Maximum allowed power (Watts)" name="BATT9_WATT_MAX" documentation="If battery wattage (voltage * current) exceeds this value then the system will reduce max throttle (THR_MAX, TKOFF_THR_MAX and THR_MIN for reverse thrust) to satisfy this limit. This helps limit high current to low C rated batteries regardless of battery voltage. The max throttle will slowly grow back to THR_MAX (or TKOFF_THR_MAX ) and THR_MIN if demanding the current max and under the watt max. Use 0 to disable." user="Advanced">
-<field name="Increment">1</field>
 <field name="Units">W</field>
 <field name="UnitText">watt</field>
+<field name="Increment">1</field>
 </param>
 <param humanName="Battery serial number" name="BATT9_SERIAL_NUM" documentation="Battery serial number, automatically filled in for SMBus batteries, otherwise will be -1. With UAVCAN it is the battery_id." user="Advanced">
 </param>
 <param humanName="Low voltage timeout" name="BATT9_LOW_TIMER" documentation="This is the timeout in seconds before a low voltage event will be triggered. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs. A value of zero disables low voltage errors." user="Advanced">
-<field name="Range">0 120</field>
-<field name="Increment">1</field>
 <field name="Units">s</field>
 <field name="UnitText">seconds</field>
+<field name="Increment">1</field>
+<field name="Range">0 120</field>
 </param>
 <param humanName="Failsafe voltage source" name="BATT9_FS_VOLTSRC" documentation="Voltage type used for detection of low voltage event" user="Advanced">
 <values>
@@ -1834,24 +1868,24 @@
 </values>
 </param>
 <param humanName="Low battery voltage" name="BATT9_LOW_VOLT" documentation="Battery voltage that triggers a low battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT9_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT9_FS_LOW_ACT parameter." user="Standard">
-<field name="Increment">0.1</field>
 <field name="Units">V</field>
 <field name="UnitText">volt</field>
+<field name="Increment">0.1</field>
 </param>
 <param humanName="Low battery capacity" name="BATT9_LOW_MAH" documentation="Battery capacity at which the low battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT9_FS_LOW_ACT parameter." user="Standard">
-<field name="Increment">50</field>
 <field name="Units">mAh</field>
 <field name="UnitText">milliampere hour</field>
+<field name="Increment">50</field>
 </param>
 <param humanName="Critical battery voltage" name="BATT9_CRT_VOLT" documentation="Battery voltage that triggers a critical battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT9_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT9_FS_CRT_ACT parameter." user="Standard">
-<field name="Increment">0.1</field>
 <field name="Units">V</field>
 <field name="UnitText">volt</field>
+<field name="Increment">0.1</field>
 </param>
 <param humanName="Battery critical capacity" name="BATT9_CRT_MAH" documentation="Battery capacity at which the critical battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT9__FS_CRT_ACT parameter." user="Standard">
-<field name="Increment">50</field>
 <field name="Units">mAh</field>
 <field name="UnitText">milliampere hour</field>
+<field name="Increment">50</field>
 </param>
 <param humanName="Low battery failsafe action" name="BATT9_FS_LOW_ACT" documentation="What action the vehicle should perform if it hits a low battery failsafe" user="Standard">
 <values>
@@ -1874,14 +1908,14 @@
 </values>
 </param>
 <param humanName="Required arming voltage" name="BATT9_ARM_VOLT" documentation="Battery voltage level which is required to arm the aircraft. Set to 0 to allow arming at any voltage." user="Advanced">
-<field name="Increment">0.1</field>
 <field name="Units">V</field>
 <field name="UnitText">volt</field>
+<field name="Increment">0.1</field>
 </param>
 <param humanName="Required arming remaining capacity" name="BATT9_ARM_MAH" documentation="Battery capacity remaining which is required to arm the aircraft. Set to 0 to allow arming at any capacity. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate, which can lead to this check not providing sufficent protection, it is recommended to always use this in conjunction with the BATT9__ARM_VOLT parameter." user="Advanced">
-<field name="Increment">50</field>
 <field name="Units">mAh</field>
 <field name="UnitText">milliampere hour</field>
+<field name="Increment">50</field>
 </param>
 </parameters>
 <parameters name="BATT_">
@@ -1905,6 +1939,8 @@
 <value code="-1">Disabled</value>
 <value code=" 2">Pixhawk/Pixracer/Navio2/Pixhawk2_PM1</value>
 <value code=" 13">Pixhawk2_PM2</value>
+<value code=" 14">CubeOrange</value>
+<value code=" 13">CubeOrange_PM2</value>
 <value code=" 100">PX4-v1</value>
 </values>
 <field name="RebootRequired">True</field>
@@ -1914,6 +1950,8 @@
 <value code="-1">Disabled</value>
 <value code=" 3">Pixhawk/Pixracer/Navio2/Pixhawk2_PM1</value>
 <value code=" 14">Pixhawk2_PM2</value>
+<value code=" 15">CubeOrange</value>
+<value code=" 4">CubeOrange_PM2</value>
 <value code=" 101">PX4-v1</value>
 </values>
 <field name="RebootRequired">True</field>
@@ -1929,22 +1967,22 @@
 <field name="UnitText">volt</field>
 </param>
 <param humanName="Battery capacity" name="BATT_CAPACITY" documentation="Capacity of the battery in mAh when full" user="Standard">
-<field name="Increment">50</field>
 <field name="Units">mAh</field>
 <field name="UnitText">milliampere hour</field>
+<field name="Increment">50</field>
 </param>
 <param humanName="Maximum allowed power (Watts)" name="BATT_WATT_MAX" documentation="If battery wattage (voltage * current) exceeds this value then the system will reduce max throttle (THR_MAX, TKOFF_THR_MAX and THR_MIN for reverse thrust) to satisfy this limit. This helps limit high current to low C rated batteries regardless of battery voltage. The max throttle will slowly grow back to THR_MAX (or TKOFF_THR_MAX ) and THR_MIN if demanding the current max and under the watt max. Use 0 to disable." user="Advanced">
-<field name="Increment">1</field>
 <field name="Units">W</field>
 <field name="UnitText">watt</field>
+<field name="Increment">1</field>
 </param>
 <param humanName="Battery serial number" name="BATT_SERIAL_NUM" documentation="Battery serial number, automatically filled in for SMBus batteries, otherwise will be -1. With UAVCAN it is the battery_id." user="Advanced">
 </param>
 <param humanName="Low voltage timeout" name="BATT_LOW_TIMER" documentation="This is the timeout in seconds before a low voltage event will be triggered. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs. A value of zero disables low voltage errors." user="Advanced">
-<field name="Range">0 120</field>
-<field name="Increment">1</field>
 <field name="Units">s</field>
 <field name="UnitText">seconds</field>
+<field name="Increment">1</field>
+<field name="Range">0 120</field>
 </param>
 <param humanName="Failsafe voltage source" name="BATT_FS_VOLTSRC" documentation="Voltage type used for detection of low voltage event" user="Advanced">
 <values>
@@ -1953,24 +1991,24 @@
 </values>
 </param>
 <param humanName="Low battery voltage" name="BATT_LOW_VOLT" documentation="Battery voltage that triggers a low battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT_FS_LOW_ACT parameter." user="Standard">
-<field name="Increment">0.1</field>
 <field name="Units">V</field>
 <field name="UnitText">volt</field>
+<field name="Increment">0.1</field>
 </param>
 <param humanName="Low battery capacity" name="BATT_LOW_MAH" documentation="Battery capacity at which the low battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT_FS_LOW_ACT parameter." user="Standard">
-<field name="Increment">50</field>
 <field name="Units">mAh</field>
 <field name="UnitText">milliampere hour</field>
+<field name="Increment">50</field>
 </param>
 <param humanName="Critical battery voltage" name="BATT_CRT_VOLT" documentation="Battery voltage that triggers a critical battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT_FS_CRT_ACT parameter." user="Standard">
-<field name="Increment">0.1</field>
 <field name="Units">V</field>
 <field name="UnitText">volt</field>
+<field name="Increment">0.1</field>
 </param>
 <param humanName="Battery critical capacity" name="BATT_CRT_MAH" documentation="Battery capacity at which the critical battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT__FS_CRT_ACT parameter." user="Standard">
-<field name="Increment">50</field>
 <field name="Units">mAh</field>
 <field name="UnitText">milliampere hour</field>
+<field name="Increment">50</field>
 </param>
 <param humanName="Low battery failsafe action" name="BATT_FS_LOW_ACT" documentation="What action the vehicle should perform if it hits a low battery failsafe" user="Standard">
 <values>
@@ -1993,14 +2031,14 @@
 </values>
 </param>
 <param humanName="Required arming voltage" name="BATT_ARM_VOLT" documentation="Battery voltage level which is required to arm the aircraft. Set to 0 to allow arming at any voltage." user="Advanced">
-<field name="Increment">0.1</field>
 <field name="Units">V</field>
 <field name="UnitText">volt</field>
+<field name="Increment">0.1</field>
 </param>
 <param humanName="Required arming remaining capacity" name="BATT_ARM_MAH" documentation="Battery capacity remaining which is required to arm the aircraft. Set to 0 to allow arming at any capacity. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate, which can lead to this check not providing sufficent protection, it is recommended to always use this in conjunction with the BATT__ARM_VOLT parameter." user="Advanced">
-<field name="Increment">50</field>
 <field name="Units">mAh</field>
 <field name="UnitText">milliampere hour</field>
+<field name="Increment">50</field>
 </param>
 </parameters>
 <parameters name="BCN">
@@ -2009,31 +2047,32 @@
 <value code="0">None</value>
 <value code="1">Pozyx</value>
 <value code="2">Marvelmind</value>
+<value code="10">SITL</value>
 </values>
 </param>
 <param humanName="Beacon origin's latitude" name="BCN_LATITUDE" documentation="Beacon origin's latitude" user="Advanced">
-<field name="Range">-90 90</field>
-<field name="Increment">0.000001</field>
 <field name="Units">deg</field>
 <field name="UnitText">degrees</field>
+<field name="Increment">0.000001</field>
+<field name="Range">-90 90</field>
 </param>
 <param humanName="Beacon origin's longitude" name="BCN_LONGITUDE" documentation="Beacon origin's longitude" user="Advanced">
-<field name="Range">-180 180</field>
-<field name="Increment">0.000001</field>
 <field name="Units">deg</field>
 <field name="UnitText">degrees</field>
+<field name="Increment">0.000001</field>
+<field name="Range">-180 180</field>
 </param>
 <param humanName="Beacon origin's altitude above sealevel in meters" name="BCN_ALT" documentation="Beacon origin's altitude above sealevel in meters" user="Advanced">
-<field name="Range">0 10000</field>
-<field name="Increment">1</field>
 <field name="Units">m</field>
 <field name="UnitText">meters</field>
+<field name="Increment">1</field>
+<field name="Range">0 10000</field>
 </param>
 <param humanName="Beacon systems rotation from north in degrees" name="BCN_ORIENT_YAW" documentation="Beacon systems rotation from north in degrees" user="Advanced">
-<field name="Range">-180 +180</field>
-<field name="Increment">1</field>
 <field name="Units">deg</field>
 <field name="UnitText">degrees</field>
+<field name="Increment">1</field>
+<field name="Range">-180 +180</field>
 </param>
 </parameters>
 <parameters name="BRD_">
@@ -2091,11 +2130,11 @@
 <field name="Range">-32768 32767</field>
 </param>
 <param humanName="Channels which ignore the safety switch state" name="BRD_SAFETY_MASK" documentation="A bitmask which controls what channels can move while the safety switch has not been pressed" user="Advanced">
-<field name="Bitmask">0:Ch1,1:Ch2,2:Ch3,3:Ch4,4:Ch5,5:Ch6,6:Ch7,7:Ch8,8:Ch9,9:Ch10,10:Ch11,11:Ch12,12:Ch13,13:Ch14</field>
 <values>
 <value code="0">Disabled</value>
 <value code="1">Enabled</value>
 </values>
+<field name="Bitmask">0:Ch1,1:Ch2,2:Ch3,3:Ch4,4:Ch5,5:Ch6,6:Ch7,7:Ch8,8:Ch9,9:Ch10,10:Ch11,11:Ch12,12:Ch13,13:Ch14</field>
 <field name="RebootRequired">True</field>
 </param>
 <param humanName="Target IMU temperature" name="BRD_IMU_TARGTEMP" documentation="This sets the target IMU temperature for boards with controllable IMU heating units. DO NOT SET -1 on The Cube. A value of -1 sets PH1 behaviour " user="Advanced">
@@ -2134,16 +2173,16 @@
 <field name="Bitmask">0:ActiveForSafetyEnable,1:ActiveForSafetyDisable,2:ActiveWhenArmed,3:Force safety on when the aircraft disarms</field>
 </param>
 <param humanName="Autopilot board voltage requirement" name="BRD_VBUS_MIN" documentation="Minimum voltage on the autopilot power rail to allow the aircraft to arm. 0 to disable the check." user="Advanced">
-<field name="Range">4.0 5.5</field>
-<field name="Increment">0.1</field>
 <field name="Units">V</field>
 <field name="UnitText">volt</field>
+<field name="Range">4.0 5.5</field>
+<field name="Increment">0.1</field>
 </param>
 <param humanName="Servo voltage requirement" name="BRD_VSERVO_MIN" documentation="Minimum voltage on the servo rail to allow the aircraft to arm. 0 to disable the check." user="Advanced">
-<field name="Range">3.3 12.0</field>
-<field name="Increment">0.1</field>
 <field name="Units">V</field>
 <field name="UnitText">volt</field>
+<field name="Range">3.3 12.0</field>
+<field name="Increment">0.1</field>
 </param>
 <param humanName="microSD slowdown" name="BRD_SD_SLOWDOWN" documentation="This is a scaling factor to slow down microSD operation. It can be used on flight board and microSD card combinations where full speed is not reliable. For normal full speed operation a value of 0 should be used." user="Advanced">
 <field name="Range">0 32</field>
@@ -2314,24 +2353,24 @@
 </values>
 </param>
 <param humanName="Duration that shutter is held open" name="CAM_DURATION" documentation="How long the shutter will be held open in 10ths of a second (i.e. enter 10 for 1second, 50 for 5seconds)" user="Standard">
-<field name="Range">0 50</field>
 <field name="Units">ds</field>
 <field name="UnitText">deciseconds</field>
+<field name="Range">0 50</field>
 </param>
 <param humanName="Servo ON PWM value" name="CAM_SERVO_ON" documentation="PWM value in microseconds to move servo to when shutter is activated" user="Standard">
-<field name="Range">1000 2000</field>
 <field name="Units">PWM</field>
 <field name="UnitText">PWM in microseconds</field>
+<field name="Range">1000 2000</field>
 </param>
 <param humanName="Servo OFF PWM value" name="CAM_SERVO_OFF" documentation="PWM value in microseconds to move servo to when shutter is deactivated" user="Standard">
-<field name="Range">1000 2000</field>
 <field name="Units">PWM</field>
 <field name="UnitText">PWM in microseconds</field>
+<field name="Range">1000 2000</field>
 </param>
 <param humanName="Camera trigger distance" name="CAM_TRIGG_DIST" documentation="Distance in meters between camera triggers. If this value is non-zero then the camera will trigger whenever the GPS position changes by this number of meters regardless of what mode the APM is in. Note that this parameter can also be set in an auto mission using the DO_SET_CAM_TRIGG_DIST command, allowing you to enable/disable the triggering of the camera during the flight." user="Standard">
-<field name="Range">0 1000</field>
 <field name="Units">m</field>
 <field name="UnitText">meters</field>
+<field name="Range">0 1000</field>
 </param>
 <param humanName="Relay ON value" name="CAM_RELAY_ON" documentation="This sets whether the relay goes high or low when it triggers. Note that you should also set RELAY_DEFAULT appropriately for your camera" user="Standard">
 <values>
@@ -2340,14 +2379,14 @@
 </values>
 </param>
 <param humanName="Minimum time between photos" name="CAM_MIN_INTERVAL" documentation="Postpone shooting if previous picture was taken less than preset time(ms) ago." user="Standard">
-<field name="Range">0 10000</field>
 <field name="Units">ms</field>
 <field name="UnitText">milliseconds</field>
+<field name="Range">0 10000</field>
 </param>
 <param humanName="Maximum photo roll angle." name="CAM_MAX_ROLL" documentation="Postpone shooting if roll is greater than limit. (0=Disable, will shoot regardless of roll)." user="Standard">
-<field name="Range">0 180</field>
 <field name="Units">deg</field>
 <field name="UnitText">degrees</field>
+<field name="Range">0 180</field>
 </param>
 <param humanName="Camera feedback pin" name="CAM_FEEDBACK_PIN" documentation="pin number to use for save accurate camera feedback messages. If set to -1 then don't use a pin flag for this, otherwise this is a pin number which if held high after a picture trigger order, will save camera messages when camera really takes a picture. A universal camera hot shoe is needed. The pin should be held high for at least 2 milliseconds for reliable trigger detection. See also the CAM_FEEDBACK_POL option." user="Standard">
 <values>
@@ -2561,27 +2600,27 @@
 <parameters name="COMPASS_">
 <param humanName="Compass offsets in milligauss on the X axis" name="COMPASS_OFS_X" documentation="Offset to be added to the compass x-axis values to compensate for metal in the frame" user="Advanced">
 <field name="Range">-400 400</field>
-<field name="Increment">1</field>
 <field name="Units">mGauss</field>
 <field name="UnitText">milligauss</field>
+<field name="Increment">1</field>
 </param>
 <param humanName="Compass offsets in milligauss on the Y axis" name="COMPASS_OFS_Y" documentation="Offset to be added to the compass y-axis values to compensate for metal in the frame" user="Advanced">
 <field name="Range">-400 400</field>
-<field name="Increment">1</field>
 <field name="Units">mGauss</field>
 <field name="UnitText">milligauss</field>
+<field name="Increment">1</field>
 </param>
 <param humanName="Compass offsets in milligauss on the Z axis" name="COMPASS_OFS_Z" documentation="Offset to be added to the compass z-axis values to compensate for metal in the frame" user="Advanced">
 <field name="Range">-400 400</field>
-<field name="Increment">1</field>
 <field name="Units">mGauss</field>
 <field name="UnitText">milligauss</field>
+<field name="Increment">1</field>
 </param>
 <param humanName="Compass declination" name="COMPASS_DEC" documentation="An angle to compensate between the true north and magnetic north" user="Standard">
 <field name="Range">-3.142 3.142</field>
-<field name="Increment">0.01</field>
 <field name="Units">rad</field>
 <field name="UnitText">radians</field>
+<field name="Increment">0.01</field>
 </param>
 <param humanName="Learn compass offsets automatically" name="COMPASS_LEARN" documentation="Enable or disable the automatic learning of compass offsets. You can enable learning either using a compass-only method that is suitable only for fixed wing aircraft or using the offsets learnt by the active EKF state estimator. If this option is enabled then the learnt offsets are saved when you disarm the vehicle. If InFlight learning is enabled then the compass with automatically start learning once a flight starts (must be armed). While InFlight learning is running you cannot use position control modes." user="Advanced">
 <values>
@@ -2612,21 +2651,21 @@
 </param>
 <param humanName="Motor interference compensation for body frame X axis" name="COMPASS_MOT_X" documentation="Multiplied by the current throttle and added to the compass's x-axis values to compensate for motor interference (Offset per Amp or at Full Throttle)" user="Advanced">
 <field name="Range">-1000 1000</field>
-<field name="Increment">1</field>
 <field name="Units">mGauss/A</field>
 <field name="UnitText">milligauss per ampere</field>
+<field name="Increment">1</field>
 </param>
 <param humanName="Motor interference compensation for body frame Y axis" name="COMPASS_MOT_Y" documentation="Multiplied by the current throttle and added to the compass's y-axis values to compensate for motor interference (Offset per Amp or at Full Throttle)" user="Advanced">
 <field name="Range">-1000 1000</field>
-<field name="Increment">1</field>
 <field name="Units">mGauss/A</field>
 <field name="UnitText">milligauss per ampere</field>
+<field name="Increment">1</field>
 </param>
 <param humanName="Motor interference compensation for body frame Z axis" name="COMPASS_MOT_Z" documentation="Multiplied by the current throttle and added to the compass's z-axis values to compensate for motor interference (Offset per Amp or at Full Throttle)" user="Advanced">
 <field name="Range">-1000 1000</field>
-<field name="Increment">1</field>
 <field name="Units">mGauss/A</field>
 <field name="UnitText">milligauss per ampere</field>
+<field name="Increment">1</field>
 </param>
 <param humanName="Compass orientation" name="COMPASS_ORIENT" documentation="The orientation of the first external compass relative to the vehicle frame. This value will be ignored unless this compass is set as an external compass. When set correctly in the northern hemisphere, pointing the nose and right side down should increase the MagX and MagY values respectively. Rolling the vehicle upside down should decrease the MagZ value. For southern hemisphere, switch increase and decrease. NOTE: For internal compasses, AHRS_ORIENT is used." user="Advanced">
 <values>
@@ -2682,39 +2721,39 @@
 </param>
 <param humanName="Compass2 offsets in milligauss on the X axis" name="COMPASS_OFS2_X" documentation="Offset to be added to compass2's x-axis values to compensate for metal in the frame" user="Advanced">
 <field name="Range">-400 400</field>
-<field name="Increment">1</field>
 <field name="Units">mGauss</field>
 <field name="UnitText">milligauss</field>
+<field name="Increment">1</field>
 </param>
 <param humanName="Compass2 offsets in milligauss on the Y axis" name="COMPASS_OFS2_Y" documentation="Offset to be added to compass2's y-axis values to compensate for metal in the frame" user="Advanced">
 <field name="Range">-400 400</field>
-<field name="Increment">1</field>
 <field name="Units">mGauss</field>
 <field name="UnitText">milligauss</field>
+<field name="Increment">1</field>
 </param>
 <param humanName="Compass2 offsets in milligauss on the Z axis" name="COMPASS_OFS2_Z" documentation="Offset to be added to compass2's z-axis values to compensate for metal in the frame" user="Advanced">
 <field name="Range">-400 400</field>
-<field name="Increment">1</field>
 <field name="Units">mGauss</field>
 <field name="UnitText">milligauss</field>
+<field name="Increment">1</field>
 </param>
 <param humanName="Motor interference compensation to compass2 for body frame X axis" name="COMPASS_MOT2_X" documentation="Multiplied by the current throttle and added to compass2's x-axis values to compensate for motor interference (Offset per Amp or at Full Throttle)" user="Advanced">
 <field name="Range">-1000 1000</field>
-<field name="Increment">1</field>
 <field name="Units">mGauss/A</field>
 <field name="UnitText">milligauss per ampere</field>
+<field name="Increment">1</field>
 </param>
 <param humanName="Motor interference compensation to compass2 for body frame Y axis" name="COMPASS_MOT2_Y" documentation="Multiplied by the current throttle and added to compass2's y-axis values to compensate for motor interference (Offset per Amp or at Full Throttle)" user="Advanced">
 <field name="Range">-1000 1000</field>
-<field name="Increment">1</field>
 <field name="Units">mGauss/A</field>
 <field name="UnitText">milligauss per ampere</field>
+<field name="Increment">1</field>
 </param>
 <param humanName="Motor interference compensation to compass2 for body frame Z axis" name="COMPASS_MOT2_Z" documentation="Multiplied by the current throttle and added to compass2's z-axis values to compensate for motor interference (Offset per Amp or at Full Throttle)" user="Advanced">
 <field name="Range">-1000 1000</field>
-<field name="Increment">1</field>
 <field name="Units">mGauss/A</field>
 <field name="UnitText">milligauss per ampere</field>
+<field name="Increment">1</field>
 </param>
 <param humanName="Choose primary compass" name="COMPASS_PRIMARY" documentation="If more than one compass is available, this selects which compass is the primary. When external compasses are connected, they will be ordered first. NOTE: If no external compass is attached, this parameter is ignored." user="Advanced">
 <values>
@@ -2725,39 +2764,39 @@
 </param>
 <param humanName="Compass3 offsets in milligauss on the X axis" name="COMPASS_OFS3_X" documentation="Offset to be added to compass3's x-axis values to compensate for metal in the frame" user="Advanced">
 <field name="Range">-400 400</field>
-<field name="Increment">1</field>
 <field name="Units">mGauss</field>
 <field name="UnitText">milligauss</field>
+<field name="Increment">1</field>
 </param>
 <param humanName="Compass3 offsets in milligauss on the Y axis" name="COMPASS_OFS3_Y" documentation="Offset to be added to compass3's y-axis values to compensate for metal in the frame" user="Advanced">
 <field name="Range">-400 400</field>
-<field name="Increment">1</field>
 <field name="Units">mGauss</field>
 <field name="UnitText">milligauss</field>
+<field name="Increment">1</field>
 </param>
 <param humanName="Compass3 offsets in milligauss on the Z axis" name="COMPASS_OFS3_Z" documentation="Offset to be added to compass3's z-axis values to compensate for metal in the frame" user="Advanced">
 <field name="Range">-400 400</field>
-<field name="Increment">1</field>
 <field name="Units">mGauss</field>
 <field name="UnitText">milligauss</field>
+<field name="Increment">1</field>
 </param>
 <param humanName="Motor interference compensation to compass3 for body frame X axis" name="COMPASS_MOT3_X" documentation="Multiplied by the current throttle and added to compass3's x-axis values to compensate for motor interference (Offset per Amp or at Full Throttle)" user="Advanced">
 <field name="Range">-1000 1000</field>
-<field name="Increment">1</field>
 <field name="Units">mGauss/A</field>
 <field name="UnitText">milligauss per ampere</field>
+<field name="Increment">1</field>
 </param>
 <param humanName="Motor interference compensation to compass3 for body frame Y axis" name="COMPASS_MOT3_Y" documentation="Multiplied by the current throttle and added to compass3's y-axis values to compensate for motor interference (Offset per Amp or at Full Throttle)" user="Advanced">
 <field name="Range">-1000 1000</field>
-<field name="Increment">1</field>
 <field name="Units">mGauss/A</field>
 <field name="UnitText">milligauss per ampere</field>
+<field name="Increment">1</field>
 </param>
 <param humanName="Motor interference compensation to compass3 for body frame Z axis" name="COMPASS_MOT3_Z" documentation="Multiplied by the current throttle and added to compass3's z-axis values to compensate for motor interference (Offset per Amp or at Full Throttle)" user="Advanced">
 <field name="Range">-1000 1000</field>
-<field name="Increment">1</field>
 <field name="Units">mGauss/A</field>
 <field name="UnitText">milligauss per ampere</field>
+<field name="Increment">1</field>
 </param>
 <param humanName="Compass device id" name="COMPASS_DEV_ID" documentation="Compass device id.  Automatically detected, do not set manually" user="Advanced">
 <field name="ReadOnly">True</field>
@@ -2938,10 +2977,10 @@
 <field name="Bitmask">0:HMC5883,1:LSM303D,2:AK8963,3:BMM150,4:LSM9DS1,5:LIS3MDL,6:AK09916,7:IST8310,8:ICM20948,9:MMC3416,11:UAVCAN,12:QMC5883,14:MAG3110,15:IST8308</field>
 </param>
 <param humanName="Range in which sample is accepted" name="COMPASS_FLTR_RNG" documentation="This sets the range around the average value that new samples must be within to be accepted. This can help reduce the impact of noise on sensors that are on long I2C cables. The value is a percentage from the average value. A value of zero disables this filter.">
-<field name="Range">0 100</field>
-<field name="Increment">1</field>
 <field name="Units">%</field>
 <field name="UnitText">percent</field>
+<field name="Range">0 100</field>
+<field name="Increment">1</field>
 </param>
 <param humanName="Automatically check orientation" name="COMPASS_AUTO_ROT" documentation="When enabled this will automatically check the orientation of compasses on successful completion of compass calibration. If set to 2 then external compasses will have their orientation automatically corrected.">
 <values>
@@ -3275,6 +3314,11 @@
 </values>
 <field name="RebootRequired">True</field>
 </param>
+<param humanName="EarthField error limit" name="EK2_MAG_EF_LIM" documentation="This limits the difference between the learned earth magnetic field and the earth field from the world magnetic model tables. A value of zero means to disable the use of the WMM tables." user="Advanced">
+<field name="Range">0 500</field>
+<field name="Units">mGauss</field>
+<field name="UnitText">milligauss</field>
+</param>
 </parameters>
 <parameters name="EK3_">
 <param humanName="Enable EKF3" name="EK3_ENABLE" documentation="This enables EKF3. Enabling EKF3 only makes the maths run, it does not mean it will be used for flight control. To use it for flight control set AHRS_EKF_TYPE=3. A reboot or restart will need to be performed after changing the value of EK3_ENABLE for it to take effect." user="Advanced">
@@ -3346,9 +3390,9 @@
 <param humanName="Height measurement delay (msec)" name="EK3_HGT_DELAY" documentation="This is the number of msec that the Height measurements lag behind the inertial measurements." user="Advanced">
 <field name="Range">0 250</field>
 <field name="Increment">10</field>
+<field name="RebootRequired">True</field>
 <field name="Units">ms</field>
 <field name="UnitText">milliseconds</field>
-<field name="RebootRequired">True</field>
 </param>
 <param humanName="Magnetometer measurement noise (Gauss)" name="EK3_MAG_M_NSE" documentation="This is the RMS value of noise in magnetometer measurements. Increasing it reduces the weighting on these measurements." user="Advanced">
 <field name="Range">0.01 0.5</field>
@@ -3409,9 +3453,9 @@
 <param humanName="Optical Flow measurement delay (msec)" name="EK3_FLOW_DELAY" documentation="This is the number of msec that the optical flow measurements lag behind the inertial measurements. It is the time from the end of the optical flow averaging period and does not include the time delay due to the 100msec of averaging within the flow sensor." user="Advanced">
 <field name="Range">0 250</field>
 <field name="Increment">10</field>
+<field name="RebootRequired">True</field>
 <field name="Units">ms</field>
 <field name="UnitText">milliseconds</field>
-<field name="RebootRequired">True</field>
 </param>
 <param humanName="Rate gyro noise (rad/s)" name="EK3_GYRO_P_NSE" documentation="This control disturbance noise controls the growth of estimated error due to gyro measurement errors excluding bias. Increasing it makes the flter trust the gyro measurements less and other measurements more." user="Advanced">
 <field name="Range">0.0001 0.1</field>
@@ -3515,9 +3559,9 @@
 <param humanName="Range beacon measurement delay (msec)" name="EK3_BCN_DELAY" documentation="This is the number of msec that the range beacon measurements lag behind the inertial measurements." user="Advanced">
 <field name="Range">0 250</field>
 <field name="Increment">10</field>
+<field name="RebootRequired">True</field>
 <field name="Units">ms</field>
 <field name="UnitText">milliseconds</field>
-<field name="RebootRequired">True</field>
 </param>
 <param humanName="Range finder max ground speed" name="EK3_RNG_USE_SPD" documentation="The range finder will not be used as the primary height source when the horizontal ground speed is greater than this value." user="Advanced">
 <field name="Range">2.0 6.0</field>
@@ -3574,7 +3618,6 @@
 </values>
 </param>
 <param humanName="Fence Type" name="FENCE_TYPE" documentation="Enabled fence types held as bitmask" user="Standard">
-<field name="Bitmask">0:Altitude,1:Circle,2:Polygon</field>
 <values>
 <value code="0">None</value>
 <value code="1">Altitude</value>
@@ -3585,6 +3628,7 @@
 <value code="6">Circle and Polygon</value>
 <value code="7">All</value>
 </values>
+<field name="Bitmask">0:Altitude,1:Circle,2:Polygon</field>
 </param>
 <param humanName="Fence Action" name="FENCE_ACTION" documentation="What action should be taken when fence is breached" user="Standard">
 <values>
@@ -3596,29 +3640,29 @@
 </values>
 </param>
 <param humanName="Fence Maximum Altitude" name="FENCE_ALT_MAX" documentation="Maximum altitude allowed before geofence triggers" user="Standard">
-<field name="Range">10 1000</field>
-<field name="Increment">1</field>
 <field name="Units">m</field>
 <field name="UnitText">meters</field>
+<field name="Range">10 1000</field>
+<field name="Increment">1</field>
 </param>
 <param humanName="Circular Fence Radius" name="FENCE_RADIUS" documentation="Circle fence radius which when breached will cause an RTL" user="Standard">
-<field name="Range">30 10000</field>
 <field name="Units">m</field>
 <field name="UnitText">meters</field>
+<field name="Range">30 10000</field>
 </param>
 <param humanName="Fence Margin" name="FENCE_MARGIN" documentation="Distance that autopilot's should maintain from the fence to avoid a breach" user="Standard">
-<field name="Range">1 10</field>
 <field name="Units">m</field>
 <field name="UnitText">meters</field>
+<field name="Range">1 10</field>
 </param>
 <param humanName="Fence polygon point total" name="FENCE_TOTAL" documentation="Number of polygon points saved in eeprom (do not update manually)" user="Standard">
 <field name="Range">1 20</field>
 </param>
 <param humanName="Fence Minimum Altitude" name="FENCE_ALT_MIN" documentation="Minimum altitude allowed before geofence triggers" user="Standard">
-<field name="Range">-100 100</field>
-<field name="Increment">1</field>
 <field name="Units">m</field>
 <field name="UnitText">meters</field>
+<field name="Range">-100 100</field>
+<field name="Increment">1</field>
 </param>
 </parameters>
 <parameters name="FOLL">
@@ -3632,9 +3676,9 @@
 <field name="Range">0 255</field>
 </param>
 <param humanName="Follow distance maximum" name="FOLL_DIST_MAX" documentation="Follow distance maximum.  targets further than this will be ignored" user="Standard">
-<field name="Range">1 1000</field>
 <field name="Units">m</field>
 <field name="UnitText">meters</field>
+<field name="Range">1 1000</field>
 </param>
 <param humanName="Follow offset type" name="FOLL_OFS_TYPE" documentation="Follow offset type" user="Standard">
 <values>
@@ -3644,21 +3688,21 @@
 </param>
 <param humanName="Follow offsets in meters north/forward" name="FOLL_OFS_X" documentation="Follow offsets in meters north/forward.  If positive, this vehicle fly ahead or north of lead vehicle.  Depends on FOLL_OFS_TYPE" user="Standard">
 <field name="Range">-100 100</field>
-<field name="Increment">1</field>
 <field name="Units">m</field>
 <field name="UnitText">meters</field>
+<field name="Increment">1</field>
 </param>
-<param humanName="Follow offsets in meters east/right" name="FOLL_OFS_Y" documentation="Follow offsets in meters east/right.  If positive, this vehicle fly to the right or east of lead vehicle.  Depends on FOLL_OFS_TYPE" user="Standard">
+<param humanName="Follow offsets in meters east/right" name="FOLL_OFS_Y" documentation="Follow offsets in meters east/right.  If positive, this vehicle will fly to the right or east of lead vehicle.  Depends on FOLL_OFS_TYPE" user="Standard">
 <field name="Range">-100 100</field>
-<field name="Increment">1</field>
 <field name="Units">m</field>
 <field name="UnitText">meters</field>
+<field name="Increment">1</field>
 </param>
-<param humanName="Follow offsets in meters down" name="FOLL_OFS_Z" documentation="Follow offsets in meters down.  If positive, this vehicle fly below the lead vehicle" user="Standard">
+<param humanName="Follow offsets in meters down" name="FOLL_OFS_Z" documentation="Follow offsets in meters down.  If positive, this vehicle will fly below the lead vehicle" user="Standard">
 <field name="Range">-100 100</field>
-<field name="Increment">1</field>
 <field name="Units">m</field>
 <field name="UnitText">meters</field>
+<field name="Increment">1</field>
 </param>
 <param humanName="Follow yaw behaviour" name="FOLL_YAW_BEHAVE" documentation="Follow yaw behaviour" user="Standard">
 <values>
@@ -3681,22 +3725,22 @@
 </parameters>
 <parameters name="GND_">
 <param humanName="Absolute Pressure" name="GND_ABS_PRESS" documentation="calibrated ground pressure in Pascals" user="Advanced">
-<field name="ReadOnly">True</field>
-<field name="Volatile">True</field>
-<field name="Increment">1</field>
 <field name="Units">Pa</field>
 <field name="UnitText">pascal</field>
+<field name="Increment">1</field>
+<field name="ReadOnly">True</field>
+<field name="Volatile">True</field>
 </param>
 <param humanName="ground temperature" name="GND_TEMP" documentation="User provided ambient ground temperature in degrees Celsius. This is used to improve the calculation of the altitude the vehicle is at. This parameter is not persistent and will be reset to 0 every time the vehicle is rebooted. A value of 0 means use the internal measurement ambient temperature." user="Advanced">
-<field name="Volatile">True</field>
-<field name="Increment">1</field>
 <field name="Units">degC</field>
 <field name="UnitText">degrees Celsius</field>
-</param>
+<field name="Increment">1</field>
+<field name="Volatile">True</field>
+</param>
 <param humanName="altitude offset" name="GND_ALT_OFFSET" documentation="altitude offset in meters added to barometric altitude. This is used to allow for automatic adjustment of the base barometric altitude by a ground station equipped with a barometer. The value is added to the barometric altitude read by the aircraft. It is automatically reset to 0 when the barometer is calibrated on each reboot or when a preflight calibration is performed." user="Advanced">
-<field name="Increment">0.1</field>
 <field name="Units">m</field>
 <field name="UnitText">meters</field>
+<field name="Increment">0.1</field>
 </param>
 <param humanName="Primary barometer" name="GND_PRIMARY" documentation="This selects which barometer will be the primary if multiple barometers are found" user="Advanced">
 <values>
@@ -3716,24 +3760,24 @@
 <field name="Values">1.0:Freshwater,1.024:Saltwater</field>
 </param>
 <param humanName="Absolute Pressure" name="GND_ABS_PRESS2" documentation="calibrated ground pressure in Pascals" user="Advanced">
-<field name="ReadOnly">True</field>
-<field name="Volatile">True</field>
-<field name="Increment">1</field>
 <field name="Units">Pa</field>
 <field name="UnitText">pascal</field>
-</param>
-<param humanName="Absolute Pressure" name="GND_ABS_PRESS3" documentation="calibrated ground pressure in Pascals" user="Advanced">
+<field name="Increment">1</field>
 <field name="ReadOnly">True</field>
 <field name="Volatile">True</field>
-<field name="Increment">1</field>
+</param>
+<param humanName="Absolute Pressure" name="GND_ABS_PRESS3" documentation="calibrated ground pressure in Pascals" user="Advanced">
 <field name="Units">Pa</field>
 <field name="UnitText">pascal</field>
+<field name="Increment">1</field>
+<field name="ReadOnly">True</field>
+<field name="Volatile">True</field>
 </param>
 <param humanName="Range in which sample is accepted" name="GND_FLTR_RNG" documentation="This sets the range around the average value that new samples must be within to be accepted. This can help reduce the impact of noise on sensors that are on long I2C cables. The value is a percentage from the average value. A value of zero disables this filter.">
-<field name="Range">0 100</field>
-<field name="Increment">1</field>
 <field name="Units">%</field>
 <field name="UnitText">percent</field>
+<field name="Range">0 100</field>
+<field name="Increment">1</field>
 </param>
 <param humanName="External barometers to probe" name="GND_PROBE_EXT" documentation="This sets which types of external i2c barometer to look for. It is a bitmask of barometer types. The I2C buses to probe is based on GND_EXT_BUS. If GND_EXT_BUS is -1 then it will probe all external buses, otherwise it will probe just the bus number given in GND_EXT_BUS." user="Advanced">
 <field name="Bitmask">0:BMP085,1:BMP280,2:MS5611,3:MS5607,4:MS5637,5:FBM320,6:DPS280,7:LPS25H,8:Keller</field>
@@ -3855,7 +3899,6 @@
 <field name="RebootRequired">True</field>
 </param>
 <param humanName="GNSS system configuration" name="GPS_GNSS_MODE" documentation="Bitmask for what GNSS system to use on the first GPS (all unchecked or zero to leave GPS as configured)" user="Advanced">
-<field name="Bitmask">0:GPS,1:SBAS,2:Galileo,3:Beidou,4:IMES,5:QZSS,6:GLOSNASS</field>
 <values>
 <value code="0">Leave as currently configured</value>
 <value code=" 1">GPS-NoSBAS</value>
@@ -3868,6 +3911,7 @@
 <value code=" 66">GLONASS+SBAS</value>
 <value code=" 67">GPS+GLONASS+SBAS</value>
 </values>
+<field name="Bitmask">0:GPS,1:SBAS,2:Galileo,3:Beidou,4:IMES,5:QZSS,6:GLOSNASS</field>
 </param>
 <param humanName="Save GPS configuration" name="GPS_SAVE_CFG" documentation="Determines whether the configuration for this GPS should be written to non-volatile memory on the GPS. Currently working for UBlox 6 series and above." user="Advanced">
 <values>
@@ -3877,7 +3921,6 @@
 </values>
 </param>
 <param humanName="GNSS system configuration" name="GPS_GNSS_MODE2" documentation="Bitmask for what GNSS system to use on the second GPS (all unchecked or zero to leave GPS as configured)" user="Advanced">
-<field name="Bitmask">0:GPS,1:SBAS,2:Galileo,3:Beidou,4:IMES,5:QZSS,6:GLOSNASS</field>
 <values>
 <value code="0">Leave as currently configured</value>
 <value code=" 1">GPS-NoSBAS</value>
@@ -3890,6 +3933,7 @@
 <value code=" 66">GLONASS+SBAS</value>
 <value code=" 67">GPS+GLONASS+SBAS</value>
 </values>
+<field name="Bitmask">0:GPS,1:SBAS,2:Galileo,3:Beidou,4:IMES,5:QZSS,6:GLOSNASS</field>
 </param>
 <param humanName="Automatic GPS configuration" name="GPS_AUTO_CONFIG" documentation="Controls if the autopilot should automatically configure the GPS based on the parameters and default settings" user="Advanced">
 <values>
@@ -3898,74 +3942,74 @@
 </values>
 </param>
 <param humanName="GPS update rate in milliseconds" name="GPS_RATE_MS" documentation="Controls how often the GPS should provide a position update. Lowering below 5Hz is not allowed" user="Advanced">
-<field name="Range">50 200</field>
+<field name="Units">ms</field>
+<field name="UnitText">milliseconds</field>
 <values>
 <value code="100">10Hz</value>
 <value code="125">8Hz</value>
 <value code="200">5Hz</value>
 </values>
-<field name="Units">ms</field>
-<field name="UnitText">milliseconds</field>
+<field name="Range">50 200</field>
 </param>
 <param humanName="GPS 2 update rate in milliseconds" name="GPS_RATE_MS2" documentation="Controls how often the GPS should provide a position update. Lowering below 5Hz is not allowed" user="Advanced">
-<field name="Range">50 200</field>
+<field name="Units">ms</field>
+<field name="UnitText">milliseconds</field>
 <values>
 <value code="100">10Hz</value>
 <value code="125">8Hz</value>
 <value code="200">5Hz</value>
 </values>
-<field name="Units">ms</field>
-<field name="UnitText">milliseconds</field>
+<field name="Range">50 200</field>
 </param>
 <param humanName="Antenna X position offset" name="GPS_POS1_X" documentation="X position of the first GPS antenna in body frame. Positive X is forward of the origin. Use antenna phase centroid location if provided by the manufacturer." user="Advanced">
-<field name="Range">-10 10</field>
 <field name="Units">m</field>
 <field name="UnitText">meters</field>
+<field name="Range">-10 10</field>
 </param>
 <param humanName="Antenna Y position offset" name="GPS_POS1_Y" documentation="Y position of the first GPS antenna in body frame. Positive Y is to the right of the origin. Use antenna phase centroid location if provided by the manufacturer." user="Advanced">
-<field name="Range">-10 10</field>
 <field name="Units">m</field>
 <field name="UnitText">meters</field>
+<field name="Range">-10 10</field>
 </param>
 <param humanName="Antenna Z position offset" name="GPS_POS1_Z" documentation="Z position of the first GPS antenna in body frame. Positive Z is down from the origin. Use antenna phase centroid location if provided by the manufacturer." user="Advanced">
-<field name="Range">-10 10</field>
 <field name="Units">m</field>
 <field name="UnitText">meters</field>
+<field name="Range">-10 10</field>
 </param>
 <param humanName="Antenna X position offset" name="GPS_POS2_X" documentation="X position of the second GPS antenna in body frame. Positive X is forward of the origin. Use antenna phase centroid location if provided by the manufacturer." user="Advanced">
-<field name="Range">-10 10</field>
 <field name="Units">m</field>
 <field name="UnitText">meters</field>
+<field name="Range">-10 10</field>
 </param>
 <param humanName="Antenna Y position offset" name="GPS_POS2_Y" documentation="Y position of the second GPS antenna in body frame. Positive Y is to the right of the origin. Use antenna phase centroid location if provided by the manufacturer." user="Advanced">
-<field name="Range">-10 10</field>
 <field name="Units">m</field>
 <field name="UnitText">meters</field>
+<field name="Range">-10 10</field>
 </param>
 <param humanName="Antenna Z position offset" name="GPS_POS2_Z" documentation="Z position of the second GPS antenna in body frame. Positive Z is down from the origin. Use antenna phase centroid location if provided by the manufacturer." user="Advanced">
-<field name="Range">-10 10</field>
 <field name="Units">m</field>
 <field name="UnitText">meters</field>
+<field name="Range">-10 10</field>
 </param>
 <param humanName="GPS delay in milliseconds" name="GPS_DELAY_MS" documentation="Controls the amount of GPS  measurement delay that the autopilot compensates for. Set to zero to use the default delay for the detected GPS type." user="Advanced">
-<field name="Range">0 250</field>
 <field name="Units">ms</field>
 <field name="UnitText">milliseconds</field>
+<field name="Range">0 250</field>
 <field name="RebootRequired">True</field>
 </param>
 <param humanName="GPS 2 delay in milliseconds" name="GPS_DELAY_MS2" documentation="Controls the amount of GPS  measurement delay that the autopilot compensates for. Set to zero to use the default delay for the detected GPS type." user="Advanced">
-<field name="Range">0 250</field>
 <field name="Units">ms</field>
 <field name="UnitText">milliseconds</field>
+<field name="Range">0 250</field>
 <field name="RebootRequired">True</field>
 </param>
 <param humanName="Multi GPS Blending Mask" name="GPS_BLEND_MASK" documentation="Determines which of the accuracy measures Horizontal position, Vertical Position and Speed are used to calculate the weighting on each GPS receiver when soft switching has been selected by setting GPS_AUTO_SWITCH to 2" user="Advanced">
 <field name="Bitmask">0:Horiz Pos,1:Vert Pos,2:Speed</field>
 </param>
 <param humanName="Blending time constant" name="GPS_BLEND_TC" documentation="Controls the slowest time constant applied to the calculation of GPS position and height offsets used to adjust different GPS receivers for steady state position differences." user="Advanced">
-<field name="Range">5.0 30.0</field>
 <field name="Units">s</field>
 <field name="UnitText">seconds</field>
+<field name="Range">5.0 30.0</field>
 </param>
 </parameters>
 <parameters name="GRIP_">
@@ -4053,19 +4097,19 @@
 <field name="Range">0.8 1.2</field>
 </param>
 <param humanName="Accelerometer offsets of X axis" name="INS_ACCOFFS_X" documentation="Accelerometer offsets of X axis. This is setup using the acceleration calibration or level operations" user="Advanced">
-<field name="Range">-3.5 3.5</field>
 <field name="Units">m/s/s</field>
 <field name="UnitText">meters per square second</field>
+<field name="Range">-3.5 3.5</field>
 </param>
 <param humanName="Accelerometer offsets of Y axis" name="INS_ACCOFFS_Y" documentation="Accelerometer offsets of Y axis. This is setup using the acceleration calibration or level operations" user="Advanced">
-<field name="Range">-3.5 3.5</field>
 <field name="Units">m/s/s</field>
 <field name="UnitText">meters per square second</field>
+<field name="Range">-3.5 3.5</field>
 </param>
 <param humanName="Accelerometer offsets of Z axis" name="INS_ACCOFFS_Z" documentation="Accelerometer offsets of Z axis. This is setup using the acceleration calibration or level operations" user="Advanced">
-<field name="Range">-3.5 3.5</field>
 <field name="Units">m/s/s</field>
 <field name="UnitText">meters per square second</field>
+<field name="Range">-3.5 3.5</field>
 </param>
 <param humanName="Accelerometer2 scaling of X axis" name="INS_ACC2SCAL_X" documentation="Accelerometer2 scaling of X axis.  Calculated during acceleration calibration routine" user="Advanced">
 <field name="Range">0.8 1.2</field>
@@ -4077,19 +4121,19 @@
 <field name="Range">0.8 1.2</field>
 </param>
 <param humanName="Accelerometer2 offsets of X axis" name="INS_ACC2OFFS_X" documentation="Accelerometer2 offsets of X axis. This is setup using the acceleration calibration or level operations" user="Advanced">
-<field name="Range">-3.5 3.5</field>
 <field name="Units">m/s/s</field>
 <field name="UnitText">meters per square second</field>
+<field name="Range">-3.5 3.5</field>
 </param>
 <param humanName="Accelerometer2 offsets of Y axis" name="INS_ACC2OFFS_Y" documentation="Accelerometer2 offsets of Y axis. This is setup using the acceleration calibration or level operations" user="Advanced">
-<field name="Range">-3.5 3.5</field>
 <field name="Units">m/s/s</field>
 <field name="UnitText">meters per square second</field>
+<field name="Range">-3.5 3.5</field>
 </param>
 <param humanName="Accelerometer2 offsets of Z axis" name="INS_ACC2OFFS_Z" documentation="Accelerometer2 offsets of Z axis. This is setup using the acceleration calibration or level operations" user="Advanced">
-<field name="Range">-3.5 3.5</field>
 <field name="Units">m/s/s</field>
 <field name="UnitText">meters per square second</field>
+<field name="Range">-3.5 3.5</field>
 </param>
 <param humanName="Accelerometer3 scaling of X axis" name="INS_ACC3SCAL_X" documentation="Accelerometer3 scaling of X axis.  Calculated during acceleration calibration routine" user="Advanced">
 <field name="Range">0.8 1.2</field>
@@ -4101,29 +4145,29 @@
 <field name="Range">0.8 1.2</field>
 </param>
 <param humanName="Accelerometer3 offsets of X axis" name="INS_ACC3OFFS_X" documentation="Accelerometer3 offsets of X axis. This is setup using the acceleration calibration or level operations" user="Advanced">
-<field name="Range">-3.5 3.5</field>
 <field name="Units">m/s/s</field>
 <field name="UnitText">meters per square second</field>
+<field name="Range">-3.5 3.5</field>
 </param>
 <param humanName="Accelerometer3 offsets of Y axis" name="INS_ACC3OFFS_Y" documentation="Accelerometer3 offsets of Y axis. This is setup using the acceleration calibration or level operations" user="Advanced">
-<field name="Range">-3.5 3.5</field>
 <field name="Units">m/s/s</field>
 <field name="UnitText">meters per square second</field>
+<field name="Range">-3.5 3.5</field>
 </param>
 <param humanName="Accelerometer3 offsets of Z axis" name="INS_ACC3OFFS_Z" documentation="Accelerometer3 offsets of Z axis. This is setup using the acceleration calibration or level operations" user="Advanced">
-<field name="Range">-3.5 3.5</field>
 <field name="Units">m/s/s</field>
 <field name="UnitText">meters per square second</field>
+<field name="Range">-3.5 3.5</field>
 </param>
 <param humanName="Gyro filter cutoff frequency" name="INS_GYRO_FILTER" documentation="Filter cutoff frequency for gyroscopes. This can be set to a lower value to try to cope with very high vibration levels in aircraft. This option takes effect on the next reboot. A value of zero means no filtering (not recommended!)" user="Advanced">
-<field name="Range">0 127</field>
 <field name="Units">Hz</field>
 <field name="UnitText">hertz</field>
+<field name="Range">0 256</field>
 </param>
 <param humanName="Accel filter cutoff frequency" name="INS_ACCEL_FILTER" documentation="Filter cutoff frequency for accelerometers. This can be set to a lower value to try to cope with very high vibration levels in aircraft. This option takes effect on the next reboot. A value of zero means no filtering (not recommended!)" user="Advanced">
-<field name="Range">0 127</field>
 <field name="Units">Hz</field>
 <field name="UnitText">hertz</field>
+<field name="Range">0 256</field>
 </param>
 <param humanName="Use first IMU for attitude, velocity and position estimates" name="INS_USE" documentation="Use first IMU for attitude, velocity and position estimates" user="Advanced">
 <values>
@@ -4167,49 +4211,49 @@
 </values>
 </param>
 <param humanName="IMU accelerometer X position" name="INS_POS1_X" documentation="X position of the first IMU Accelerometer in body frame. Positive X is forward of the origin. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin." user="Advanced">
-<field name="Range">-10 10</field>
 <field name="Units">m</field>
 <field name="UnitText">meters</field>
+<field name="Range">-10 10</field>
 </param>
 <param humanName="IMU accelerometer Y position" name="INS_POS1_Y" documentation="Y position of the first IMU accelerometer in body frame. Positive Y is to the right of the origin. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin." user="Advanced">
-<field name="Range">-10 10</field>
 <field name="Units">m</field>
 <field name="UnitText">meters</field>
+<field name="Range">-10 10</field>
 </param>
 <param humanName="IMU accelerometer Z position" name="INS_POS1_Z" documentation="Z position of the first IMU accelerometer in body frame. Positive Z is down from the origin. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin." user="Advanced">
-<field name="Range">-10 10</field>
 <field name="Units">m</field>
 <field name="UnitText">meters</field>
+<field name="Range">-10 10</field>
 </param>
 <param humanName="IMU accelerometer X position" name="INS_POS2_X" documentation="X position of the second IMU accelerometer in body frame. Positive X is forward of the origin. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin." user="Advanced">
-<field name="Range">-10 10</field>
 <field name="Units">m</field>
 <field name="UnitText">meters</field>
+<field name="Range">-10 10</field>
 </param>
 <param humanName="IMU accelerometer Y position" name="INS_POS2_Y" documentation="Y position of the second IMU accelerometer in body frame. Positive Y is to the right of the origin. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin." user="Advanced">
-<field name="Range">-10 10</field>
 <field name="Units">m</field>
 <field name="UnitText">meters</field>
+<field name="Range">-10 10</field>
 </param>
 <param humanName="IMU accelerometer Z position" name="INS_POS2_Z" documentation="Z position of the second IMU accelerometer in body frame. Positive Z is down from the origin. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin." user="Advanced">
-<field name="Range">-10 10</field>
 <field name="Units">m</field>
 <field name="UnitText">meters</field>
+<field name="Range">-10 10</field>
 </param>
 <param humanName="IMU accelerometer X position" name="INS_POS3_X" documentation="X position of the third IMU accelerometer in body frame. Positive X is forward of the origin. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin." user="Advanced">
-<field name="Range">-10 10</field>
 <field name="Units">m</field>
 <field name="UnitText">meters</field>
+<field name="Range">-10 10</field>
 </param>
 <param humanName="IMU accelerometer Y position" name="INS_POS3_Y" documentation="Y position of the third IMU accelerometer in body frame. Positive Y is to the right of the origin. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin." user="Advanced">
-<field name="Range">-10 10</field>
 <field name="Units">m</field>
 <field name="UnitText">meters</field>
+<field name="Range">-10 10</field>
 </param>
 <param humanName="IMU accelerometer Z position" name="INS_POS3_Z" documentation="Z position of the third IMU accelerometer in body frame. Positive Z is down from the origin. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin." user="Advanced">
-<field name="Range">-10 10</field>
 <field name="Units">m</field>
 <field name="UnitText">meters</field>
+<field name="Range">-10 10</field>
 </param>
 <param humanName="Gyro ID" name="INS_GYR_ID" documentation="Gyro sensor ID, taking into account its type, bus and instance" user="Advanced">
 <field name="ReadOnly">True</field>
@@ -4230,20 +4274,20 @@
 <field name="ReadOnly">True</field>
 </param>
 <param humanName="Fast sampling mask" name="INS_FAST_SAMPLE" documentation="Mask of IMUs to enable fast sampling on, if available" user="Advanced">
-<field name="Bitmask">0:FirstIMU,1:SecondIMU,2:ThirdIMU</field>
 <values>
 <value code="1">FirstIMUOnly</value>
 <value code="3">FirstAndSecondIMU</value>
 </values>
+<field name="Bitmask">0:FirstIMU,1:SecondIMU,2:ThirdIMU</field>
 </param>
 <param humanName="IMU enable mask" name="INS_ENABLE_MASK" documentation="Bitmask of IMUs to enable. It can be used to prevent startup of specific detected IMUs" user="Advanced">
-<field name="Bitmask">0:FirstIMU,1:SecondIMU,2:ThirdIMU</field>
 <values>
 <value code="1">FirstIMUOnly</value>
 <value code="3">FirstAndSecondIMU</value>
 <value code="7">FirstSecondAndThirdIMU</value>
 <value code="127">AllIMUs</value>
 </values>
+<field name="Bitmask">0:FirstIMU,1:SecondIMU,2:ThirdIMU</field>
 </param>
 </parameters>
 <parameters name="INS_LOG_">
@@ -4251,20 +4295,20 @@
 <field name="Increment">32</field>
 </param>
 <param humanName="Sensor Bitmask" name="INS_LOG_BAT_MASK" documentation="Bitmap of which IMUs to log batch data for" user="Advanced">
-<field name="Bitmask">0:IMU1,1:IMU2,2:IMU3</field>
 <values>
 <value code="0">None</value>
 <value code="1">First IMU</value>
 <value code="255">All</value>
 </values>
+<field name="Bitmask">0:IMU1,1:IMU2,2:IMU3</field>
 </param>
 <param humanName="Batch Logging Options Mask" name="INS_LOG_BAT_OPT" documentation="Options for the BatchSampler" user="Advanced">
-<field name="Bitmask">0:Sensor-Rate Logging (sample at full sensor rate seen by AP)</field>
+<field name="Bitmask">0:Sensor-Rate Logging (sample at full sensor rate seen by AP), 1: Sample post-filtering</field>
 </param>
 <param humanName="logging interval" name="INS_LOG_BAT_LGIN" documentation="Interval between pushing samples to the AP_Logger log">
-<field name="Increment">10</field>
 <field name="Units">ms</field>
 <field name="UnitText">milliseconds</field>
+<field name="Increment">10</field>
 </param>
 <param humanName="logging count" name="INS_LOG_BAT_LGCT" documentation="Number of samples to push to count every INS_LOG_BAT_LGIN">
 <field name="Increment">1</field>
@@ -4278,12 +4322,12 @@
 </values>
 </param>
 <param humanName="Frequency" name="INS_NOTCH_FREQ" documentation="Notch center frequency in Hz" user="Advanced">
-<field name="Range">10 200</field>
+<field name="Range">10 400</field>
 <field name="Units">Hz</field>
 <field name="UnitText">hertz</field>
 </param>
 <param humanName="Bandwidth" name="INS_NOTCH_BW" documentation="Notch bandwidth in Hz" user="Advanced">
-<field name="Range">5 50</field>
+<field name="Range">5 100</field>
 <field name="Units">Hz</field>
 <field name="UnitText">hertz</field>
 </param>
@@ -4295,7 +4339,6 @@
 </parameters>
 <parameters name="LOG">
 <param humanName="AP_Logger Backend Storage type" name="LOG_BACKEND_TYPE" documentation="Bitmap of what Logger backend types to enable. Block-based logging is available on SITL and boards with dataflash chips. Multiple backends can be selected." user="Standard">
-<field name="Bitmask">0:File,1:MAVLink,2:Block</field>
 <values>
 <value code="0">None</value>
 <value code="1">File</value>
@@ -4304,6 +4347,7 @@
 <value code="4">Block</value>
 <value code="6">Block and MAVLink</value>
 </values>
+<field name="Bitmask">0:File,1:MAVLink,2:Block</field>
 </param>
 <param humanName="Maximum AP_Logger File Backend buffer size (in kilobytes)" name="LOG_FILE_BUFSIZE" documentation='The AP_Logger_File backend uses a buffer to store data before writing to the block device.  Raising this value may reduce "gaps" in your SD card logging.  This buffer size may be reduced depending on available memory.  PixHawk requires at least 4 kilobytes.  Maximum value available here is 64 kilobytes.' user="Standard">
 </param>
@@ -4356,40 +4400,40 @@
 </values>
 </param>
 <param humanName="Mount roll angle when in retracted position" name="MNT_RETRACT_X" documentation="Mount roll angle when in retracted position" user="Standard">
-<field name="Range">-180.00 179.99</field>
-<field name="Increment">1</field>
 <field name="Units">deg</field>
 <field name="UnitText">degrees</field>
-</param>
-<param humanName="Mount tilt/pitch angle when in retracted position" name="MNT_RETRACT_Y" documentation="Mount tilt/pitch angle when in retracted position" user="Standard">
 <field name="Range">-180.00 179.99</field>
 <field name="Increment">1</field>
+</param>
+<param humanName="Mount tilt/pitch angle when in retracted position" name="MNT_RETRACT_Y" documentation="Mount tilt/pitch angle when in retracted position" user="Standard">
 <field name="Units">deg</field>
 <field name="UnitText">degrees</field>
-</param>
-<param humanName="Mount yaw/pan angle when in retracted position" name="MNT_RETRACT_Z" documentation="Mount yaw/pan angle when in retracted position" user="Standard">
 <field name="Range">-180.00 179.99</field>
 <field name="Increment">1</field>
+</param>
+<param humanName="Mount yaw/pan angle when in retracted position" name="MNT_RETRACT_Z" documentation="Mount yaw/pan angle when in retracted position" user="Standard">
 <field name="Units">deg</field>
 <field name="UnitText">degrees</field>
-</param>
-<param humanName="Mount roll angle when in neutral position" name="MNT_NEUTRAL_X" documentation="Mount roll angle when in neutral position" user="Standard">
 <field name="Range">-180.00 179.99</field>
 <field name="Increment">1</field>
+</param>
+<param humanName="Mount roll angle when in neutral position" name="MNT_NEUTRAL_X" documentation="Mount roll angle when in neutral position" user="Standard">
 <field name="Units">deg</field>
 <field name="UnitText">degrees</field>
-</param>
-<param humanName="Mount tilt/pitch angle when in neutral position" name="MNT_NEUTRAL_Y" documentation="Mount tilt/pitch angle when in neutral position" user="Standard">
 <field name="Range">-180.00 179.99</field>
 <field name="Increment">1</field>
+</param>
+<param humanName="Mount tilt/pitch angle when in neutral position" name="MNT_NEUTRAL_Y" documentation="Mount tilt/pitch angle when in neutral position" user="Standard">
 <field name="Units">deg</field>
 <field name="UnitText">degrees</field>
-</param>
-<param humanName="Mount pan/yaw angle when in neutral position" name="MNT_NEUTRAL_Z" documentation="Mount pan/yaw angle when in neutral position" user="Standard">
 <field name="Range">-180.00 179.99</field>
 <field name="Increment">1</field>
+</param>
+<param humanName="Mount pan/yaw angle when in neutral position" name="MNT_NEUTRAL_Z" documentation="Mount pan/yaw angle when in neutral position" user="Standard">
 <field name="Units">deg</field>
 <field name="UnitText">degrees</field>
+<field name="Range">-180.00 179.99</field>
+<field name="Increment">1</field>
 </param>
 <param humanName="Stabilize mount's roll angle" name="MNT_STAB_ROLL" documentation="enable roll stabilisation relative to Earth" user="Standard">
 <values>
@@ -4423,16 +4467,16 @@
 </values>
 </param>
 <param humanName="Minimum roll angle" name="MNT_ANGMIN_ROL" documentation="Minimum physical roll angular position of mount." user="Standard">
-<field name="Range">-18000 17999</field>
-<field name="Increment">1</field>
 <field name="Units">cdeg</field>
 <field name="UnitText">centidegrees</field>
-</param>
-<param humanName="Maximum roll angle" name="MNT_ANGMAX_ROL" documentation="Maximum physical roll angular position of the mount" user="Standard">
 <field name="Range">-18000 17999</field>
 <field name="Increment">1</field>
+</param>
+<param humanName="Maximum roll angle" name="MNT_ANGMAX_ROL" documentation="Maximum physical roll angular position of the mount" user="Standard">
 <field name="Units">cdeg</field>
 <field name="UnitText">centidegrees</field>
+<field name="Range">-18000 17999</field>
+<field name="Increment">1</field>
 </param>
 <param humanName="tilt (pitch) RC input channel" name="MNT_RC_IN_TILT" documentation="0 for none, any other for the RC channel to be used to control tilt (pitch) movements" user="Standard">
 <values>
@@ -4448,16 +4492,16 @@
 </values>
 </param>
 <param humanName="Minimum tilt angle" name="MNT_ANGMIN_TIL" documentation="Minimum physical tilt (pitch) angular position of mount." user="Standard">
-<field name="Range">-18000 17999</field>
-<field name="Increment">1</field>
 <field name="Units">cdeg</field>
 <field name="UnitText">centidegrees</field>
-</param>
-<param humanName="Maximum tilt angle" name="MNT_ANGMAX_TIL" documentation="Maximum physical tilt (pitch) angular position of the mount" user="Standard">
 <field name="Range">-18000 17999</field>
 <field name="Increment">1</field>
+</param>
+<param humanName="Maximum tilt angle" name="MNT_ANGMAX_TIL" documentation="Maximum physical tilt (pitch) angular position of the mount" user="Standard">
 <field name="Units">cdeg</field>
 <field name="UnitText">centidegrees</field>
+<field name="Range">-18000 17999</field>
+<field name="Increment">1</field>
 </param>
 <param humanName="pan (yaw) RC input channel" name="MNT_RC_IN_PAN" documentation="0 for none, any other for the RC channel to be used to control pan (yaw) movements" user="Standard">
 <values>
@@ -4473,32 +4517,32 @@
 </values>
 </param>
 <param humanName="Minimum pan angle" name="MNT_ANGMIN_PAN" documentation="Minimum physical pan (yaw) angular position of mount." user="Standard">
-<field name="Range">-18000 17999</field>
-<field name="Increment">1</field>
 <field name="Units">cdeg</field>
 <field name="UnitText">centidegrees</field>
-</param>
-<param humanName="Maximum pan angle" name="MNT_ANGMAX_PAN" documentation="Maximum physical pan (yaw) angular position of the mount" user="Standard">
 <field name="Range">-18000 17999</field>
 <field name="Increment">1</field>
+</param>
+<param humanName="Maximum pan angle" name="MNT_ANGMAX_PAN" documentation="Maximum physical pan (yaw) angular position of the mount" user="Standard">
 <field name="Units">cdeg</field>
 <field name="UnitText">centidegrees</field>
+<field name="Range">-18000 17999</field>
+<field name="Increment">1</field>
 </param>
 <param humanName="mount joystick speed" name="MNT_JSTICK_SPD" documentation="0 for position control, small for low speeds, 100 for max speed. A good general value is 10 which gives a movement speed of 3 degrees per second." user="Standard">
 <field name="Range">0 100</field>
 <field name="Increment">1</field>
 </param>
 <param humanName="Roll stabilization lead time" name="MNT_LEAD_RLL" documentation="Causes the servo angle output to lead the current angle of the vehicle by some amount of time based on current angular rate, compensating for servo delay. Increase until the servo is responsive but doesn't overshoot. Does nothing with pan stabilization enabled." user="Standard">
-<field name="Range">0.0 0.2</field>
-<field name="Increment">.005</field>
 <field name="Units">s</field>
 <field name="UnitText">seconds</field>
-</param>
-<param humanName="Pitch stabilization lead time" name="MNT_LEAD_PTCH" documentation="Causes the servo angle output to lead the current angle of the vehicle by some amount of time based on current angular rate. Increase until the servo is responsive but doesn't overshoot. Does nothing with pan stabilization enabled." user="Standard">
 <field name="Range">0.0 0.2</field>
 <field name="Increment">.005</field>
+</param>
+<param humanName="Pitch stabilization lead time" name="MNT_LEAD_PTCH" documentation="Causes the servo angle output to lead the current angle of the vehicle by some amount of time based on current angular rate. Increase until the servo is responsive but doesn't overshoot. Does nothing with pan stabilization enabled." user="Standard">
 <field name="Units">s</field>
 <field name="UnitText">seconds</field>
+<field name="Range">0.0 0.2</field>
+<field name="Increment">.005</field>
 </param>
 <param humanName="Mount Type" name="MNT_TYPE" documentation="Mount Type (None, Servo or MAVLink)" user="Standard">
 <values>
@@ -4521,40 +4565,40 @@
 </values>
 </param>
 <param humanName="Mount2 roll angle when in retracted position" name="MNT2_RETRACT_X" documentation="Mount2 roll angle when in retracted position" user="Standard">
-<field name="Range">-180.00 179.99</field>
-<field name="Increment">1</field>
 <field name="Units">deg</field>
 <field name="UnitText">degrees</field>
-</param>
-<param humanName="Mount2 tilt/pitch angle when in retracted position" name="MNT2_RETRACT_Y" documentation="Mount2 tilt/pitch angle when in retracted position" user="Standard">
 <field name="Range">-180.00 179.99</field>
 <field name="Increment">1</field>
+</param>
+<param humanName="Mount2 tilt/pitch angle when in retracted position" name="MNT2_RETRACT_Y" documentation="Mount2 tilt/pitch angle when in retracted position" user="Standard">
 <field name="Units">deg</field>
 <field name="UnitText">degrees</field>
-</param>
-<param humanName="Mount2 yaw/pan angle when in retracted position" name="MNT2_RETRACT_Z" documentation="Mount2 yaw/pan angle when in retracted position" user="Standard">
 <field name="Range">-180.00 179.99</field>
 <field name="Increment">1</field>
+</param>
+<param humanName="Mount2 yaw/pan angle when in retracted position" name="MNT2_RETRACT_Z" documentation="Mount2 yaw/pan angle when in retracted position" user="Standard">
 <field name="Units">deg</field>
 <field name="UnitText">degrees</field>
-</param>
-<param humanName="Mount2 roll angle when in neutral position" name="MNT2_NEUTRAL_X" documentation="Mount2 roll angle when in neutral position" user="Standard">
 <field name="Range">-180.00 179.99</field>
 <field name="Increment">1</field>
+</param>
+<param humanName="Mount2 roll angle when in neutral position" name="MNT2_NEUTRAL_X" documentation="Mount2 roll angle when in neutral position" user="Standard">
 <field name="Units">deg</field>
 <field name="UnitText">degrees</field>
-</param>
-<param humanName="Mount2 tilt/pitch angle when in neutral position" name="MNT2_NEUTRAL_Y" documentation="Mount2 tilt/pitch angle when in neutral position" user="Standard">
 <field name="Range">-180.00 179.99</field>
 <field name="Increment">1</field>
+</param>
+<param humanName="Mount2 tilt/pitch angle when in neutral position" name="MNT2_NEUTRAL_Y" documentation="Mount2 tilt/pitch angle when in neutral position" user="Standard">
 <field name="Units">deg</field>
 <field name="UnitText">degrees</field>
-</param>
-<param humanName="Mount2 pan/yaw angle when in neutral position" name="MNT2_NEUTRAL_Z" documentation="Mount2 pan/yaw angle when in neutral position" user="Standard">
 <field name="Range">-180.00 179.99</field>
 <field name="Increment">1</field>
+</param>
+<param humanName="Mount2 pan/yaw angle when in neutral position" name="MNT2_NEUTRAL_Z" documentation="Mount2 pan/yaw angle when in neutral position" user="Standard">
 <field name="Units">deg</field>
 <field name="UnitText">degrees</field>
+<field name="Range">-180.00 179.99</field>
+<field name="Increment">1</field>
 </param>
 <param humanName="Stabilize Mount2's roll angle" name="MNT2_STAB_ROLL" documentation="enable roll stabilisation relative to Earth" user="Standard">
 <values>
@@ -4588,16 +4632,16 @@
 </values>
 </param>
 <param humanName="Mount2's minimum roll angle" name="MNT2_ANGMIN_ROL" documentation="Mount2's minimum physical roll angular position" user="Standard">
-<field name="Range">-18000 17999</field>
-<field name="Increment">1</field>
 <field name="Units">cdeg</field>
 <field name="UnitText">centidegrees</field>
-</param>
-<param humanName="Mount2's maximum roll angle" name="MNT2_ANGMAX_ROL" documentation="Mount2's maximum physical roll angular position" user="Standard">
 <field name="Range">-18000 17999</field>
 <field name="Increment">1</field>
+</param>
+<param humanName="Mount2's maximum roll angle" name="MNT2_ANGMAX_ROL" documentation="Mount2's maximum physical roll angular position" user="Standard">
 <field name="Units">cdeg</field>
 <field name="UnitText">centidegrees</field>
+<field name="Range">-18000 17999</field>
+<field name="Increment">1</field>
 </param>
 <param humanName="Mount2's tilt (pitch) RC input channel" name="MNT2_RC_IN_TILT" documentation="0 for none, any other for the RC channel to be used to control tilt (pitch) movements" user="Standard">
 <values>
@@ -4613,16 +4657,16 @@
 </values>
 </param>
 <param humanName="Mount2's minimum tilt angle" name="MNT2_ANGMIN_TIL" documentation="Mount2's minimum physical tilt (pitch) angular position" user="Standard">
-<field name="Range">-18000 17999</field>
-<field name="Increment">1</field>
 <field name="Units">cdeg</field>
 <field name="UnitText">centidegrees</field>
-</param>
-<param humanName="Mount2's maximum tilt angle" name="MNT2_ANGMAX_TIL" documentation="Mount2's maximum physical tilt (pitch) angular position" user="Standard">
 <field name="Range">-18000 17999</field>
 <field name="Increment">1</field>
+</param>
+<param humanName="Mount2's maximum tilt angle" name="MNT2_ANGMAX_TIL" documentation="Mount2's maximum physical tilt (pitch) angular position" user="Standard">
 <field name="Units">cdeg</field>
 <field name="UnitText">centidegrees</field>
+<field name="Range">-18000 17999</field>
+<field name="Increment">1</field>
 </param>
 <param humanName="Mount2's pan (yaw) RC input channel" name="MNT2_RC_IN_PAN" documentation="0 for none, any other for the RC channel to be used to control pan (yaw) movements" user="Standard">
 <values>
@@ -4638,28 +4682,28 @@
 </values>
 </param>
 <param humanName="Mount2's minimum pan angle" name="MNT2_ANGMIN_PAN" documentation="Mount2's minimum physical pan (yaw) angular position" user="Standard">
-<field name="Range">-18000 17999</field>
-<field name="Increment">1</field>
 <field name="Units">cdeg</field>
 <field name="UnitText">centidegrees</field>
-</param>
-<param humanName="Mount2's maximum pan angle" name="MNT2_ANGMAX_PAN" documentation="MOunt2's maximum physical pan (yaw) angular position" user="Standard">
 <field name="Range">-18000 17999</field>
 <field name="Increment">1</field>
+</param>
+<param humanName="Mount2's maximum pan angle" name="MNT2_ANGMAX_PAN" documentation="MOunt2's maximum physical pan (yaw) angular position" user="Standard">
 <field name="Units">cdeg</field>
 <field name="UnitText">centidegrees</field>
+<field name="Range">-18000 17999</field>
+<field name="Increment">1</field>
 </param>
 <param humanName="Mount2's Roll stabilization lead time" name="MNT2_LEAD_RLL" documentation="Causes the servo angle output to lead the current angle of the vehicle by some amount of time based on current angular rate, compensating for servo delay. Increase until the servo is responsive but doesn't overshoot. Does nothing with pan stabilization enabled." user="Standard">
-<field name="Range">0.0 0.2</field>
-<field name="Increment">.005</field>
 <field name="Units">s</field>
 <field name="UnitText">seconds</field>
-</param>
-<param humanName="Mount2's Pitch stabilization lead time" name="MNT2_LEAD_PTCH" documentation="Causes the servo angle output to lead the current angle of the vehicle by some amount of time based on current angular rate. Increase until the servo is responsive but doesn't overshoot. Does nothing with pan stabilization enabled." user="Standard">
 <field name="Range">0.0 0.2</field>
 <field name="Increment">.005</field>
+</param>
+<param humanName="Mount2's Pitch stabilization lead time" name="MNT2_LEAD_PTCH" documentation="Causes the servo angle output to lead the current angle of the vehicle by some amount of time based on current angular rate. Increase until the servo is responsive but doesn't overshoot. Does nothing with pan stabilization enabled." user="Standard">
 <field name="Units">s</field>
 <field name="UnitText">seconds</field>
+<field name="Range">0.0 0.2</field>
+<field name="Increment">.005</field>
 </param>
 <param humanName="Mount2 Type" name="MNT2_TYPE" documentation="Mount Type (None, Servo or MAVLink)" user="Standard">
 <values>
@@ -4688,10 +4732,10 @@
 <field name="RebootRequired">True</field>
 </param>
 <param humanName="Motor Output PWM freq for brushed motors" name="MOT_PWM_FREQ" documentation="Motor Output PWM freq for brushed motors" user="Advanced">
-<field name="Range">1 20</field>
-<field name="Increment">1</field>
 <field name="Units">kHz</field>
 <field name="UnitText">kilohertz</field>
+<field name="Range">1 20</field>
+<field name="Increment">1</field>
 <field name="RebootRequired">True</field>
 </param>
 <param humanName="Motor PWM output disabled when disarmed" name="MOT_SAFE_DISARM" documentation="Disables motor PWM output when disarmed" user="Advanced">
@@ -4701,43 +4745,43 @@
 </values>
 </param>
 <param humanName="Throttle minimum" name="MOT_THR_MIN" documentation="Throttle minimum percentage the autopilot will apply. This is useful for handling a deadzone around low throttle and for preventing internal combustion motors cutting out during missions." user="Standard">
-<field name="Range">0 20</field>
-<field name="Increment">1</field>
 <field name="Units">%</field>
 <field name="UnitText">percent</field>
+<field name="Range">0 20</field>
+<field name="Increment">1</field>
 </param>
 <param humanName="Throttle maximum" name="MOT_THR_MAX" documentation="Throttle maximum percentage the autopilot will apply. This can be used to prevent overheating an ESC or motor on an electric rover" user="Standard">
-<field name="Range">30 100</field>
-<field name="Increment">1</field>
 <field name="Units">%</field>
 <field name="UnitText">percent</field>
+<field name="Range">30 100</field>
+<field name="Increment">1</field>
 </param>
 <param humanName="Throttle slew rate" name="MOT_SLEWRATE" documentation="Throttle slew rate as a percentage of total range per second. A value of 100 allows the motor to change over its full range in one second.  A value of zero disables the limit.  Note some NiMH powered rovers require a lower setting of 40 to reduce current demand to avoid brownouts." user="Standard">
-<field name="Range">0 1000</field>
-<field name="Increment">1</field>
 <field name="Units">%/s</field>
 <field name="UnitText">percent per second</field>
+<field name="Range">0 1000</field>
+<field name="Increment">1</field>
 </param>
 <param humanName="Thrust Curve Expo" name="MOT_THST_EXPO" documentation="Thrust curve exponent (-1 to +1 with 0 being linear)" user="Advanced">
 <field name="Range">-1.0 1.0</field>
 </param>
 <param humanName="Vector thrust throttle base" name="MOT_VEC_THR_BASE" documentation="Throttle level above which steering is scaled down when using vector thrust.  zero to disable vectored thrust" user="Advanced">
-<field name="Range">0 100</field>
 <field name="Units">%</field>
 <field name="UnitText">percent</field>
+<field name="Range">0 100</field>
 </param>
 <param humanName="Motor speed scaling base speed" name="MOT_SPD_SCA_BASE" documentation="Speed above which steering is scaled down when using regular steering/throttle vehicles.  zero to disable speed scaling" user="Advanced">
-<field name="Range">0 10</field>
 <field name="Units">m/s</field>
 <field name="UnitText">meters per second</field>
+<field name="Range">0 10</field>
 </param>
 </parameters>
 <parameters name="NAVL1_">
 <param humanName="L1 control period" name="NAVL1_PERIOD" documentation="Period in seconds of L1 tracking loop. This parameter is the primary control for agressiveness of turns in auto mode. This needs to be larger for less responsive airframes. The default of 20 is quite conservative, but for most RC aircraft will lead to reasonable flight. For smaller more agile aircraft a value closer to 15 is appropriate, or even as low as 10 for some very agile aircraft. When tuning, change this value in small increments, as a value that is much too small (say 5 or 10 below the right value) can lead to very radical turns, and a risk of stalling." user="Standard">
-<field name="Range">1 60</field>
-<field name="Increment">1</field>
 <field name="Units">s</field>
 <field name="UnitText">seconds</field>
+<field name="Range">1 60</field>
+<field name="Increment">1</field>
 </param>
 <param humanName="L1 control damping ratio" name="NAVL1_DAMPING" documentation="Damping ratio for L1 control. Increase this in increments of 0.05 if you are getting overshoot in path tracking. You should not need a value below 0.7 or above 0.85." user="Advanced">
 <field name="Range">0.6 1.0</field>
@@ -4748,9 +4792,9 @@
 <field name="Increment">0.01</field>
 </param>
 <param humanName="Loiter Radius Bank Angle Limit" name="NAVL1_LIM_BANK" documentation="The sealevel bank angle limit for a continous loiter. (Used to calculate airframe loading limits at higher altitudes). Setting to 0, will instead just scale the loiter radius directly" user="Advanced">
-<field name="Range">0 89</field>
 <field name="Units">deg</field>
 <field name="UnitText">degrees</field>
+<field name="Range">0 89</field>
 </param>
 </parameters>
 <parameters name="NTF_">
@@ -4804,22 +4848,43 @@
 </values>
 </param>
 </parameters>
-<parameters name="OSD">
-<param humanName="OSD type" name="OSD_TYPE" documentation="OSD type" user="Standard">
+<parameters name="OA_">
+<param humanName="Object Avoidance Path Planning algorithm to use" name="OA_TYPE" documentation="Enabled/disable path planning around obstacles" user="Standard">
 <values>
-<value code="0">None</value>
-<value code="1">MAX7456</value>
+<value code="0">Disabled</value>
+<value code="1">BendyRuler</value>
+<value code="2">Dijkstra</value>
 </values>
-<field name="RebootRequired">True</field>
 </param>
-<param humanName="Screen switch transmitter channel" name="OSD_CHAN" documentation="This sets the channel used to switch different OSD screens." user="Standard">
-<values>
-<value code="0">Disable</value>
-<value code="5">Chan5</value>
-<value code="6">Chan6</value>
-<value code="7">Chan7</value>
-<value code="8">Chan8</value>
-<value code="9">Chan9</value>
+<param humanName="Object Avoidance look ahead distance maximum" name="OA_LOOKAHEAD" documentation="Object Avoidance will look this many meters ahead of vehicle" user="Standard">
+<field name="Units">m</field>
+<field name="UnitText">meters</field>
+<field name="Range">1 100</field>
+<field name="Increment">1</field>
+</param>
+<param humanName="Object Avoidance wide margin distance" name="OA_MARGIN_MAX" documentation="Object Avoidance will ignore objects more than this many meters from vehicle" user="Standard">
+<field name="Units">m</field>
+<field name="UnitText">meters</field>
+<field name="Range">1 100</field>
+<field name="Increment">1</field>
+</param>
+</parameters>
+<parameters name="OSD">
+<param humanName="OSD type" name="OSD_TYPE" documentation="OSD type" user="Standard">
+<values>
+<value code="0">None</value>
+<value code="1">MAX7456</value>
+</values>
+<field name="RebootRequired">True</field>
+</param>
+<param humanName="Screen switch transmitter channel" name="OSD_CHAN" documentation="This sets the channel used to switch different OSD screens." user="Standard">
+<values>
+<value code="0">Disable</value>
+<value code="5">Chan5</value>
+<value code="6">Chan6</value>
+<value code="7">Chan7</value>
+<value code="8">Chan8</value>
+<value code="9">Chan9</value>
 <value code="10">Chan10</value>
 <value code="11">Chan11</value>
 <value code="12">Chan12</value>
@@ -6743,69 +6808,69 @@
 </values>
 </param>
 <param humanName="Proximity sensor yaw correction" name="PRX_YAW_CORR" documentation="Proximity sensor yaw correction" user="Standard">
-<field name="Range">-180 180</field>
 <field name="Units">deg</field>
 <field name="UnitText">degrees</field>
+<field name="Range">-180 180</field>
 </param>
 <param humanName="Proximity sensor ignore angle 1" name="PRX_IGN_ANG1" documentation="Proximity sensor ignore angle 1" user="Standard">
-<field name="Range">0 360</field>
 <field name="Units">deg</field>
 <field name="UnitText">degrees</field>
+<field name="Range">0 360</field>
 </param>
 <param humanName="Proximity sensor ignore width 1" name="PRX_IGN_WID1" documentation="Proximity sensor ignore width 1" user="Standard">
-<field name="Range">0 45</field>
 <field name="Units">deg</field>
 <field name="UnitText">degrees</field>
+<field name="Range">0 45</field>
 </param>
 <param humanName="Proximity sensor ignore angle 2" name="PRX_IGN_ANG2" documentation="Proximity sensor ignore angle 2" user="Standard">
-<field name="Range">0 360</field>
 <field name="Units">deg</field>
 <field name="UnitText">degrees</field>
+<field name="Range">0 360</field>
 </param>
 <param humanName="Proximity sensor ignore width 2" name="PRX_IGN_WID2" documentation="Proximity sensor ignore width 2" user="Standard">
-<field name="Range">0 45</field>
 <field name="Units">deg</field>
 <field name="UnitText">degrees</field>
+<field name="Range">0 45</field>
 </param>
 <param humanName="Proximity sensor ignore angle 3" name="PRX_IGN_ANG3" documentation="Proximity sensor ignore angle 3" user="Standard">
-<field name="Range">0 360</field>
 <field name="Units">deg</field>
 <field name="UnitText">degrees</field>
+<field name="Range">0 360</field>
 </param>
 <param humanName="Proximity sensor ignore width 3" name="PRX_IGN_WID3" documentation="Proximity sensor ignore width 3" user="Standard">
-<field name="Range">0 45</field>
 <field name="Units">deg</field>
 <field name="UnitText">degrees</field>
+<field name="Range">0 45</field>
 </param>
 <param humanName="Proximity sensor ignore angle 4" name="PRX_IGN_ANG4" documentation="Proximity sensor ignore angle 4" user="Standard">
-<field name="Range">0 360</field>
 <field name="Units">deg</field>
 <field name="UnitText">degrees</field>
+<field name="Range">0 360</field>
 </param>
 <param humanName="Proximity sensor ignore width 4" name="PRX_IGN_WID4" documentation="Proximity sensor ignore width 4" user="Standard">
-<field name="Range">0 45</field>
 <field name="Units">deg</field>
 <field name="UnitText">degrees</field>
+<field name="Range">0 45</field>
 </param>
 <param humanName="Proximity sensor ignore angle 5" name="PRX_IGN_ANG5" documentation="Proximity sensor ignore angle 5" user="Standard">
-<field name="Range">0 360</field>
 <field name="Units">deg</field>
 <field name="UnitText">degrees</field>
+<field name="Range">0 360</field>
 </param>
 <param humanName="Proximity sensor ignore width 5" name="PRX_IGN_WID5" documentation="Proximity sensor ignore width 5" user="Standard">
-<field name="Range">0 45</field>
 <field name="Units">deg</field>
 <field name="UnitText">degrees</field>
+<field name="Range">0 45</field>
 </param>
 <param humanName="Proximity sensor ignore angle 6" name="PRX_IGN_ANG6" documentation="Proximity sensor ignore angle 6" user="Standard">
-<field name="Range">0 360</field>
 <field name="Units">deg</field>
 <field name="UnitText">degrees</field>
+<field name="Range">0 360</field>
 </param>
 <param humanName="Proximity sensor ignore width 6" name="PRX_IGN_WID6" documentation="Proximity sensor ignore width 6" user="Standard">
-<field name="Range">0 45</field>
 <field name="Units">deg</field>
 <field name="UnitText">degrees</field>
+<field name="Range">0 45</field>
 </param>
 <param humanName="Second Proximity type" name="PRX2_TYPE" documentation="What type of proximity sensor is connected" user="Advanced">
 <values>
@@ -6826,18 +6891,18 @@
 </values>
 </param>
 <param humanName="Second Proximity sensor yaw correction" name="PRX2_YAW_CORR" documentation="Second Proximity sensor yaw correction" user="Standard">
-<field name="Range">-180 180</field>
 <field name="Units">deg</field>
 <field name="UnitText">degrees</field>
+<field name="Range">-180 180</field>
 </param>
 </parameters>
 <parameters name="RALLY_">
 <param humanName="Rally Total" name="RALLY_TOTAL" documentation="Number of rally points currently loaded" user="Advanced">
 </param>
 <param humanName="Rally Limit" name="RALLY_LIMIT_KM" documentation="Maximum distance to rally point. If the closest rally point is more than this number of kilometers from the current position and the home location is closer than any of the rally points from the current position then do RTL to home rather than to the closest rally point. This prevents a leftover rally point from a different airfield being used accidentally. If this is set to 0 then the closest rally point is always used." user="Advanced">
-<field name="Increment">0.1</field>
 <field name="Units">km</field>
 <field name="UnitText">kilometers</field>
+<field name="Increment">0.1</field>
 </param>
 <param humanName="Rally Include Home" name="RALLY_INCL_HOME" documentation="Controls if Home is included as a Rally point (i.e. as a safe landing place) for RTL" user="Standard">
 <values>
@@ -6858,22 +6923,22 @@
 </parameters>
 <parameters name="RC10_">
 <param humanName="RC min PWM" name="RC10_MIN" documentation="RC minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
-<field name="Range">800 2200</field>
-<field name="Increment">1</field>
 <field name="Units">PWM</field>
 <field name="UnitText">PWM in microseconds</field>
-</param>
-<param humanName="RC trim PWM" name="RC10_TRIM" documentation="RC trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
 <field name="Range">800 2200</field>
 <field name="Increment">1</field>
+</param>
+<param humanName="RC trim PWM" name="RC10_TRIM" documentation="RC trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
 <field name="Units">PWM</field>
 <field name="UnitText">PWM in microseconds</field>
-</param>
-<param humanName="RC max PWM" name="RC10_MAX" documentation="RC maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
 <field name="Range">800 2200</field>
 <field name="Increment">1</field>
+</param>
+<param humanName="RC max PWM" name="RC10_MAX" documentation="RC maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
 <field name="Units">PWM</field>
 <field name="UnitText">PWM in microseconds</field>
+<field name="Range">800 2200</field>
+<field name="Increment">1</field>
 </param>
 <param humanName="RC reversed" name="RC10_REVERSED" documentation="Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel." user="Advanced">
 <values>
@@ -6882,9 +6947,9 @@
 </values>
 </param>
 <param humanName="RC dead-zone" name="RC10_DZ" documentation="PWM dead zone in microseconds around trim or bottom" user="Advanced">
-<field name="Range">0 200</field>
 <field name="Units">PWM</field>
 <field name="UnitText">PWM in microseconds</field>
+<field name="Range">0 200</field>
 </param>
 <param humanName="RC input option" name="RC10_OPTION" documentation="Function assigned to this RC channel" user="Standard">
 <values>
@@ -6924,22 +6989,22 @@
 </parameters>
 <parameters name="RC11_">
 <param humanName="RC min PWM" name="RC11_MIN" documentation="RC minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
-<field name="Range">800 2200</field>
-<field name="Increment">1</field>
 <field name="Units">PWM</field>
 <field name="UnitText">PWM in microseconds</field>
-</param>
-<param humanName="RC trim PWM" name="RC11_TRIM" documentation="RC trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
 <field name="Range">800 2200</field>
 <field name="Increment">1</field>
+</param>
+<param humanName="RC trim PWM" name="RC11_TRIM" documentation="RC trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
 <field name="Units">PWM</field>
 <field name="UnitText">PWM in microseconds</field>
-</param>
-<param humanName="RC max PWM" name="RC11_MAX" documentation="RC maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
 <field name="Range">800 2200</field>
 <field name="Increment">1</field>
+</param>
+<param humanName="RC max PWM" name="RC11_MAX" documentation="RC maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
 <field name="Units">PWM</field>
 <field name="UnitText">PWM in microseconds</field>
+<field name="Range">800 2200</field>
+<field name="Increment">1</field>
 </param>
 <param humanName="RC reversed" name="RC11_REVERSED" documentation="Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel." user="Advanced">
 <values>
@@ -6948,9 +7013,9 @@
 </values>
 </param>
 <param humanName="RC dead-zone" name="RC11_DZ" documentation="PWM dead zone in microseconds around trim or bottom" user="Advanced">
-<field name="Range">0 200</field>
 <field name="Units">PWM</field>
 <field name="UnitText">PWM in microseconds</field>
+<field name="Range">0 200</field>
 </param>
 <param humanName="RC input option" name="RC11_OPTION" documentation="Function assigned to this RC channel" user="Standard">
 <values>
@@ -6990,22 +7055,22 @@
 </parameters>
 <parameters name="RC12_">
 <param humanName="RC min PWM" name="RC12_MIN" documentation="RC minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
-<field name="Range">800 2200</field>
-<field name="Increment">1</field>
 <field name="Units">PWM</field>
 <field name="UnitText">PWM in microseconds</field>
-</param>
-<param humanName="RC trim PWM" name="RC12_TRIM" documentation="RC trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
 <field name="Range">800 2200</field>
 <field name="Increment">1</field>
+</param>
+<param humanName="RC trim PWM" name="RC12_TRIM" documentation="RC trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
 <field name="Units">PWM</field>
 <field name="UnitText">PWM in microseconds</field>
-</param>
-<param humanName="RC max PWM" name="RC12_MAX" documentation="RC maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
 <field name="Range">800 2200</field>
 <field name="Increment">1</field>
+</param>
+<param humanName="RC max PWM" name="RC12_MAX" documentation="RC maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
 <field name="Units">PWM</field>
 <field name="UnitText">PWM in microseconds</field>
+<field name="Range">800 2200</field>
+<field name="Increment">1</field>
 </param>
 <param humanName="RC reversed" name="RC12_REVERSED" documentation="Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel." user="Advanced">
 <values>
@@ -7014,9 +7079,9 @@
 </values>
 </param>
 <param humanName="RC dead-zone" name="RC12_DZ" documentation="PWM dead zone in microseconds around trim or bottom" user="Advanced">
-<field name="Range">0 200</field>
 <field name="Units">PWM</field>
 <field name="UnitText">PWM in microseconds</field>
+<field name="Range">0 200</field>
 </param>
 <param humanName="RC input option" name="RC12_OPTION" documentation="Function assigned to this RC channel" user="Standard">
 <values>
@@ -7056,22 +7121,22 @@
 </parameters>
 <parameters name="RC13_">
 <param humanName="RC min PWM" name="RC13_MIN" documentation="RC minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
-<field name="Range">800 2200</field>
-<field name="Increment">1</field>
 <field name="Units">PWM</field>
 <field name="UnitText">PWM in microseconds</field>
-</param>
-<param humanName="RC trim PWM" name="RC13_TRIM" documentation="RC trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
 <field name="Range">800 2200</field>
 <field name="Increment">1</field>
+</param>
+<param humanName="RC trim PWM" name="RC13_TRIM" documentation="RC trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
 <field name="Units">PWM</field>
 <field name="UnitText">PWM in microseconds</field>
-</param>
-<param humanName="RC max PWM" name="RC13_MAX" documentation="RC maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
 <field name="Range">800 2200</field>
 <field name="Increment">1</field>
+</param>
+<param humanName="RC max PWM" name="RC13_MAX" documentation="RC maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
 <field name="Units">PWM</field>
 <field name="UnitText">PWM in microseconds</field>
+<field name="Range">800 2200</field>
+<field name="Increment">1</field>
 </param>
 <param humanName="RC reversed" name="RC13_REVERSED" documentation="Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel." user="Advanced">
 <values>
@@ -7080,9 +7145,9 @@
 </values>
 </param>
 <param humanName="RC dead-zone" name="RC13_DZ" documentation="PWM dead zone in microseconds around trim or bottom" user="Advanced">
-<field name="Range">0 200</field>
 <field name="Units">PWM</field>
 <field name="UnitText">PWM in microseconds</field>
+<field name="Range">0 200</field>
 </param>
 <param humanName="RC input option" name="RC13_OPTION" documentation="Function assigned to this RC channel" user="Standard">
 <values>
@@ -7122,22 +7187,22 @@
 </parameters>
 <parameters name="RC14_">
 <param humanName="RC min PWM" name="RC14_MIN" documentation="RC minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
-<field name="Range">800 2200</field>
-<field name="Increment">1</field>
 <field name="Units">PWM</field>
 <field name="UnitText">PWM in microseconds</field>
-</param>
-<param humanName="RC trim PWM" name="RC14_TRIM" documentation="RC trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
 <field name="Range">800 2200</field>
 <field name="Increment">1</field>
+</param>
+<param humanName="RC trim PWM" name="RC14_TRIM" documentation="RC trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
 <field name="Units">PWM</field>
 <field name="UnitText">PWM in microseconds</field>
-</param>
-<param humanName="RC max PWM" name="RC14_MAX" documentation="RC maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
 <field name="Range">800 2200</field>
 <field name="Increment">1</field>
+</param>
+<param humanName="RC max PWM" name="RC14_MAX" documentation="RC maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
 <field name="Units">PWM</field>
 <field name="UnitText">PWM in microseconds</field>
+<field name="Range">800 2200</field>
+<field name="Increment">1</field>
 </param>
 <param humanName="RC reversed" name="RC14_REVERSED" documentation="Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel." user="Advanced">
 <values>
@@ -7146,9 +7211,9 @@
 </values>
 </param>
 <param humanName="RC dead-zone" name="RC14_DZ" documentation="PWM dead zone in microseconds around trim or bottom" user="Advanced">
-<field name="Range">0 200</field>
 <field name="Units">PWM</field>
 <field name="UnitText">PWM in microseconds</field>
+<field name="Range">0 200</field>
 </param>
 <param humanName="RC input option" name="RC14_OPTION" documentation="Function assigned to this RC channel" user="Standard">
 <values>
@@ -7188,22 +7253,22 @@
 </parameters>
 <parameters name="RC15_">
 <param humanName="RC min PWM" name="RC15_MIN" documentation="RC minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
-<field name="Range">800 2200</field>
-<field name="Increment">1</field>
 <field name="Units">PWM</field>
 <field name="UnitText">PWM in microseconds</field>
-</param>
-<param humanName="RC trim PWM" name="RC15_TRIM" documentation="RC trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
 <field name="Range">800 2200</field>
 <field name="Increment">1</field>
+</param>
+<param humanName="RC trim PWM" name="RC15_TRIM" documentation="RC trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
 <field name="Units">PWM</field>
 <field name="UnitText">PWM in microseconds</field>
-</param>
-<param humanName="RC max PWM" name="RC15_MAX" documentation="RC maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
 <field name="Range">800 2200</field>
 <field name="Increment">1</field>
+</param>
+<param humanName="RC max PWM" name="RC15_MAX" documentation="RC maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
 <field name="Units">PWM</field>
 <field name="UnitText">PWM in microseconds</field>
+<field name="Range">800 2200</field>
+<field name="Increment">1</field>
 </param>
 <param humanName="RC reversed" name="RC15_REVERSED" documentation="Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel." user="Advanced">
 <values>
@@ -7212,9 +7277,9 @@
 </values>
 </param>
 <param humanName="RC dead-zone" name="RC15_DZ" documentation="PWM dead zone in microseconds around trim or bottom" user="Advanced">
-<field name="Range">0 200</field>
 <field name="Units">PWM</field>
 <field name="UnitText">PWM in microseconds</field>
+<field name="Range">0 200</field>
 </param>
 <param humanName="RC input option" name="RC15_OPTION" documentation="Function assigned to this RC channel" user="Standard">
 <values>
@@ -7254,22 +7319,22 @@
 </parameters>
 <parameters name="RC16_">
 <param humanName="RC min PWM" name="RC16_MIN" documentation="RC minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
-<field name="Range">800 2200</field>
-<field name="Increment">1</field>
 <field name="Units">PWM</field>
 <field name="UnitText">PWM in microseconds</field>
-</param>
-<param humanName="RC trim PWM" name="RC16_TRIM" documentation="RC trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
 <field name="Range">800 2200</field>
 <field name="Increment">1</field>
+</param>
+<param humanName="RC trim PWM" name="RC16_TRIM" documentation="RC trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
 <field name="Units">PWM</field>
 <field name="UnitText">PWM in microseconds</field>
-</param>
-<param humanName="RC max PWM" name="RC16_MAX" documentation="RC maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
 <field name="Range">800 2200</field>
 <field name="Increment">1</field>
+</param>
+<param humanName="RC max PWM" name="RC16_MAX" documentation="RC maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
 <field name="Units">PWM</field>
 <field name="UnitText">PWM in microseconds</field>
+<field name="Range">800 2200</field>
+<field name="Increment">1</field>
 </param>
 <param humanName="RC reversed" name="RC16_REVERSED" documentation="Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel." user="Advanced">
 <values>
@@ -7278,9 +7343,9 @@
 </values>
 </param>
 <param humanName="RC dead-zone" name="RC16_DZ" documentation="PWM dead zone in microseconds around trim or bottom" user="Advanced">
-<field name="Range">0 200</field>
 <field name="Units">PWM</field>
 <field name="UnitText">PWM in microseconds</field>
+<field name="Range">0 200</field>
 </param>
 <param humanName="RC input option" name="RC16_OPTION" documentation="Function assigned to this RC channel" user="Standard">
 <values>
@@ -7320,22 +7385,22 @@
 </parameters>
 <parameters name="RC1_">
 <param humanName="RC min PWM" name="RC1_MIN" documentation="RC minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
-<field name="Range">800 2200</field>
-<field name="Increment">1</field>
 <field name="Units">PWM</field>
 <field name="UnitText">PWM in microseconds</field>
-</param>
-<param humanName="RC trim PWM" name="RC1_TRIM" documentation="RC trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
 <field name="Range">800 2200</field>
 <field name="Increment">1</field>
+</param>
+<param humanName="RC trim PWM" name="RC1_TRIM" documentation="RC trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
 <field name="Units">PWM</field>
 <field name="UnitText">PWM in microseconds</field>
-</param>
-<param humanName="RC max PWM" name="RC1_MAX" documentation="RC maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
 <field name="Range">800 2200</field>
 <field name="Increment">1</field>
+</param>
+<param humanName="RC max PWM" name="RC1_MAX" documentation="RC maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
 <field name="Units">PWM</field>
 <field name="UnitText">PWM in microseconds</field>
+<field name="Range">800 2200</field>
+<field name="Increment">1</field>
 </param>
 <param humanName="RC reversed" name="RC1_REVERSED" documentation="Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel." user="Advanced">
 <values>
@@ -7344,9 +7409,9 @@
 </values>
 </param>
 <param humanName="RC dead-zone" name="RC1_DZ" documentation="PWM dead zone in microseconds around trim or bottom" user="Advanced">
-<field name="Range">0 200</field>
 <field name="Units">PWM</field>
 <field name="UnitText">PWM in microseconds</field>
+<field name="Range">0 200</field>
 </param>
 <param humanName="RC input option" name="RC1_OPTION" documentation="Function assigned to this RC channel" user="Standard">
 <values>
@@ -7386,22 +7451,22 @@
 </parameters>
 <parameters name="RC2_">
 <param humanName="RC min PWM" name="RC2_MIN" documentation="RC minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
-<field name="Range">800 2200</field>
-<field name="Increment">1</field>
 <field name="Units">PWM</field>
 <field name="UnitText">PWM in microseconds</field>
-</param>
-<param humanName="RC trim PWM" name="RC2_TRIM" documentation="RC trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
 <field name="Range">800 2200</field>
 <field name="Increment">1</field>
+</param>
+<param humanName="RC trim PWM" name="RC2_TRIM" documentation="RC trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
 <field name="Units">PWM</field>
 <field name="UnitText">PWM in microseconds</field>
-</param>
-<param humanName="RC max PWM" name="RC2_MAX" documentation="RC maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
 <field name="Range">800 2200</field>
 <field name="Increment">1</field>
+</param>
+<param humanName="RC max PWM" name="RC2_MAX" documentation="RC maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
 <field name="Units">PWM</field>
 <field name="UnitText">PWM in microseconds</field>
+<field name="Range">800 2200</field>
+<field name="Increment">1</field>
 </param>
 <param humanName="RC reversed" name="RC2_REVERSED" documentation="Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel." user="Advanced">
 <values>
@@ -7410,9 +7475,9 @@
 </values>
 </param>
 <param humanName="RC dead-zone" name="RC2_DZ" documentation="PWM dead zone in microseconds around trim or bottom" user="Advanced">
-<field name="Range">0 200</field>
 <field name="Units">PWM</field>
 <field name="UnitText">PWM in microseconds</field>
+<field name="Range">0 200</field>
 </param>
 <param humanName="RC input option" name="RC2_OPTION" documentation="Function assigned to this RC channel" user="Standard">
 <values>
@@ -7452,22 +7517,22 @@
 </parameters>
 <parameters name="RC3_">
 <param humanName="RC min PWM" name="RC3_MIN" documentation="RC minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
-<field name="Range">800 2200</field>
-<field name="Increment">1</field>
 <field name="Units">PWM</field>
 <field name="UnitText">PWM in microseconds</field>
-</param>
-<param humanName="RC trim PWM" name="RC3_TRIM" documentation="RC trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
 <field name="Range">800 2200</field>
 <field name="Increment">1</field>
+</param>
+<param humanName="RC trim PWM" name="RC3_TRIM" documentation="RC trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
 <field name="Units">PWM</field>
 <field name="UnitText">PWM in microseconds</field>
-</param>
-<param humanName="RC max PWM" name="RC3_MAX" documentation="RC maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
 <field name="Range">800 2200</field>
 <field name="Increment">1</field>
+</param>
+<param humanName="RC max PWM" name="RC3_MAX" documentation="RC maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
 <field name="Units">PWM</field>
 <field name="UnitText">PWM in microseconds</field>
+<field name="Range">800 2200</field>
+<field name="Increment">1</field>
 </param>
 <param humanName="RC reversed" name="RC3_REVERSED" documentation="Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel." user="Advanced">
 <values>
@@ -7476,9 +7541,9 @@
 </values>
 </param>
 <param humanName="RC dead-zone" name="RC3_DZ" documentation="PWM dead zone in microseconds around trim or bottom" user="Advanced">
-<field name="Range">0 200</field>
 <field name="Units">PWM</field>
 <field name="UnitText">PWM in microseconds</field>
+<field name="Range">0 200</field>
 </param>
 <param humanName="RC input option" name="RC3_OPTION" documentation="Function assigned to this RC channel" user="Standard">
 <values>
@@ -7518,22 +7583,22 @@
 </parameters>
 <parameters name="RC4_">
 <param humanName="RC min PWM" name="RC4_MIN" documentation="RC minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
-<field name="Range">800 2200</field>
-<field name="Increment">1</field>
 <field name="Units">PWM</field>
 <field name="UnitText">PWM in microseconds</field>
-</param>
-<param humanName="RC trim PWM" name="RC4_TRIM" documentation="RC trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
 <field name="Range">800 2200</field>
 <field name="Increment">1</field>
+</param>
+<param humanName="RC trim PWM" name="RC4_TRIM" documentation="RC trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
 <field name="Units">PWM</field>
 <field name="UnitText">PWM in microseconds</field>
-</param>
-<param humanName="RC max PWM" name="RC4_MAX" documentation="RC maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
 <field name="Range">800 2200</field>
 <field name="Increment">1</field>
+</param>
+<param humanName="RC max PWM" name="RC4_MAX" documentation="RC maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
 <field name="Units">PWM</field>
 <field name="UnitText">PWM in microseconds</field>
+<field name="Range">800 2200</field>
+<field name="Increment">1</field>
 </param>
 <param humanName="RC reversed" name="RC4_REVERSED" documentation="Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel." user="Advanced">
 <values>
@@ -7542,9 +7607,9 @@
 </values>
 </param>
 <param humanName="RC dead-zone" name="RC4_DZ" documentation="PWM dead zone in microseconds around trim or bottom" user="Advanced">
-<field name="Range">0 200</field>
 <field name="Units">PWM</field>
 <field name="UnitText">PWM in microseconds</field>
+<field name="Range">0 200</field>
 </param>
 <param humanName="RC input option" name="RC4_OPTION" documentation="Function assigned to this RC channel" user="Standard">
 <values>
@@ -7584,22 +7649,22 @@
 </parameters>
 <parameters name="RC5_">
 <param humanName="RC min PWM" name="RC5_MIN" documentation="RC minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
-<field name="Range">800 2200</field>
-<field name="Increment">1</field>
 <field name="Units">PWM</field>
 <field name="UnitText">PWM in microseconds</field>
-</param>
-<param humanName="RC trim PWM" name="RC5_TRIM" documentation="RC trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
 <field name="Range">800 2200</field>
 <field name="Increment">1</field>
+</param>
+<param humanName="RC trim PWM" name="RC5_TRIM" documentation="RC trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
 <field name="Units">PWM</field>
 <field name="UnitText">PWM in microseconds</field>
-</param>
-<param humanName="RC max PWM" name="RC5_MAX" documentation="RC maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
 <field name="Range">800 2200</field>
 <field name="Increment">1</field>
+</param>
+<param humanName="RC max PWM" name="RC5_MAX" documentation="RC maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
 <field name="Units">PWM</field>
 <field name="UnitText">PWM in microseconds</field>
+<field name="Range">800 2200</field>
+<field name="Increment">1</field>
 </param>
 <param humanName="RC reversed" name="RC5_REVERSED" documentation="Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel." user="Advanced">
 <values>
@@ -7608,9 +7673,9 @@
 </values>
 </param>
 <param humanName="RC dead-zone" name="RC5_DZ" documentation="PWM dead zone in microseconds around trim or bottom" user="Advanced">
-<field name="Range">0 200</field>
 <field name="Units">PWM</field>
 <field name="UnitText">PWM in microseconds</field>
+<field name="Range">0 200</field>
 </param>
 <param humanName="RC input option" name="RC5_OPTION" documentation="Function assigned to this RC channel" user="Standard">
 <values>
@@ -7650,22 +7715,22 @@
 </parameters>
 <parameters name="RC6_">
 <param humanName="RC min PWM" name="RC6_MIN" documentation="RC minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
-<field name="Range">800 2200</field>
-<field name="Increment">1</field>
 <field name="Units">PWM</field>
 <field name="UnitText">PWM in microseconds</field>
-</param>
-<param humanName="RC trim PWM" name="RC6_TRIM" documentation="RC trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
 <field name="Range">800 2200</field>
 <field name="Increment">1</field>
+</param>
+<param humanName="RC trim PWM" name="RC6_TRIM" documentation="RC trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
 <field name="Units">PWM</field>
 <field name="UnitText">PWM in microseconds</field>
-</param>
-<param humanName="RC max PWM" name="RC6_MAX" documentation="RC maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
 <field name="Range">800 2200</field>
 <field name="Increment">1</field>
+</param>
+<param humanName="RC max PWM" name="RC6_MAX" documentation="RC maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
 <field name="Units">PWM</field>
 <field name="UnitText">PWM in microseconds</field>
+<field name="Range">800 2200</field>
+<field name="Increment">1</field>
 </param>
 <param humanName="RC reversed" name="RC6_REVERSED" documentation="Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel." user="Advanced">
 <values>
@@ -7674,9 +7739,9 @@
 </values>
 </param>
 <param humanName="RC dead-zone" name="RC6_DZ" documentation="PWM dead zone in microseconds around trim or bottom" user="Advanced">
-<field name="Range">0 200</field>
 <field name="Units">PWM</field>
 <field name="UnitText">PWM in microseconds</field>
+<field name="Range">0 200</field>
 </param>
 <param humanName="RC input option" name="RC6_OPTION" documentation="Function assigned to this RC channel" user="Standard">
 <values>
@@ -7716,22 +7781,22 @@
 </parameters>
 <parameters name="RC7_">
 <param humanName="RC min PWM" name="RC7_MIN" documentation="RC minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
-<field name="Range">800 2200</field>
-<field name="Increment">1</field>
 <field name="Units">PWM</field>
 <field name="UnitText">PWM in microseconds</field>
-</param>
-<param humanName="RC trim PWM" name="RC7_TRIM" documentation="RC trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
 <field name="Range">800 2200</field>
 <field name="Increment">1</field>
+</param>
+<param humanName="RC trim PWM" name="RC7_TRIM" documentation="RC trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
 <field name="Units">PWM</field>
 <field name="UnitText">PWM in microseconds</field>
-</param>
-<param humanName="RC max PWM" name="RC7_MAX" documentation="RC maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
 <field name="Range">800 2200</field>
 <field name="Increment">1</field>
+</param>
+<param humanName="RC max PWM" name="RC7_MAX" documentation="RC maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
 <field name="Units">PWM</field>
 <field name="UnitText">PWM in microseconds</field>
+<field name="Range">800 2200</field>
+<field name="Increment">1</field>
 </param>
 <param humanName="RC reversed" name="RC7_REVERSED" documentation="Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel." user="Advanced">
 <values>
@@ -7740,9 +7805,9 @@
 </values>
 </param>
 <param humanName="RC dead-zone" name="RC7_DZ" documentation="PWM dead zone in microseconds around trim or bottom" user="Advanced">
-<field name="Range">0 200</field>
 <field name="Units">PWM</field>
 <field name="UnitText">PWM in microseconds</field>
+<field name="Range">0 200</field>
 </param>
 <param humanName="RC input option" name="RC7_OPTION" documentation="Function assigned to this RC channel" user="Standard">
 <values>
@@ -7782,22 +7847,22 @@
 </parameters>
 <parameters name="RC8_">
 <param humanName="RC min PWM" name="RC8_MIN" documentation="RC minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
-<field name="Range">800 2200</field>
-<field name="Increment">1</field>
 <field name="Units">PWM</field>
 <field name="UnitText">PWM in microseconds</field>
-</param>
-<param humanName="RC trim PWM" name="RC8_TRIM" documentation="RC trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
 <field name="Range">800 2200</field>
 <field name="Increment">1</field>
+</param>
+<param humanName="RC trim PWM" name="RC8_TRIM" documentation="RC trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
 <field name="Units">PWM</field>
 <field name="UnitText">PWM in microseconds</field>
-</param>
-<param humanName="RC max PWM" name="RC8_MAX" documentation="RC maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
 <field name="Range">800 2200</field>
 <field name="Increment">1</field>
+</param>
+<param humanName="RC max PWM" name="RC8_MAX" documentation="RC maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
 <field name="Units">PWM</field>
 <field name="UnitText">PWM in microseconds</field>
+<field name="Range">800 2200</field>
+<field name="Increment">1</field>
 </param>
 <param humanName="RC reversed" name="RC8_REVERSED" documentation="Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel." user="Advanced">
 <values>
@@ -7806,9 +7871,9 @@
 </values>
 </param>
 <param humanName="RC dead-zone" name="RC8_DZ" documentation="PWM dead zone in microseconds around trim or bottom" user="Advanced">
-<field name="Range">0 200</field>
 <field name="Units">PWM</field>
 <field name="UnitText">PWM in microseconds</field>
+<field name="Range">0 200</field>
 </param>
 <param humanName="RC input option" name="RC8_OPTION" documentation="Function assigned to this RC channel" user="Standard">
 <values>
@@ -7848,22 +7913,22 @@
 </parameters>
 <parameters name="RC9_">
 <param humanName="RC min PWM" name="RC9_MIN" documentation="RC minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
-<field name="Range">800 2200</field>
-<field name="Increment">1</field>
 <field name="Units">PWM</field>
 <field name="UnitText">PWM in microseconds</field>
-</param>
-<param humanName="RC trim PWM" name="RC9_TRIM" documentation="RC trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
 <field name="Range">800 2200</field>
 <field name="Increment">1</field>
+</param>
+<param humanName="RC trim PWM" name="RC9_TRIM" documentation="RC trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
 <field name="Units">PWM</field>
 <field name="UnitText">PWM in microseconds</field>
-</param>
-<param humanName="RC max PWM" name="RC9_MAX" documentation="RC maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
 <field name="Range">800 2200</field>
 <field name="Increment">1</field>
+</param>
+<param humanName="RC max PWM" name="RC9_MAX" documentation="RC maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
 <field name="Units">PWM</field>
 <field name="UnitText">PWM in microseconds</field>
+<field name="Range">800 2200</field>
+<field name="Increment">1</field>
 </param>
 <param humanName="RC reversed" name="RC9_REVERSED" documentation="Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel." user="Advanced">
 <values>
@@ -7872,9 +7937,9 @@
 </values>
 </param>
 <param humanName="RC dead-zone" name="RC9_DZ" documentation="PWM dead zone in microseconds around trim or bottom" user="Advanced">
-<field name="Range">0 200</field>
 <field name="Units">PWM</field>
 <field name="UnitText">PWM in microseconds</field>
+<field name="Range">0 200</field>
 </param>
 <param humanName="RC input option" name="RC9_OPTION" documentation="Function assigned to this RC channel" user="Standard">
 <values>
@@ -7933,6 +7998,18 @@
 <field name="Increment">1</field>
 <field name="RebootRequired">True</field>
 </param>
+<param humanName="Forward channel" name="RCMAP_FORWARD" documentation="Forward channel number. This is useful when you have a RC transmitter that can't change the channel order easily. Forward is normally on channel 5, but you can move it to any channel with this parameter. Reboot is required for changes to take effect." user="Advanced">
+<field name="Range">1 8</field>
+<field name="Increment">1</field>
+<field name="RebootRequired">True</field>
+<field name="Values">1-8</field>
+</param>
+<param humanName="Lateral channel" name="RCMAP_LATERAL" documentation="Lateral channel number. This is useful when you have a RC transmitter that can't change the channel order easily. Lateral is normally on channel 6, but you can move it to any channel with this parameter. Reboot is required for changes to take effect." user="Advanced">
+<field name="Range">1 8</field>
+<field name="Increment">1</field>
+<field name="RebootRequired">True</field>
+<field name="Values">1-8</field>
+</param>
 </parameters>
 <parameters name="RELAY_">
 <param humanName="First Relay Pin" name="RELAY_PIN" documentation="Digital pin number for first relay control. This is the pin used for camera control." user="Standard">
@@ -8059,6 +8136,8 @@
 <value code="21">LidarLightV3HP</value>
 <value code="22">PWM</value>
 <value code="23">BlueRoboticsPing</value>
+<value code="24">UAVCAN</value>
+<value code="25">BenewakeTFMiniPlus</value>
 </values>
 </param>
 <param humanName="Rangefinder pin" name="RNGFND1_PIN" documentation="Analog pin that rangefinder is connected to. Set to 11 on PX4 for the analog 'airspeed' port. Set to 15 on the Pixhawk for the analog 'airspeed' port." user="Standard">
@@ -8069,14 +8148,14 @@
 </values>
 </param>
 <param humanName="Rangefinder scaling" name="RNGFND1_SCALING" documentation="Scaling factor between rangefinder reading and distance. For the linear and inverted functions this is in meters per volt. For the hyperbolic function the units are meterVolts." user="Standard">
-<field name="Increment">0.001</field>
 <field name="Units">m/V</field>
 <field name="UnitText">meters per volt</field>
+<field name="Increment">0.001</field>
 </param>
 <param humanName="rangefinder offset" name="RNGFND1_OFFSET" documentation="Offset in volts for zero distance for analog rangefinders. Offset added to distance in centimeters for PWM and I2C Lidars" user="Standard">
-<field name="Increment">0.001</field>
 <field name="Units">V</field>
 <field name="UnitText">volt</field>
+<field name="Increment">0.001</field>
 </param>
 <param humanName="Rangefinder function" name="RNGFND1_FUNCTION" documentation="Control over what function is used to calculate distance. For a linear function, the distance is (voltage-offset)*scaling. For a inverted function the distance is (offset-voltage)*scaling. For a hyperbolic function the distance is scaling/(voltage-offset). The functions return the distance in meters." user="Standard">
 <values>
@@ -8086,14 +8165,14 @@
 </values>
 </param>
 <param humanName="Rangefinder minimum distance" name="RNGFND1_MIN_CM" documentation="Minimum distance in centimeters that rangefinder can reliably read" user="Standard">
-<field name="Increment">1</field>
 <field name="Units">cm</field>
 <field name="UnitText">centimeters</field>
+<field name="Increment">1</field>
 </param>
 <param humanName="Rangefinder maximum distance" name="RNGFND1_MAX_CM" documentation="Maximum distance in centimeters that rangefinder can reliably read" user="Standard">
-<field name="Increment">1</field>
 <field name="Units">cm</field>
 <field name="UnitText">centimeters</field>
+<field name="Increment">1</field>
 </param>
 <param humanName="Rangefinder stop pin" name="RNGFND1_STOP_PIN" documentation="Digital pin that enables/disables rangefinder measurement for an analog rangefinder. A value of -1 means no pin. If this is set, then the pin is set to 1 to enable the rangefinder and set to 0 to disable it. This can be used to ensure that multiple sonar rangefinders don't interfere with each other." user="Standard">
 <values>
@@ -8113,9 +8192,9 @@
 </values>
 </param>
 <param humanName="Rangefinder settle time" name="RNGFND1_SETTLE" documentation="The time in milliseconds that the rangefinder reading takes to settle. This is only used when a STOP_PIN is specified. It determines how long we have to wait for the rangefinder to give a reading after we set the STOP_PIN high. For a sonar rangefinder with a range of around 7m this would need to be around 50 milliseconds to allow for the sonar pulse to travel to the target and back again." user="Standard">
-<field name="Increment">1</field>
 <field name="Units">ms</field>
 <field name="UnitText">milliseconds</field>
+<field name="Increment">1</field>
 </param>
 <param humanName="Ratiometric" name="RNGFND1_RMETRIC" documentation="This parameter sets whether an analog rangefinder is ratiometric. Most analog rangefinders are ratiometric, meaning that their output voltage is influenced by the supply voltage. Some analog rangefinders (such as the SF/02) have their own internal voltage regulators so they are not ratiometric." user="Standard">
 <values>
@@ -8124,17 +8203,17 @@
 </values>
 </param>
 <param humanName="Powersave range" name="RNGFND1_PWRRNG" documentation="This parameter sets the estimated terrain distance in meters above which the sensor will be put into a power saving mode (if available). A value of zero means power saving is not enabled" user="Standard">
-<field name="Range">0 32767</field>
 <field name="Units">m</field>
 <field name="UnitText">meters</field>
+<field name="Range">0 32767</field>
 </param>
 <param humanName="Distance (in cm) from the range finder to the ground" name="RNGFND1_GNDCLEAR" documentation="This parameter sets the expected range measurement(in cm) that the range finder should return when the vehicle is on the ground." user="Standard">
-<field name="Range">5 127</field>
-<field name="Increment">1</field>
 <field name="Units">cm</field>
 <field name="UnitText">centimeters</field>
+<field name="Range">5 127</field>
+<field name="Increment">1</field>
 </param>
-<param humanName="Bus address of sensor" name="RNGFND1_ADDR" documentation="This sets the bus address of the sensor, where applicable. Used for the LightWare I2C sensor to allow for multiple sensors on different addresses. A value of 0 disables the sensor." user="Standard">
+<param humanName="Bus address of sensor" name="RNGFND1_ADDR" documentation="This sets the bus address of the sensor, where applicable. Used for the I2C and UAVCAN sensors to allow for multiple sensors on different addresses. A value of 0 disables the sensor." user="Standard">
 <field name="Range">0 127</field>
 <field name="Increment">1</field>
 </param>
@@ -8214,6 +8293,8 @@
 <value code="21">LidarLightV3HP</value>
 <value code="22">PWM</value>
 <value code="23">BlueRoboticsPing</value>
+<value code="24">UAVCAN</value>
+<value code="25">BenewakeTFMiniPlus</value>
 </values>
 </param>
 <param humanName="Rangefinder pin" name="RNGFND2_PIN" documentation="Analog pin that rangefinder is connected to. Set to 11 on PX4 for the analog 'airspeed' port. Set to 15 on the Pixhawk for the analog 'airspeed' port." user="Standard">
@@ -8224,14 +8305,14 @@
 </values>
 </param>
 <param humanName="Rangefinder scaling" name="RNGFND2_SCALING" documentation="Scaling factor between rangefinder reading and distance. For the linear and inverted functions this is in meters per volt. For the hyperbolic function the units are meterVolts." user="Standard">
-<field name="Increment">0.001</field>
 <field name="Units">m/V</field>
 <field name="UnitText">meters per volt</field>
+<field name="Increment">0.001</field>
 </param>
 <param humanName="rangefinder offset" name="RNGFND2_OFFSET" documentation="Offset in volts for zero distance for analog rangefinders. Offset added to distance in centimeters for PWM and I2C Lidars" user="Standard">
-<field name="Increment">0.001</field>
 <field name="Units">V</field>
 <field name="UnitText">volt</field>
+<field name="Increment">0.001</field>
 </param>
 <param humanName="Rangefinder function" name="RNGFND2_FUNCTION" documentation="Control over what function is used to calculate distance. For a linear function, the distance is (voltage-offset)*scaling. For a inverted function the distance is (offset-voltage)*scaling. For a hyperbolic function the distance is scaling/(voltage-offset). The functions return the distance in meters." user="Standard">
 <values>
@@ -8241,14 +8322,14 @@
 </values>
 </param>
 <param humanName="Rangefinder minimum distance" name="RNGFND2_MIN_CM" documentation="Minimum distance in centimeters that rangefinder can reliably read" user="Standard">
-<field name="Increment">1</field>
 <field name="Units">cm</field>
 <field name="UnitText">centimeters</field>
+<field name="Increment">1</field>
 </param>
 <param humanName="Rangefinder maximum distance" name="RNGFND2_MAX_CM" documentation="Maximum distance in centimeters that rangefinder can reliably read" user="Standard">
-<field name="Increment">1</field>
 <field name="Units">cm</field>
 <field name="UnitText">centimeters</field>
+<field name="Increment">1</field>
 </param>
 <param humanName="Rangefinder stop pin" name="RNGFND2_STOP_PIN" documentation="Digital pin that enables/disables rangefinder measurement for an analog rangefinder. A value of -1 means no pin. If this is set, then the pin is set to 1 to enable the rangefinder and set to 0 to disable it. This can be used to ensure that multiple sonar rangefinders don't interfere with each other." user="Standard">
 <values>
@@ -8268,9 +8349,9 @@
 </values>
 </param>
 <param humanName="Rangefinder settle time" name="RNGFND2_SETTLE" documentation="The time in milliseconds that the rangefinder reading takes to settle. This is only used when a STOP_PIN is specified. It determines how long we have to wait for the rangefinder to give a reading after we set the STOP_PIN high. For a sonar rangefinder with a range of around 7m this would need to be around 50 milliseconds to allow for the sonar pulse to travel to the target and back again." user="Standard">
-<field name="Increment">1</field>
 <field name="Units">ms</field>
 <field name="UnitText">milliseconds</field>
+<field name="Increment">1</field>
 </param>
 <param humanName="Ratiometric" name="RNGFND2_RMETRIC" documentation="This parameter sets whether an analog rangefinder is ratiometric. Most analog rangefinders are ratiometric, meaning that their output voltage is influenced by the supply voltage. Some analog rangefinders (such as the SF/02) have their own internal voltage regulators so they are not ratiometric." user="Standard">
 <values>
@@ -8279,17 +8360,17 @@
 </values>
 </param>
 <param humanName="Powersave range" name="RNGFND2_PWRRNG" documentation="This parameter sets the estimated terrain distance in meters above which the sensor will be put into a power saving mode (if available). A value of zero means power saving is not enabled" user="Standard">
-<field name="Range">0 32767</field>
 <field name="Units">m</field>
 <field name="UnitText">meters</field>
+<field name="Range">0 32767</field>
 </param>
 <param humanName="Distance (in cm) from the range finder to the ground" name="RNGFND2_GNDCLEAR" documentation="This parameter sets the expected range measurement(in cm) that the range finder should return when the vehicle is on the ground." user="Standard">
-<field name="Range">5 127</field>
-<field name="Increment">1</field>
 <field name="Units">cm</field>
 <field name="UnitText">centimeters</field>
+<field name="Range">5 127</field>
+<field name="Increment">1</field>
 </param>
-<param humanName="Bus address of sensor" name="RNGFND2_ADDR" documentation="This sets the bus address of the sensor, where applicable. Used for the LightWare I2C sensor to allow for multiple sensors on different addresses. A value of 0 disables the sensor." user="Standard">
+<param humanName="Bus address of sensor" name="RNGFND2_ADDR" documentation="This sets the bus address of the sensor, where applicable. Used for the I2C and UAVCAN sensors to allow for multiple sensors on different addresses. A value of 0 disables the sensor." user="Standard">
 <field name="Range">0 127</field>
 <field name="Increment">1</field>
 </param>
@@ -8369,6 +8450,8 @@
 <value code="21">LidarLightV3HP</value>
 <value code="22">PWM</value>
 <value code="23">BlueRoboticsPing</value>
+<value code="24">UAVCAN</value>
+<value code="25">BenewakeTFMiniPlus</value>
 </values>
 </param>
 <param humanName="Rangefinder pin" name="RNGFND3_PIN" documentation="Analog pin that rangefinder is connected to. Set to 11 on PX4 for the analog 'airspeed' port. Set to 15 on the Pixhawk for the analog 'airspeed' port." user="Standard">
@@ -8379,14 +8462,14 @@
 </values>
 </param>
 <param humanName="Rangefinder scaling" name="RNGFND3_SCALING" documentation="Scaling factor between rangefinder reading and distance. For the linear and inverted functions this is in meters per volt. For the hyperbolic function the units are meterVolts." user="Standard">
-<field name="Increment">0.001</field>
 <field name="Units">m/V</field>
 <field name="UnitText">meters per volt</field>
+<field name="Increment">0.001</field>
 </param>
 <param humanName="rangefinder offset" name="RNGFND3_OFFSET" documentation="Offset in volts for zero distance for analog rangefinders. Offset added to distance in centimeters for PWM and I2C Lidars" user="Standard">
-<field name="Increment">0.001</field>
 <field name="Units">V</field>
 <field name="UnitText">volt</field>
+<field name="Increment">0.001</field>
 </param>
 <param humanName="Rangefinder function" name="RNGFND3_FUNCTION" documentation="Control over what function is used to calculate distance. For a linear function, the distance is (voltage-offset)*scaling. For a inverted function the distance is (offset-voltage)*scaling. For a hyperbolic function the distance is scaling/(voltage-offset). The functions return the distance in meters." user="Standard">
 <values>
@@ -8396,14 +8479,14 @@
 </values>
 </param>
 <param humanName="Rangefinder minimum distance" name="RNGFND3_MIN_CM" documentation="Minimum distance in centimeters that rangefinder can reliably read" user="Standard">
-<field name="Increment">1</field>
 <field name="Units">cm</field>
 <field name="UnitText">centimeters</field>
+<field name="Increment">1</field>
 </param>
 <param humanName="Rangefinder maximum distance" name="RNGFND3_MAX_CM" documentation="Maximum distance in centimeters that rangefinder can reliably read" user="Standard">
-<field name="Increment">1</field>
 <field name="Units">cm</field>
 <field name="UnitText">centimeters</field>
+<field name="Increment">1</field>
 </param>
 <param humanName="Rangefinder stop pin" name="RNGFND3_STOP_PIN" documentation="Digital pin that enables/disables rangefinder measurement for an analog rangefinder. A value of -1 means no pin. If this is set, then the pin is set to 1 to enable the rangefinder and set to 0 to disable it. This can be used to ensure that multiple sonar rangefinders don't interfere with each other." user="Standard">
 <values>
@@ -8423,9 +8506,9 @@
 </values>
 </param>
 <param humanName="Rangefinder settle time" name="RNGFND3_SETTLE" documentation="The time in milliseconds that the rangefinder reading takes to settle. This is only used when a STOP_PIN is specified. It determines how long we have to wait for the rangefinder to give a reading after we set the STOP_PIN high. For a sonar rangefinder with a range of around 7m this would need to be around 50 milliseconds to allow for the sonar pulse to travel to the target and back again." user="Standard">
-<field name="Increment">1</field>
 <field name="Units">ms</field>
 <field name="UnitText">milliseconds</field>
+<field name="Increment">1</field>
 </param>
 <param humanName="Ratiometric" name="RNGFND3_RMETRIC" documentation="This parameter sets whether an analog rangefinder is ratiometric. Most analog rangefinders are ratiometric, meaning that their output voltage is influenced by the supply voltage. Some analog rangefinders (such as the SF/02) have their own internal voltage regulators so they are not ratiometric." user="Standard">
 <values>
@@ -8434,17 +8517,17 @@
 </values>
 </param>
 <param humanName="Powersave range" name="RNGFND3_PWRRNG" documentation="This parameter sets the estimated terrain distance in meters above which the sensor will be put into a power saving mode (if available). A value of zero means power saving is not enabled" user="Standard">
-<field name="Range">0 32767</field>
 <field name="Units">m</field>
 <field name="UnitText">meters</field>
+<field name="Range">0 32767</field>
 </param>
 <param humanName="Distance (in cm) from the range finder to the ground" name="RNGFND3_GNDCLEAR" documentation="This parameter sets the expected range measurement(in cm) that the range finder should return when the vehicle is on the ground." user="Standard">
-<field name="Range">5 127</field>
-<field name="Increment">1</field>
 <field name="Units">cm</field>
 <field name="UnitText">centimeters</field>
+<field name="Range">5 127</field>
+<field name="Increment">1</field>
 </param>
-<param humanName="Bus address of sensor" name="RNGFND3_ADDR" documentation="This sets the bus address of the sensor, where applicable. Used for the LightWare I2C sensor to allow for multiple sensors on different addresses. A value of 0 disables the sensor." user="Standard">
+<param humanName="Bus address of sensor" name="RNGFND3_ADDR" documentation="This sets the bus address of the sensor, where applicable. Used for the I2C and UAVCAN sensors to allow for multiple sensors on different addresses. A value of 0 disables the sensor." user="Standard">
 <field name="Range">0 127</field>
 <field name="Increment">1</field>
 </param>
@@ -8524,6 +8607,8 @@
 <value code="21">LidarLightV3HP</value>
 <value code="22">PWM</value>
 <value code="23">BlueRoboticsPing</value>
+<value code="24">UAVCAN</value>
+<value code="25">BenewakeTFMiniPlus</value>
 </values>
 </param>
 <param humanName="Rangefinder pin" name="RNGFND4_PIN" documentation="Analog pin that rangefinder is connected to. Set to 11 on PX4 for the analog 'airspeed' port. Set to 15 on the Pixhawk for the analog 'airspeed' port." user="Standard">
@@ -8534,14 +8619,14 @@
 </values>
 </param>
 <param humanName="Rangefinder scaling" name="RNGFND4_SCALING" documentation="Scaling factor between rangefinder reading and distance. For the linear and inverted functions this is in meters per volt. For the hyperbolic function the units are meterVolts." user="Standard">
-<field name="Increment">0.001</field>
 <field name="Units">m/V</field>
 <field name="UnitText">meters per volt</field>
+<field name="Increment">0.001</field>
 </param>
 <param humanName="rangefinder offset" name="RNGFND4_OFFSET" documentation="Offset in volts for zero distance for analog rangefinders. Offset added to distance in centimeters for PWM and I2C Lidars" user="Standard">
-<field name="Increment">0.001</field>
 <field name="Units">V</field>
 <field name="UnitText">volt</field>
+<field name="Increment">0.001</field>
 </param>
 <param humanName="Rangefinder function" name="RNGFND4_FUNCTION" documentation="Control over what function is used to calculate distance. For a linear function, the distance is (voltage-offset)*scaling. For a inverted function the distance is (offset-voltage)*scaling. For a hyperbolic function the distance is scaling/(voltage-offset). The functions return the distance in meters." user="Standard">
 <values>
@@ -8551,14 +8636,14 @@
 </values>
 </param>
 <param humanName="Rangefinder minimum distance" name="RNGFND4_MIN_CM" documentation="Minimum distance in centimeters that rangefinder can reliably read" user="Standard">
-<field name="Increment">1</field>
 <field name="Units">cm</field>
 <field name="UnitText">centimeters</field>
+<field name="Increment">1</field>
 </param>
 <param humanName="Rangefinder maximum distance" name="RNGFND4_MAX_CM" documentation="Maximum distance in centimeters that rangefinder can reliably read" user="Standard">
-<field name="Increment">1</field>
 <field name="Units">cm</field>
 <field name="UnitText">centimeters</field>
+<field name="Increment">1</field>
 </param>
 <param humanName="Rangefinder stop pin" name="RNGFND4_STOP_PIN" documentation="Digital pin that enables/disables rangefinder measurement for an analog rangefinder. A value of -1 means no pin. If this is set, then the pin is set to 1 to enable the rangefinder and set to 0 to disable it. This can be used to ensure that multiple sonar rangefinders don't interfere with each other." user="Standard">
 <values>
@@ -8578,9 +8663,9 @@
 </values>
 </param>
 <param humanName="Rangefinder settle time" name="RNGFND4_SETTLE" documentation="The time in milliseconds that the rangefinder reading takes to settle. This is only used when a STOP_PIN is specified. It determines how long we have to wait for the rangefinder to give a reading after we set the STOP_PIN high. For a sonar rangefinder with a range of around 7m this would need to be around 50 milliseconds to allow for the sonar pulse to travel to the target and back again." user="Standard">
-<field name="Increment">1</field>
 <field name="Units">ms</field>
 <field name="UnitText">milliseconds</field>
+<field name="Increment">1</field>
 </param>
 <param humanName="Ratiometric" name="RNGFND4_RMETRIC" documentation="This parameter sets whether an analog rangefinder is ratiometric. Most analog rangefinders are ratiometric, meaning that their output voltage is influenced by the supply voltage. Some analog rangefinders (such as the SF/02) have their own internal voltage regulators so they are not ratiometric." user="Standard">
 <values>
@@ -8589,17 +8674,17 @@
 </values>
 </param>
 <param humanName="Powersave range" name="RNGFND4_PWRRNG" documentation="This parameter sets the estimated terrain distance in meters above which the sensor will be put into a power saving mode (if available). A value of zero means power saving is not enabled" user="Standard">
-<field name="Range">0 32767</field>
 <field name="Units">m</field>
 <field name="UnitText">meters</field>
+<field name="Range">0 32767</field>
 </param>
 <param humanName="Distance (in cm) from the range finder to the ground" name="RNGFND4_GNDCLEAR" documentation="This parameter sets the expected range measurement(in cm) that the range finder should return when the vehicle is on the ground." user="Standard">
-<field name="Range">5 127</field>
-<field name="Increment">1</field>
 <field name="Units">cm</field>
 <field name="UnitText">centimeters</field>
+<field name="Range">5 127</field>
+<field name="Increment">1</field>
 </param>
-<param humanName="Bus address of sensor" name="RNGFND4_ADDR" documentation="This sets the bus address of the sensor, where applicable. Used for the LightWare I2C sensor to allow for multiple sensors on different addresses. A value of 0 disables the sensor." user="Standard">
+<param humanName="Bus address of sensor" name="RNGFND4_ADDR" documentation="This sets the bus address of the sensor, where applicable. Used for the I2C and UAVCAN sensors to allow for multiple sensors on different addresses. A value of 0 disables the sensor." user="Standard">
 <field name="Range">0 127</field>
 <field name="Increment">1</field>
 </param>
@@ -8679,6 +8764,8 @@
 <value code="21">LidarLightV3HP</value>
 <value code="22">PWM</value>
 <value code="23">BlueRoboticsPing</value>
+<value code="24">UAVCAN</value>
+<value code="25">BenewakeTFMiniPlus</value>
 </values>
 </param>
 <param humanName="Rangefinder pin" name="RNGFND5_PIN" documentation="Analog pin that rangefinder is connected to. Set to 11 on PX4 for the analog 'airspeed' port. Set to 15 on the Pixhawk for the analog 'airspeed' port." user="Standard">
@@ -8689,14 +8776,14 @@
 </values>
 </param>
 <param humanName="Rangefinder scaling" name="RNGFND5_SCALING" documentation="Scaling factor between rangefinder reading and distance. For the linear and inverted functions this is in meters per volt. For the hyperbolic function the units are meterVolts." user="Standard">
-<field name="Increment">0.001</field>
 <field name="Units">m/V</field>
 <field name="UnitText">meters per volt</field>
+<field name="Increment">0.001</field>
 </param>
 <param humanName="rangefinder offset" name="RNGFND5_OFFSET" documentation="Offset in volts for zero distance for analog rangefinders. Offset added to distance in centimeters for PWM and I2C Lidars" user="Standard">
-<field name="Increment">0.001</field>
 <field name="Units">V</field>
 <field name="UnitText">volt</field>
+<field name="Increment">0.001</field>
 </param>
 <param humanName="Rangefinder function" name="RNGFND5_FUNCTION" documentation="Control over what function is used to calculate distance. For a linear function, the distance is (voltage-offset)*scaling. For a inverted function the distance is (offset-voltage)*scaling. For a hyperbolic function the distance is scaling/(voltage-offset). The functions return the distance in meters." user="Standard">
 <values>
@@ -8706,14 +8793,14 @@
 </values>
 </param>
 <param humanName="Rangefinder minimum distance" name="RNGFND5_MIN_CM" documentation="Minimum distance in centimeters that rangefinder can reliably read" user="Standard">
-<field name="Increment">1</field>
 <field name="Units">cm</field>
 <field name="UnitText">centimeters</field>
+<field name="Increment">1</field>
 </param>
 <param humanName="Rangefinder maximum distance" name="RNGFND5_MAX_CM" documentation="Maximum distance in centimeters that rangefinder can reliably read" user="Standard">
-<field name="Increment">1</field>
 <field name="Units">cm</field>
 <field name="UnitText">centimeters</field>
+<field name="Increment">1</field>
 </param>
 <param humanName="Rangefinder stop pin" name="RNGFND5_STOP_PIN" documentation="Digital pin that enables/disables rangefinder measurement for an analog rangefinder. A value of -1 means no pin. If this is set, then the pin is set to 1 to enable the rangefinder and set to 0 to disable it. This can be used to ensure that multiple sonar rangefinders don't interfere with each other." user="Standard">
 <values>
@@ -8733,9 +8820,9 @@
 </values>
 </param>
 <param humanName="Rangefinder settle time" name="RNGFND5_SETTLE" documentation="The time in milliseconds that the rangefinder reading takes to settle. This is only used when a STOP_PIN is specified. It determines how long we have to wait for the rangefinder to give a reading after we set the STOP_PIN high. For a sonar rangefinder with a range of around 7m this would need to be around 50 milliseconds to allow for the sonar pulse to travel to the target and back again." user="Standard">
-<field name="Increment">1</field>
 <field name="Units">ms</field>
 <field name="UnitText">milliseconds</field>
+<field name="Increment">1</field>
 </param>
 <param humanName="Ratiometric" name="RNGFND5_RMETRIC" documentation="This parameter sets whether an analog rangefinder is ratiometric. Most analog rangefinders are ratiometric, meaning that their output voltage is influenced by the supply voltage. Some analog rangefinders (such as the SF/02) have their own internal voltage regulators so they are not ratiometric." user="Standard">
 <values>
@@ -8744,17 +8831,17 @@
 </values>
 </param>
 <param humanName="Powersave range" name="RNGFND5_PWRRNG" documentation="This parameter sets the estimated terrain distance in meters above which the sensor will be put into a power saving mode (if available). A value of zero means power saving is not enabled" user="Standard">
-<field name="Range">0 32767</field>
 <field name="Units">m</field>
 <field name="UnitText">meters</field>
+<field name="Range">0 32767</field>
 </param>
 <param humanName="Distance (in cm) from the range finder to the ground" name="RNGFND5_GNDCLEAR" documentation="This parameter sets the expected range measurement(in cm) that the range finder should return when the vehicle is on the ground." user="Standard">
-<field name="Range">5 127</field>
-<field name="Increment">1</field>
 <field name="Units">cm</field>
 <field name="UnitText">centimeters</field>
+<field name="Range">5 127</field>
+<field name="Increment">1</field>
 </param>
-<param humanName="Bus address of sensor" name="RNGFND5_ADDR" documentation="This sets the bus address of the sensor, where applicable. Used for the LightWare I2C sensor to allow for multiple sensors on different addresses. A value of 0 disables the sensor." user="Standard">
+<param humanName="Bus address of sensor" name="RNGFND5_ADDR" documentation="This sets the bus address of the sensor, where applicable. Used for the I2C and UAVCAN sensors to allow for multiple sensors on different addresses. A value of 0 disables the sensor." user="Standard">
 <field name="Range">0 127</field>
 <field name="Increment">1</field>
 </param>
@@ -8834,6 +8921,8 @@
 <value code="21">LidarLightV3HP</value>
 <value code="22">PWM</value>
 <value code="23">BlueRoboticsPing</value>
+<value code="24">UAVCAN</value>
+<value code="25">BenewakeTFMiniPlus</value>
 </values>
 </param>
 <param humanName="Rangefinder pin" name="RNGFND6_PIN" documentation="Analog pin that rangefinder is connected to. Set to 11 on PX4 for the analog 'airspeed' port. Set to 15 on the Pixhawk for the analog 'airspeed' port." user="Standard">
@@ -8844,14 +8933,14 @@
 </values>
 </param>
 <param humanName="Rangefinder scaling" name="RNGFND6_SCALING" documentation="Scaling factor between rangefinder reading and distance. For the linear and inverted functions this is in meters per volt. For the hyperbolic function the units are meterVolts." user="Standard">
-<field name="Increment">0.001</field>
 <field name="Units">m/V</field>
 <field name="UnitText">meters per volt</field>
+<field name="Increment">0.001</field>
 </param>
 <param humanName="rangefinder offset" name="RNGFND6_OFFSET" documentation="Offset in volts for zero distance for analog rangefinders. Offset added to distance in centimeters for PWM and I2C Lidars" user="Standard">
-<field name="Increment">0.001</field>
 <field name="Units">V</field>
 <field name="UnitText">volt</field>
+<field name="Increment">0.001</field>
 </param>
 <param humanName="Rangefinder function" name="RNGFND6_FUNCTION" documentation="Control over what function is used to calculate distance. For a linear function, the distance is (voltage-offset)*scaling. For a inverted function the distance is (offset-voltage)*scaling. For a hyperbolic function the distance is scaling/(voltage-offset). The functions return the distance in meters." user="Standard">
 <values>
@@ -8861,14 +8950,14 @@
 </values>
 </param>
 <param humanName="Rangefinder minimum distance" name="RNGFND6_MIN_CM" documentation="Minimum distance in centimeters that rangefinder can reliably read" user="Standard">
-<field name="Increment">1</field>
 <field name="Units">cm</field>
 <field name="UnitText">centimeters</field>
+<field name="Increment">1</field>
 </param>
 <param humanName="Rangefinder maximum distance" name="RNGFND6_MAX_CM" documentation="Maximum distance in centimeters that rangefinder can reliably read" user="Standard">
-<field name="Increment">1</field>
 <field name="Units">cm</field>
 <field name="UnitText">centimeters</field>
+<field name="Increment">1</field>
 </param>
 <param humanName="Rangefinder stop pin" name="RNGFND6_STOP_PIN" documentation="Digital pin that enables/disables rangefinder measurement for an analog rangefinder. A value of -1 means no pin. If this is set, then the pin is set to 1 to enable the rangefinder and set to 0 to disable it. This can be used to ensure that multiple sonar rangefinders don't interfere with each other." user="Standard">
 <values>
@@ -8888,9 +8977,9 @@
 </values>
 </param>
 <param humanName="Rangefinder settle time" name="RNGFND6_SETTLE" documentation="The time in milliseconds that the rangefinder reading takes to settle. This is only used when a STOP_PIN is specified. It determines how long we have to wait for the rangefinder to give a reading after we set the STOP_PIN high. For a sonar rangefinder with a range of around 7m this would need to be around 50 milliseconds to allow for the sonar pulse to travel to the target and back again." user="Standard">
-<field name="Increment">1</field>
 <field name="Units">ms</field>
 <field name="UnitText">milliseconds</field>
+<field name="Increment">1</field>
 </param>
 <param humanName="Ratiometric" name="RNGFND6_RMETRIC" documentation="This parameter sets whether an analog rangefinder is ratiometric. Most analog rangefinders are ratiometric, meaning that their output voltage is influenced by the supply voltage. Some analog rangefinders (such as the SF/02) have their own internal voltage regulators so they are not ratiometric." user="Standard">
 <values>
@@ -8899,17 +8988,17 @@
 </values>
 </param>
 <param humanName="Powersave range" name="RNGFND6_PWRRNG" documentation="This parameter sets the estimated terrain distance in meters above which the sensor will be put into a power saving mode (if available). A value of zero means power saving is not enabled" user="Standard">
-<field name="Range">0 32767</field>
 <field name="Units">m</field>
 <field name="UnitText">meters</field>
+<field name="Range">0 32767</field>
 </param>
 <param humanName="Distance (in cm) from the range finder to the ground" name="RNGFND6_GNDCLEAR" documentation="This parameter sets the expected range measurement(in cm) that the range finder should return when the vehicle is on the ground." user="Standard">
-<field name="Range">5 127</field>
-<field name="Increment">1</field>
 <field name="Units">cm</field>
 <field name="UnitText">centimeters</field>
+<field name="Range">5 127</field>
+<field name="Increment">1</field>
 </param>
-<param humanName="Bus address of sensor" name="RNGFND6_ADDR" documentation="This sets the bus address of the sensor, where applicable. Used for the LightWare I2C sensor to allow for multiple sensors on different addresses. A value of 0 disables the sensor." user="Standard">
+<param humanName="Bus address of sensor" name="RNGFND6_ADDR" documentation="This sets the bus address of the sensor, where applicable. Used for the I2C and UAVCAN sensors to allow for multiple sensors on different addresses. A value of 0 disables the sensor." user="Standard">
 <field name="Range">0 127</field>
 <field name="Increment">1</field>
 </param>
@@ -8989,6 +9078,8 @@
 <value code="21">LidarLightV3HP</value>
 <value code="22">PWM</value>
 <value code="23">BlueRoboticsPing</value>
+<value code="24">UAVCAN</value>
+<value code="25">BenewakeTFMiniPlus</value>
 </values>
 </param>
 <param humanName="Rangefinder pin" name="RNGFND7_PIN" documentation="Analog pin that rangefinder is connected to. Set to 11 on PX4 for the analog 'airspeed' port. Set to 15 on the Pixhawk for the analog 'airspeed' port." user="Standard">
@@ -8999,14 +9090,14 @@
 </values>
 </param>
 <param humanName="Rangefinder scaling" name="RNGFND7_SCALING" documentation="Scaling factor between rangefinder reading and distance. For the linear and inverted functions this is in meters per volt. For the hyperbolic function the units are meterVolts." user="Standard">
-<field name="Increment">0.001</field>
 <field name="Units">m/V</field>
 <field name="UnitText">meters per volt</field>
+<field name="Increment">0.001</field>
 </param>
 <param humanName="rangefinder offset" name="RNGFND7_OFFSET" documentation="Offset in volts for zero distance for analog rangefinders. Offset added to distance in centimeters for PWM and I2C Lidars" user="Standard">
-<field name="Increment">0.001</field>
 <field name="Units">V</field>
 <field name="UnitText">volt</field>
+<field name="Increment">0.001</field>
 </param>
 <param humanName="Rangefinder function" name="RNGFND7_FUNCTION" documentation="Control over what function is used to calculate distance. For a linear function, the distance is (voltage-offset)*scaling. For a inverted function the distance is (offset-voltage)*scaling. For a hyperbolic function the distance is scaling/(voltage-offset). The functions return the distance in meters." user="Standard">
 <values>
@@ -9016,14 +9107,14 @@
 </values>
 </param>
 <param humanName="Rangefinder minimum distance" name="RNGFND7_MIN_CM" documentation="Minimum distance in centimeters that rangefinder can reliably read" user="Standard">
-<field name="Increment">1</field>
 <field name="Units">cm</field>
 <field name="UnitText">centimeters</field>
+<field name="Increment">1</field>
 </param>
 <param humanName="Rangefinder maximum distance" name="RNGFND7_MAX_CM" documentation="Maximum distance in centimeters that rangefinder can reliably read" user="Standard">
-<field name="Increment">1</field>
 <field name="Units">cm</field>
 <field name="UnitText">centimeters</field>
+<field name="Increment">1</field>
 </param>
 <param humanName="Rangefinder stop pin" name="RNGFND7_STOP_PIN" documentation="Digital pin that enables/disables rangefinder measurement for an analog rangefinder. A value of -1 means no pin. If this is set, then the pin is set to 1 to enable the rangefinder and set to 0 to disable it. This can be used to ensure that multiple sonar rangefinders don't interfere with each other." user="Standard">
 <values>
@@ -9043,9 +9134,9 @@
 </values>
 </param>
 <param humanName="Rangefinder settle time" name="RNGFND7_SETTLE" documentation="The time in milliseconds that the rangefinder reading takes to settle. This is only used when a STOP_PIN is specified. It determines how long we have to wait for the rangefinder to give a reading after we set the STOP_PIN high. For a sonar rangefinder with a range of around 7m this would need to be around 50 milliseconds to allow for the sonar pulse to travel to the target and back again." user="Standard">
-<field name="Increment">1</field>
 <field name="Units">ms</field>
 <field name="UnitText">milliseconds</field>
+<field name="Increment">1</field>
 </param>
 <param humanName="Ratiometric" name="RNGFND7_RMETRIC" documentation="This parameter sets whether an analog rangefinder is ratiometric. Most analog rangefinders are ratiometric, meaning that their output voltage is influenced by the supply voltage. Some analog rangefinders (such as the SF/02) have their own internal voltage regulators so they are not ratiometric." user="Standard">
 <values>
@@ -9054,17 +9145,17 @@
 </values>
 </param>
 <param humanName="Powersave range" name="RNGFND7_PWRRNG" documentation="This parameter sets the estimated terrain distance in meters above which the sensor will be put into a power saving mode (if available). A value of zero means power saving is not enabled" user="Standard">
-<field name="Range">0 32767</field>
 <field name="Units">m</field>
 <field name="UnitText">meters</field>
+<field name="Range">0 32767</field>
 </param>
 <param humanName="Distance (in cm) from the range finder to the ground" name="RNGFND7_GNDCLEAR" documentation="This parameter sets the expected range measurement(in cm) that the range finder should return when the vehicle is on the ground." user="Standard">
-<field name="Range">5 127</field>
-<field name="Increment">1</field>
 <field name="Units">cm</field>
 <field name="UnitText">centimeters</field>
+<field name="Range">5 127</field>
+<field name="Increment">1</field>
 </param>
-<param humanName="Bus address of sensor" name="RNGFND7_ADDR" documentation="This sets the bus address of the sensor, where applicable. Used for the LightWare I2C sensor to allow for multiple sensors on different addresses. A value of 0 disables the sensor." user="Standard">
+<param humanName="Bus address of sensor" name="RNGFND7_ADDR" documentation="This sets the bus address of the sensor, where applicable. Used for the I2C and UAVCAN sensors to allow for multiple sensors on different addresses. A value of 0 disables the sensor." user="Standard">
 <field name="Range">0 127</field>
 <field name="Increment">1</field>
 </param>
@@ -9144,6 +9235,8 @@
 <value code="21">LidarLightV3HP</value>
 <value code="22">PWM</value>
 <value code="23">BlueRoboticsPing</value>
+<value code="24">UAVCAN</value>
+<value code="25">BenewakeTFMiniPlus</value>
 </values>
 </param>
 <param humanName="Rangefinder pin" name="RNGFND8_PIN" documentation="Analog pin that rangefinder is connected to. Set to 11 on PX4 for the analog 'airspeed' port. Set to 15 on the Pixhawk for the analog 'airspeed' port." user="Standard">
@@ -9154,14 +9247,14 @@
 </values>
 </param>
 <param humanName="Rangefinder scaling" name="RNGFND8_SCALING" documentation="Scaling factor between rangefinder reading and distance. For the linear and inverted functions this is in meters per volt. For the hyperbolic function the units are meterVolts." user="Standard">
-<field name="Increment">0.001</field>
 <field name="Units">m/V</field>
 <field name="UnitText">meters per volt</field>
+<field name="Increment">0.001</field>
 </param>
 <param humanName="rangefinder offset" name="RNGFND8_OFFSET" documentation="Offset in volts for zero distance for analog rangefinders. Offset added to distance in centimeters for PWM and I2C Lidars" user="Standard">
-<field name="Increment">0.001</field>
 <field name="Units">V</field>
 <field name="UnitText">volt</field>
+<field name="Increment">0.001</field>
 </param>
 <param humanName="Rangefinder function" name="RNGFND8_FUNCTION" documentation="Control over what function is used to calculate distance. For a linear function, the distance is (voltage-offset)*scaling. For a inverted function the distance is (offset-voltage)*scaling. For a hyperbolic function the distance is scaling/(voltage-offset). The functions return the distance in meters." user="Standard">
 <values>
@@ -9171,14 +9264,14 @@
 </values>
 </param>
 <param humanName="Rangefinder minimum distance" name="RNGFND8_MIN_CM" documentation="Minimum distance in centimeters that rangefinder can reliably read" user="Standard">
-<field name="Increment">1</field>
 <field name="Units">cm</field>
 <field name="UnitText">centimeters</field>
+<field name="Increment">1</field>
 </param>
 <param humanName="Rangefinder maximum distance" name="RNGFND8_MAX_CM" documentation="Maximum distance in centimeters that rangefinder can reliably read" user="Standard">
-<field name="Increment">1</field>
 <field name="Units">cm</field>
 <field name="UnitText">centimeters</field>
+<field name="Increment">1</field>
 </param>
 <param humanName="Rangefinder stop pin" name="RNGFND8_STOP_PIN" documentation="Digital pin that enables/disables rangefinder measurement for an analog rangefinder. A value of -1 means no pin. If this is set, then the pin is set to 1 to enable the rangefinder and set to 0 to disable it. This can be used to ensure that multiple sonar rangefinders don't interfere with each other." user="Standard">
 <values>
@@ -9198,9 +9291,9 @@
 </values>
 </param>
 <param humanName="Rangefinder settle time" name="RNGFND8_SETTLE" documentation="The time in milliseconds that the rangefinder reading takes to settle. This is only used when a STOP_PIN is specified. It determines how long we have to wait for the rangefinder to give a reading after we set the STOP_PIN high. For a sonar rangefinder with a range of around 7m this would need to be around 50 milliseconds to allow for the sonar pulse to travel to the target and back again." user="Standard">
-<field name="Increment">1</field>
 <field name="Units">ms</field>
 <field name="UnitText">milliseconds</field>
+<field name="Increment">1</field>
 </param>
 <param humanName="Ratiometric" name="RNGFND8_RMETRIC" documentation="This parameter sets whether an analog rangefinder is ratiometric. Most analog rangefinders are ratiometric, meaning that their output voltage is influenced by the supply voltage. Some analog rangefinders (such as the SF/02) have their own internal voltage regulators so they are not ratiometric." user="Standard">
 <values>
@@ -9209,17 +9302,17 @@
 </values>
 </param>
 <param humanName="Powersave range" name="RNGFND8_PWRRNG" documentation="This parameter sets the estimated terrain distance in meters above which the sensor will be put into a power saving mode (if available). A value of zero means power saving is not enabled" user="Standard">
-<field name="Range">0 32767</field>
 <field name="Units">m</field>
 <field name="UnitText">meters</field>
+<field name="Range">0 32767</field>
 </param>
 <param humanName="Distance (in cm) from the range finder to the ground" name="RNGFND8_GNDCLEAR" documentation="This parameter sets the expected range measurement(in cm) that the range finder should return when the vehicle is on the ground." user="Standard">
-<field name="Range">5 127</field>
-<field name="Increment">1</field>
 <field name="Units">cm</field>
 <field name="UnitText">centimeters</field>
+<field name="Range">5 127</field>
+<field name="Increment">1</field>
 </param>
-<param humanName="Bus address of sensor" name="RNGFND8_ADDR" documentation="This sets the bus address of the sensor, where applicable. Used for the LightWare I2C sensor to allow for multiple sensors on different addresses. A value of 0 disables the sensor." user="Standard">
+<param humanName="Bus address of sensor" name="RNGFND8_ADDR" documentation="This sets the bus address of the sensor, where applicable. Used for the I2C and UAVCAN sensors to allow for multiple sensors on different addresses. A value of 0 disables the sensor." user="Standard">
 <field name="Range">0 127</field>
 <field name="Increment">1</field>
 </param>
@@ -9299,6 +9392,8 @@
 <value code="21">LidarLightV3HP</value>
 <value code="22">PWM</value>
 <value code="23">BlueRoboticsPing</value>
+<value code="24">UAVCAN</value>
+<value code="25">BenewakeTFMiniPlus</value>
 </values>
 </param>
 <param humanName="Rangefinder pin" name="RNGFND9_PIN" documentation="Analog pin that rangefinder is connected to. Set to 11 on PX4 for the analog 'airspeed' port. Set to 15 on the Pixhawk for the analog 'airspeed' port." user="Standard">
@@ -9309,14 +9404,14 @@
 </values>
 </param>
 <param humanName="Rangefinder scaling" name="RNGFND9_SCALING" documentation="Scaling factor between rangefinder reading and distance. For the linear and inverted functions this is in meters per volt. For the hyperbolic function the units are meterVolts." user="Standard">
-<field name="Increment">0.001</field>
 <field name="Units">m/V</field>
 <field name="UnitText">meters per volt</field>
+<field name="Increment">0.001</field>
 </param>
 <param humanName="rangefinder offset" name="RNGFND9_OFFSET" documentation="Offset in volts for zero distance for analog rangefinders. Offset added to distance in centimeters for PWM and I2C Lidars" user="Standard">
-<field name="Increment">0.001</field>
 <field name="Units">V</field>
 <field name="UnitText">volt</field>
+<field name="Increment">0.001</field>
 </param>
 <param humanName="Rangefinder function" name="RNGFND9_FUNCTION" documentation="Control over what function is used to calculate distance. For a linear function, the distance is (voltage-offset)*scaling. For a inverted function the distance is (offset-voltage)*scaling. For a hyperbolic function the distance is scaling/(voltage-offset). The functions return the distance in meters." user="Standard">
 <values>
@@ -9326,14 +9421,14 @@
 </values>
 </param>
 <param humanName="Rangefinder minimum distance" name="RNGFND9_MIN_CM" documentation="Minimum distance in centimeters that rangefinder can reliably read" user="Standard">
-<field name="Increment">1</field>
 <field name="Units">cm</field>
 <field name="UnitText">centimeters</field>
+<field name="Increment">1</field>
 </param>
 <param humanName="Rangefinder maximum distance" name="RNGFND9_MAX_CM" documentation="Maximum distance in centimeters that rangefinder can reliably read" user="Standard">
-<field name="Increment">1</field>
 <field name="Units">cm</field>
 <field name="UnitText">centimeters</field>
+<field name="Increment">1</field>
 </param>
 <param humanName="Rangefinder stop pin" name="RNGFND9_STOP_PIN" documentation="Digital pin that enables/disables rangefinder measurement for an analog rangefinder. A value of -1 means no pin. If this is set, then the pin is set to 1 to enable the rangefinder and set to 0 to disable it. This can be used to ensure that multiple sonar rangefinders don't interfere with each other." user="Standard">
 <values>
@@ -9353,9 +9448,9 @@
 </values>
 </param>
 <param humanName="Rangefinder settle time" name="RNGFND9_SETTLE" documentation="The time in milliseconds that the rangefinder reading takes to settle. This is only used when a STOP_PIN is specified. It determines how long we have to wait for the rangefinder to give a reading after we set the STOP_PIN high. For a sonar rangefinder with a range of around 7m this would need to be around 50 milliseconds to allow for the sonar pulse to travel to the target and back again." user="Standard">
-<field name="Increment">1</field>
 <field name="Units">ms</field>
 <field name="UnitText">milliseconds</field>
+<field name="Increment">1</field>
 </param>
 <param humanName="Ratiometric" name="RNGFND9_RMETRIC" documentation="This parameter sets whether an analog rangefinder is ratiometric. Most analog rangefinders are ratiometric, meaning that their output voltage is influenced by the supply voltage. Some analog rangefinders (such as the SF/02) have their own internal voltage regulators so they are not ratiometric." user="Standard">
 <values>
@@ -9364,17 +9459,17 @@
 </values>
 </param>
 <param humanName="Powersave range" name="RNGFND9_PWRRNG" documentation="This parameter sets the estimated terrain distance in meters above which the sensor will be put into a power saving mode (if available). A value of zero means power saving is not enabled" user="Standard">
-<field name="Range">0 32767</field>
 <field name="Units">m</field>
 <field name="UnitText">meters</field>
+<field name="Range">0 32767</field>
 </param>
 <param humanName="Distance (in cm) from the range finder to the ground" name="RNGFND9_GNDCLEAR" documentation="This parameter sets the expected range measurement(in cm) that the range finder should return when the vehicle is on the ground." user="Standard">
-<field name="Range">5 127</field>
-<field name="Increment">1</field>
 <field name="Units">cm</field>
 <field name="UnitText">centimeters</field>
+<field name="Range">5 127</field>
+<field name="Increment">1</field>
 </param>
-<param humanName="Bus address of sensor" name="RNGFND9_ADDR" documentation="This sets the bus address of the sensor, where applicable. Used for the LightWare I2C sensor to allow for multiple sensors on different addresses. A value of 0 disables the sensor." user="Standard">
+<param humanName="Bus address of sensor" name="RNGFND9_ADDR" documentation="This sets the bus address of the sensor, where applicable. Used for the I2C and UAVCAN sensors to allow for multiple sensors on different addresses. A value of 0 disables the sensor." user="Standard">
 <field name="Range">0 127</field>
 <field name="Increment">1</field>
 </param>
@@ -9454,6 +9549,8 @@
 <value code="21">LidarLightV3HP</value>
 <value code="22">PWM</value>
 <value code="23">BlueRoboticsPing</value>
+<value code="24">UAVCAN</value>
+<value code="25">BenewakeTFMiniPlus</value>
 </values>
 </param>
 <param humanName="Rangefinder pin" name="RNGFNDA_PIN" documentation="Analog pin that rangefinder is connected to. Set to 11 on PX4 for the analog 'airspeed' port. Set to 15 on the Pixhawk for the analog 'airspeed' port." user="Standard">
@@ -9464,14 +9561,14 @@
 </values>
 </param>
 <param humanName="Rangefinder scaling" name="RNGFNDA_SCALING" documentation="Scaling factor between rangefinder reading and distance. For the linear and inverted functions this is in meters per volt. For the hyperbolic function the units are meterVolts." user="Standard">
-<field name="Increment">0.001</field>
 <field name="Units">m/V</field>
 <field name="UnitText">meters per volt</field>
+<field name="Increment">0.001</field>
 </param>
 <param humanName="rangefinder offset" name="RNGFNDA_OFFSET" documentation="Offset in volts for zero distance for analog rangefinders. Offset added to distance in centimeters for PWM and I2C Lidars" user="Standard">
-<field name="Increment">0.001</field>
 <field name="Units">V</field>
 <field name="UnitText">volt</field>
+<field name="Increment">0.001</field>
 </param>
 <param humanName="Rangefinder function" name="RNGFNDA_FUNCTION" documentation="Control over what function is used to calculate distance. For a linear function, the distance is (voltage-offset)*scaling. For a inverted function the distance is (offset-voltage)*scaling. For a hyperbolic function the distance is scaling/(voltage-offset). The functions return the distance in meters." user="Standard">
 <values>
@@ -9481,14 +9578,14 @@
 </values>
 </param>
 <param humanName="Rangefinder minimum distance" name="RNGFNDA_MIN_CM" documentation="Minimum distance in centimeters that rangefinder can reliably read" user="Standard">
-<field name="Increment">1</field>
 <field name="Units">cm</field>
 <field name="UnitText">centimeters</field>
+<field name="Increment">1</field>
 </param>
 <param humanName="Rangefinder maximum distance" name="RNGFNDA_MAX_CM" documentation="Maximum distance in centimeters that rangefinder can reliably read" user="Standard">
-<field name="Increment">1</field>
 <field name="Units">cm</field>
 <field name="UnitText">centimeters</field>
+<field name="Increment">1</field>
 </param>
 <param humanName="Rangefinder stop pin" name="RNGFNDA_STOP_PIN" documentation="Digital pin that enables/disables rangefinder measurement for an analog rangefinder. A value of -1 means no pin. If this is set, then the pin is set to 1 to enable the rangefinder and set to 0 to disable it. This can be used to ensure that multiple sonar rangefinders don't interfere with each other." user="Standard">
 <values>
@@ -9508,9 +9605,9 @@
 </values>
 </param>
 <param humanName="Rangefinder settle time" name="RNGFNDA_SETTLE" documentation="The time in milliseconds that the rangefinder reading takes to settle. This is only used when a STOP_PIN is specified. It determines how long we have to wait for the rangefinder to give a reading after we set the STOP_PIN high. For a sonar rangefinder with a range of around 7m this would need to be around 50 milliseconds to allow for the sonar pulse to travel to the target and back again." user="Standard">
-<field name="Increment">1</field>
 <field name="Units">ms</field>
 <field name="UnitText">milliseconds</field>
+<field name="Increment">1</field>
 </param>
 <param humanName="Ratiometric" name="RNGFNDA_RMETRIC" documentation="This parameter sets whether an analog rangefinder is ratiometric. Most analog rangefinders are ratiometric, meaning that their output voltage is influenced by the supply voltage. Some analog rangefinders (such as the SF/02) have their own internal voltage regulators so they are not ratiometric." user="Standard">
 <values>
@@ -9519,17 +9616,17 @@
 </values>
 </param>
 <param humanName="Powersave range" name="RNGFNDA_PWRRNG" documentation="This parameter sets the estimated terrain distance in meters above which the sensor will be put into a power saving mode (if available). A value of zero means power saving is not enabled" user="Standard">
-<field name="Range">0 32767</field>
 <field name="Units">m</field>
 <field name="UnitText">meters</field>
+<field name="Range">0 32767</field>
 </param>
 <param humanName="Distance (in cm) from the range finder to the ground" name="RNGFNDA_GNDCLEAR" documentation="This parameter sets the expected range measurement(in cm) that the range finder should return when the vehicle is on the ground." user="Standard">
-<field name="Range">5 127</field>
-<field name="Increment">1</field>
 <field name="Units">cm</field>
 <field name="UnitText">centimeters</field>
+<field name="Range">5 127</field>
+<field name="Increment">1</field>
 </param>
-<param humanName="Bus address of sensor" name="RNGFNDA_ADDR" documentation="This sets the bus address of the sensor, where applicable. Used for the LightWare I2C sensor to allow for multiple sensors on different addresses. A value of 0 disables the sensor." user="Standard">
+<param humanName="Bus address of sensor" name="RNGFNDA_ADDR" documentation="This sets the bus address of the sensor, where applicable. Used for the I2C and UAVCAN sensors to allow for multiple sensors on different addresses. A value of 0 disables the sensor." user="Standard">
 <field name="Range">0 127</field>
 <field name="Increment">1</field>
 </param>
@@ -9664,29 +9761,68 @@
 </values>
 </param>
 <param humanName="RSSI pin's lowest voltage" name="RSSI_PIN_LOW" documentation="RSSI pin's voltage received on the RSSI_ANA_PIN when the signal strength is the weakest. Some radio receivers put out inverted values so this value may be higher than RSSI_PIN_HIGH" user="Standard">
-<field name="Range">0 5.0</field>
-<field name="Increment">0.01</field>
 <field name="Units">V</field>
 <field name="UnitText">volt</field>
+<field name="Increment">0.01</field>
+<field name="Range">0 5.0</field>
 </param>
 <param humanName="RSSI pin's highest voltage" name="RSSI_PIN_HIGH" documentation="RSSI pin's voltage received on the RSSI_ANA_PIN when the signal strength is the strongest. Some radio receivers put out inverted values so this value may be lower than RSSI_PIN_LOW" user="Standard">
-<field name="Range">0 5.0</field>
-<field name="Increment">0.01</field>
 <field name="Units">V</field>
 <field name="UnitText">volt</field>
+<field name="Increment">0.01</field>
+<field name="Range">0 5.0</field>
 </param>
 <param humanName="Receiver RSSI channel number" name="RSSI_CHANNEL" documentation="The channel number where RSSI will be output by the radio receiver (5 and above)." user="Standard">
 <field name="Range">0 16</field>
 </param>
 <param humanName="RSSI PWM low value" name="RSSI_CHAN_LOW" documentation="PWM value that the radio receiver will put on the RSSI_CHANNEL or RSSI_ANA_PIN when the signal strength is the weakest. Some radio receivers output inverted values so this value may be lower than RSSI_CHAN_HIGH" user="Standard">
-<field name="Range">0 2000</field>
 <field name="Units">PWM</field>
 <field name="UnitText">PWM in microseconds</field>
+<field name="Range">0 2000</field>
 </param>
 <param humanName="Receiver RSSI PWM high value" name="RSSI_CHAN_HIGH" documentation="PWM value that the radio receiver will put on the RSSI_CHANNEL or RSSI_ANA_PIN when the signal strength is the strongest. Some radio receivers output inverted values so this value may be higher than RSSI_CHAN_LOW" user="Standard">
-<field name="Range">0 2000</field>
 <field name="Units">PWM</field>
 <field name="UnitText">PWM in microseconds</field>
+<field name="Range">0 2000</field>
+</param>
+</parameters>
+<parameters name="SAIL_">
+<param humanName="Enable Sailboat" name="SAIL_ENABLE" documentation="This enables Sailboat functionality" user="Standard">
+<values>
+<value code="0">Disable</value>
+<value code="1">Enable</value>
+</values>
+<field name="RebootRequired">True</field>
+</param>
+<param humanName="Sail min angle" name="SAIL_ANGLE_MIN" documentation="Mainsheet tight, angle between centerline and boom" user="Standard">
+<field name="Units">deg</field>
+<field name="UnitText">degrees</field>
+<field name="Range">0 90</field>
+<field name="Increment">1</field>
+</param>
+<param humanName="Sail max angle" name="SAIL_ANGLE_MAX" documentation="Mainsheet loose, angle between centerline and boom" user="Standard">
+<field name="Units">deg</field>
+<field name="UnitText">degrees</field>
+<field name="Range">0 90</field>
+<field name="Increment">1</field>
+</param>
+<param humanName="Sail ideal angle" name="SAIL_ANGLE_IDEAL" documentation="Ideal angle between sail and apparent wind" user="Standard">
+<field name="Units">deg</field>
+<field name="UnitText">degrees</field>
+<field name="Range">0 90</field>
+<field name="Increment">1</field>
+</param>
+<param humanName="Sailing maximum heel angle" name="SAIL_HEEL_MAX" documentation="When in auto sail trim modes the heel will be limited to this value using PID control" user="Standard">
+<field name="Units">deg</field>
+<field name="UnitText">degrees</field>
+<field name="Range">0 90</field>
+<field name="Increment">1</field>
+</param>
+<param humanName="Sailing no go zone angle" name="SAIL_SAIL_NO_GO_ANGLE" documentation="The typical closest angle to the wind the vehicle will sail at. the vehicle will sail at this angle when going upwind" user="Standard">
+<field name="Units">deg</field>
+<field name="UnitText">degrees</field>
+<field name="Range">0 90</field>
+<field name="Increment">1</field>
 </param>
 </parameters>
 <parameters name="SCHED_">
@@ -9709,6 +9845,24 @@
 <field name="RebootRequired">True</field>
 </param>
 </parameters>
+<parameters name="SCR_">
+<param humanName="Enable Scripting" name="SCR_ENABLE" documentation="Controls if scripting is enabled" user="Advanced">
+<values>
+<value code="0">None</value>
+<value code="1">Lua Scripts</value>
+</values>
+<field name="RebootRequired">True</field>
+</param>
+<param humanName="Scripting Virtual Machine Instruction Count" name="SCR_VM_I_COUNT" documentation="The number virtual machine instructions that can be run before considering a script to have taken an excessive amount of time" user="Advanced">
+<field name="Range">1000 1000000</field>
+<field name="Increment">10000</field>
+</param>
+<param humanName="Scripting Heap Size" name="SCR_HEAP_SIZE" documentation="Amount of memory available for scripting" user="Advanced">
+<field name="Range">1024 1048576</field>
+<field name="Increment">1024</field>
+<field name="RebootRequired">True</field>
+</param>
+</parameters>
 <parameters name="SERIAL">
 <param humanName="Serial0 baud rate" name="SERIAL0_BAUD" documentation="The baud rate used on the USB console. Most stm32-based boards can support rates of up to 1500. If you setup a rate you cannot support and then can't connect to your board you should load a firmware from a different vehicle type. That will reset all your parameters to defaults." user="Standard">
 <values>
@@ -9755,6 +9909,8 @@
 <value code=" 17">Devo Telemetry</value>
 <value code=" 18">OpticalFlow</value>
 <value code=" 19">RobotisServo</value>
+<value code=" 20">NMEA Output</value>
+<value code=" 21">WindVane</value>
 </values>
 <field name="RebootRequired">True</field>
 </param>
@@ -9795,6 +9951,8 @@
 <value code=" 17">Devo Telemetry</value>
 <value code=" 18">OpticalFlow</value>
 <value code=" 19">RobotisServo</value>
+<value code=" 20">NMEA Output</value>
+<value code=" 21">WindVane</value>
 </values>
 <field name="RebootRequired">True</field>
 </param>
@@ -9835,6 +9993,8 @@
 <value code=" 17">Devo Telemetry</value>
 <value code=" 18">OpticalFlow</value>
 <value code=" 19">RobotisServo</value>
+<value code=" 20">NMEA Output</value>
+<value code=" 21">WindVane</value>
 </values>
 <field name="RebootRequired">True</field>
 </param>
@@ -9875,6 +10035,8 @@
 <value code=" 17">Devo Telemetry</value>
 <value code=" 18">OpticalFlow</value>
 <value code=" 19">RobotisServo</value>
+<value code=" 20">NMEA Output</value>
+<value code=" 21">WindVane</value>
 </values>
 <field name="RebootRequired">True</field>
 </param>
@@ -9915,6 +10077,8 @@
 <value code=" 17">Devo Telemetry</value>
 <value code=" 18">OpticalFlow</value>
 <value code=" 19">RobotisServo</value>
+<value code=" 20">NMEA Output</value>
+<value code=" 21">WindVane</value>
 </values>
 <field name="RebootRequired">True</field>
 </param>
@@ -9955,6 +10119,8 @@
 <value code=" 17">Devo Telemetry</value>
 <value code=" 18">OpticalFlow</value>
 <value code=" 19">RobotisServo</value>
+<value code=" 20">NMEA Output</value>
+<value code=" 21">WindVane</value>
 </values>
 <field name="RebootRequired">True</field>
 </param>
@@ -10044,22 +10210,22 @@
 </parameters>
 <parameters name="SERVO10_">
 <param humanName="Minimum PWM" name="SERVO10_MIN" documentation="minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
-<field name="Range">500 2200</field>
-<field name="Increment">1</field>
 <field name="Units">PWM</field>
 <field name="UnitText">PWM in microseconds</field>
+<field name="Range">500 2200</field>
+<field name="Increment">1</field>
 </param>
 <param humanName="Maximum PWM" name="SERVO10_MAX" documentation="maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
-<field name="Range">800 2200</field>
-<field name="Increment">1</field>
 <field name="Units">PWM</field>
 <field name="UnitText">PWM in microseconds</field>
-</param>
-<param humanName="Trim PWM" name="SERVO10_TRIM" documentation="Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
 <field name="Range">800 2200</field>
 <field name="Increment">1</field>
+</param>
+<param humanName="Trim PWM" name="SERVO10_TRIM" documentation="Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
 <field name="Units">PWM</field>
 <field name="UnitText">PWM in microseconds</field>
+<field name="Range">800 2200</field>
+<field name="Increment">1</field>
 </param>
 <param humanName="Servo reverse" name="SERVO10_REVERSED" documentation="Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel." user="Standard">
 <values>
@@ -10169,22 +10335,22 @@
 </parameters>
 <parameters name="SERVO11_">
 <param humanName="Minimum PWM" name="SERVO11_MIN" documentation="minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
-<field name="Range">500 2200</field>
-<field name="Increment">1</field>
 <field name="Units">PWM</field>
 <field name="UnitText">PWM in microseconds</field>
+<field name="Range">500 2200</field>
+<field name="Increment">1</field>
 </param>
 <param humanName="Maximum PWM" name="SERVO11_MAX" documentation="maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
-<field name="Range">800 2200</field>
-<field name="Increment">1</field>
 <field name="Units">PWM</field>
 <field name="UnitText">PWM in microseconds</field>
-</param>
-<param humanName="Trim PWM" name="SERVO11_TRIM" documentation="Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
 <field name="Range">800 2200</field>
 <field name="Increment">1</field>
+</param>
+<param humanName="Trim PWM" name="SERVO11_TRIM" documentation="Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
 <field name="Units">PWM</field>
 <field name="UnitText">PWM in microseconds</field>
+<field name="Range">800 2200</field>
+<field name="Increment">1</field>
 </param>
 <param humanName="Servo reverse" name="SERVO11_REVERSED" documentation="Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel." user="Standard">
 <values>
@@ -10294,22 +10460,22 @@
 </parameters>
 <parameters name="SERVO12_">
 <param humanName="Minimum PWM" name="SERVO12_MIN" documentation="minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
-<field name="Range">500 2200</field>
-<field name="Increment">1</field>
 <field name="Units">PWM</field>
 <field name="UnitText">PWM in microseconds</field>
+<field name="Range">500 2200</field>
+<field name="Increment">1</field>
 </param>
 <param humanName="Maximum PWM" name="SERVO12_MAX" documentation="maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
-<field name="Range">800 2200</field>
-<field name="Increment">1</field>
 <field name="Units">PWM</field>
 <field name="UnitText">PWM in microseconds</field>
-</param>
-<param humanName="Trim PWM" name="SERVO12_TRIM" documentation="Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
 <field name="Range">800 2200</field>
 <field name="Increment">1</field>
+</param>
+<param humanName="Trim PWM" name="SERVO12_TRIM" documentation="Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
 <field name="Units">PWM</field>
 <field name="UnitText">PWM in microseconds</field>
+<field name="Range">800 2200</field>
+<field name="Increment">1</field>
 </param>
 <param humanName="Servo reverse" name="SERVO12_REVERSED" documentation="Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel." user="Standard">
 <values>
@@ -10419,22 +10585,22 @@
 </parameters>
 <parameters name="SERVO13_">
 <param humanName="Minimum PWM" name="SERVO13_MIN" documentation="minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
-<field name="Range">500 2200</field>
-<field name="Increment">1</field>
 <field name="Units">PWM</field>
 <field name="UnitText">PWM in microseconds</field>
+<field name="Range">500 2200</field>
+<field name="Increment">1</field>
 </param>
 <param humanName="Maximum PWM" name="SERVO13_MAX" documentation="maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
-<field name="Range">800 2200</field>
-<field name="Increment">1</field>
 <field name="Units">PWM</field>
 <field name="UnitText">PWM in microseconds</field>
-</param>
-<param humanName="Trim PWM" name="SERVO13_TRIM" documentation="Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
 <field name="Range">800 2200</field>
 <field name="Increment">1</field>
+</param>
+<param humanName="Trim PWM" name="SERVO13_TRIM" documentation="Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
 <field name="Units">PWM</field>
 <field name="UnitText">PWM in microseconds</field>
+<field name="Range">800 2200</field>
+<field name="Increment">1</field>
 </param>
 <param humanName="Servo reverse" name="SERVO13_REVERSED" documentation="Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel." user="Standard">
 <values>
@@ -10544,22 +10710,22 @@
 </parameters>
 <parameters name="SERVO14_">
 <param humanName="Minimum PWM" name="SERVO14_MIN" documentation="minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
-<field name="Range">500 2200</field>
-<field name="Increment">1</field>
 <field name="Units">PWM</field>
 <field name="UnitText">PWM in microseconds</field>
+<field name="Range">500 2200</field>
+<field name="Increment">1</field>
 </param>
 <param humanName="Maximum PWM" name="SERVO14_MAX" documentation="maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
-<field name="Range">800 2200</field>
-<field name="Increment">1</field>
 <field name="Units">PWM</field>
 <field name="UnitText">PWM in microseconds</field>
-</param>
-<param humanName="Trim PWM" name="SERVO14_TRIM" documentation="Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
 <field name="Range">800 2200</field>
 <field name="Increment">1</field>
+</param>
+<param humanName="Trim PWM" name="SERVO14_TRIM" documentation="Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
 <field name="Units">PWM</field>
 <field name="UnitText">PWM in microseconds</field>
+<field name="Range">800 2200</field>
+<field name="Increment">1</field>
 </param>
 <param humanName="Servo reverse" name="SERVO14_REVERSED" documentation="Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel." user="Standard">
 <values>
@@ -10669,22 +10835,22 @@
 </parameters>
 <parameters name="SERVO15_">
 <param humanName="Minimum PWM" name="SERVO15_MIN" documentation="minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
-<field name="Range">500 2200</field>
-<field name="Increment">1</field>
 <field name="Units">PWM</field>
 <field name="UnitText">PWM in microseconds</field>
+<field name="Range">500 2200</field>
+<field name="Increment">1</field>
 </param>
 <param humanName="Maximum PWM" name="SERVO15_MAX" documentation="maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
-<field name="Range">800 2200</field>
-<field name="Increment">1</field>
 <field name="Units">PWM</field>
 <field name="UnitText">PWM in microseconds</field>
-</param>
-<param humanName="Trim PWM" name="SERVO15_TRIM" documentation="Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
 <field name="Range">800 2200</field>
 <field name="Increment">1</field>
+</param>
+<param humanName="Trim PWM" name="SERVO15_TRIM" documentation="Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
 <field name="Units">PWM</field>
 <field name="UnitText">PWM in microseconds</field>
+<field name="Range">800 2200</field>
+<field name="Increment">1</field>
 </param>
 <param humanName="Servo reverse" name="SERVO15_REVERSED" documentation="Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel." user="Standard">
 <values>
@@ -10794,22 +10960,22 @@
 </parameters>
 <parameters name="SERVO16_">
 <param humanName="Minimum PWM" name="SERVO16_MIN" documentation="minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
-<field name="Range">500 2200</field>
-<field name="Increment">1</field>
 <field name="Units">PWM</field>
 <field name="UnitText">PWM in microseconds</field>
+<field name="Range">500 2200</field>
+<field name="Increment">1</field>
 </param>
 <param humanName="Maximum PWM" name="SERVO16_MAX" documentation="maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
-<field name="Range">800 2200</field>
-<field name="Increment">1</field>
 <field name="Units">PWM</field>
 <field name="UnitText">PWM in microseconds</field>
-</param>
-<param humanName="Trim PWM" name="SERVO16_TRIM" documentation="Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
 <field name="Range">800 2200</field>
 <field name="Increment">1</field>
+</param>
+<param humanName="Trim PWM" name="SERVO16_TRIM" documentation="Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
 <field name="Units">PWM</field>
 <field name="UnitText">PWM in microseconds</field>
+<field name="Range">800 2200</field>
+<field name="Increment">1</field>
 </param>
 <param humanName="Servo reverse" name="SERVO16_REVERSED" documentation="Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel." user="Standard">
 <values>
@@ -10919,22 +11085,22 @@
 </parameters>
 <parameters name="SERVO1_">
 <param humanName="Minimum PWM" name="SERVO1_MIN" documentation="minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
-<field name="Range">500 2200</field>
-<field name="Increment">1</field>
 <field name="Units">PWM</field>
 <field name="UnitText">PWM in microseconds</field>
+<field name="Range">500 2200</field>
+<field name="Increment">1</field>
 </param>
 <param humanName="Maximum PWM" name="SERVO1_MAX" documentation="maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
-<field name="Range">800 2200</field>
-<field name="Increment">1</field>
 <field name="Units">PWM</field>
 <field name="UnitText">PWM in microseconds</field>
-</param>
-<param humanName="Trim PWM" name="SERVO1_TRIM" documentation="Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
 <field name="Range">800 2200</field>
 <field name="Increment">1</field>
+</param>
+<param humanName="Trim PWM" name="SERVO1_TRIM" documentation="Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
 <field name="Units">PWM</field>
 <field name="UnitText">PWM in microseconds</field>
+<field name="Range">800 2200</field>
+<field name="Increment">1</field>
 </param>
 <param humanName="Servo reverse" name="SERVO1_REVERSED" documentation="Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel." user="Standard">
 <values>
@@ -11044,22 +11210,22 @@
 </parameters>
 <parameters name="SERVO2_">
 <param humanName="Minimum PWM" name="SERVO2_MIN" documentation="minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
-<field name="Range">500 2200</field>
-<field name="Increment">1</field>
 <field name="Units">PWM</field>
 <field name="UnitText">PWM in microseconds</field>
+<field name="Range">500 2200</field>
+<field name="Increment">1</field>
 </param>
 <param humanName="Maximum PWM" name="SERVO2_MAX" documentation="maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
-<field name="Range">800 2200</field>
-<field name="Increment">1</field>
 <field name="Units">PWM</field>
 <field name="UnitText">PWM in microseconds</field>
-</param>
-<param humanName="Trim PWM" name="SERVO2_TRIM" documentation="Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
 <field name="Range">800 2200</field>
 <field name="Increment">1</field>
+</param>
+<param humanName="Trim PWM" name="SERVO2_TRIM" documentation="Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
 <field name="Units">PWM</field>
 <field name="UnitText">PWM in microseconds</field>
+<field name="Range">800 2200</field>
+<field name="Increment">1</field>
 </param>
 <param humanName="Servo reverse" name="SERVO2_REVERSED" documentation="Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel." user="Standard">
 <values>
@@ -11169,22 +11335,22 @@
 </parameters>
 <parameters name="SERVO3_">
 <param humanName="Minimum PWM" name="SERVO3_MIN" documentation="minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
-<field name="Range">500 2200</field>
-<field name="Increment">1</field>
 <field name="Units">PWM</field>
 <field name="UnitText">PWM in microseconds</field>
+<field name="Range">500 2200</field>
+<field name="Increment">1</field>
 </param>
 <param humanName="Maximum PWM" name="SERVO3_MAX" documentation="maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
-<field name="Range">800 2200</field>
-<field name="Increment">1</field>
 <field name="Units">PWM</field>
 <field name="UnitText">PWM in microseconds</field>
-</param>
-<param humanName="Trim PWM" name="SERVO3_TRIM" documentation="Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
 <field name="Range">800 2200</field>
 <field name="Increment">1</field>
+</param>
+<param humanName="Trim PWM" name="SERVO3_TRIM" documentation="Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
 <field name="Units">PWM</field>
 <field name="UnitText">PWM in microseconds</field>
+<field name="Range">800 2200</field>
+<field name="Increment">1</field>
 </param>
 <param humanName="Servo reverse" name="SERVO3_REVERSED" documentation="Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel." user="Standard">
 <values>
@@ -11294,22 +11460,22 @@
 </parameters>
 <parameters name="SERVO4_">
 <param humanName="Minimum PWM" name="SERVO4_MIN" documentation="minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
-<field name="Range">500 2200</field>
-<field name="Increment">1</field>
 <field name="Units">PWM</field>
 <field name="UnitText">PWM in microseconds</field>
+<field name="Range">500 2200</field>
+<field name="Increment">1</field>
 </param>
 <param humanName="Maximum PWM" name="SERVO4_MAX" documentation="maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
-<field name="Range">800 2200</field>
-<field name="Increment">1</field>
 <field name="Units">PWM</field>
 <field name="UnitText">PWM in microseconds</field>
-</param>
-<param humanName="Trim PWM" name="SERVO4_TRIM" documentation="Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
 <field name="Range">800 2200</field>
 <field name="Increment">1</field>
+</param>
+<param humanName="Trim PWM" name="SERVO4_TRIM" documentation="Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
 <field name="Units">PWM</field>
 <field name="UnitText">PWM in microseconds</field>
+<field name="Range">800 2200</field>
+<field name="Increment">1</field>
 </param>
 <param humanName="Servo reverse" name="SERVO4_REVERSED" documentation="Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel." user="Standard">
 <values>
@@ -11419,22 +11585,22 @@
 </parameters>
 <parameters name="SERVO5_">
 <param humanName="Minimum PWM" name="SERVO5_MIN" documentation="minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
-<field name="Range">500 2200</field>
-<field name="Increment">1</field>
 <field name="Units">PWM</field>
 <field name="UnitText">PWM in microseconds</field>
+<field name="Range">500 2200</field>
+<field name="Increment">1</field>
 </param>
 <param humanName="Maximum PWM" name="SERVO5_MAX" documentation="maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
-<field name="Range">800 2200</field>
-<field name="Increment">1</field>
 <field name="Units">PWM</field>
 <field name="UnitText">PWM in microseconds</field>
-</param>
-<param humanName="Trim PWM" name="SERVO5_TRIM" documentation="Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
 <field name="Range">800 2200</field>
 <field name="Increment">1</field>
+</param>
+<param humanName="Trim PWM" name="SERVO5_TRIM" documentation="Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
 <field name="Units">PWM</field>
 <field name="UnitText">PWM in microseconds</field>
+<field name="Range">800 2200</field>
+<field name="Increment">1</field>
 </param>
 <param humanName="Servo reverse" name="SERVO5_REVERSED" documentation="Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel." user="Standard">
 <values>
@@ -11544,22 +11710,22 @@
 </parameters>
 <parameters name="SERVO6_">
 <param humanName="Minimum PWM" name="SERVO6_MIN" documentation="minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
-<field name="Range">500 2200</field>
-<field name="Increment">1</field>
 <field name="Units">PWM</field>
 <field name="UnitText">PWM in microseconds</field>
+<field name="Range">500 2200</field>
+<field name="Increment">1</field>
 </param>
 <param humanName="Maximum PWM" name="SERVO6_MAX" documentation="maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
-<field name="Range">800 2200</field>
-<field name="Increment">1</field>
 <field name="Units">PWM</field>
 <field name="UnitText">PWM in microseconds</field>
-</param>
-<param humanName="Trim PWM" name="SERVO6_TRIM" documentation="Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
 <field name="Range">800 2200</field>
 <field name="Increment">1</field>
+</param>
+<param humanName="Trim PWM" name="SERVO6_TRIM" documentation="Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
 <field name="Units">PWM</field>
 <field name="UnitText">PWM in microseconds</field>
+<field name="Range">800 2200</field>
+<field name="Increment">1</field>
 </param>
 <param humanName="Servo reverse" name="SERVO6_REVERSED" documentation="Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel." user="Standard">
 <values>
@@ -11669,22 +11835,22 @@
 </parameters>
 <parameters name="SERVO7_">
 <param humanName="Minimum PWM" name="SERVO7_MIN" documentation="minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
-<field name="Range">500 2200</field>
-<field name="Increment">1</field>
 <field name="Units">PWM</field>
 <field name="UnitText">PWM in microseconds</field>
+<field name="Range">500 2200</field>
+<field name="Increment">1</field>
 </param>
 <param humanName="Maximum PWM" name="SERVO7_MAX" documentation="maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
-<field name="Range">800 2200</field>
-<field name="Increment">1</field>
 <field name="Units">PWM</field>
 <field name="UnitText">PWM in microseconds</field>
-</param>
-<param humanName="Trim PWM" name="SERVO7_TRIM" documentation="Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
 <field name="Range">800 2200</field>
 <field name="Increment">1</field>
+</param>
+<param humanName="Trim PWM" name="SERVO7_TRIM" documentation="Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
 <field name="Units">PWM</field>
 <field name="UnitText">PWM in microseconds</field>
+<field name="Range">800 2200</field>
+<field name="Increment">1</field>
 </param>
 <param humanName="Servo reverse" name="SERVO7_REVERSED" documentation="Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel." user="Standard">
 <values>
@@ -11794,22 +11960,22 @@
 </parameters>
 <parameters name="SERVO8_">
 <param humanName="Minimum PWM" name="SERVO8_MIN" documentation="minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
-<field name="Range">500 2200</field>
-<field name="Increment">1</field>
 <field name="Units">PWM</field>
 <field name="UnitText">PWM in microseconds</field>
+<field name="Range">500 2200</field>
+<field name="Increment">1</field>
 </param>
 <param humanName="Maximum PWM" name="SERVO8_MAX" documentation="maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
-<field name="Range">800 2200</field>
-<field name="Increment">1</field>
 <field name="Units">PWM</field>
 <field name="UnitText">PWM in microseconds</field>
-</param>
-<param humanName="Trim PWM" name="SERVO8_TRIM" documentation="Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
 <field name="Range">800 2200</field>
 <field name="Increment">1</field>
+</param>
+<param humanName="Trim PWM" name="SERVO8_TRIM" documentation="Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
 <field name="Units">PWM</field>
 <field name="UnitText">PWM in microseconds</field>
+<field name="Range">800 2200</field>
+<field name="Increment">1</field>
 </param>
 <param humanName="Servo reverse" name="SERVO8_REVERSED" documentation="Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel." user="Standard">
 <values>
@@ -11919,22 +12085,22 @@
 </parameters>
 <parameters name="SERVO9_">
 <param humanName="Minimum PWM" name="SERVO9_MIN" documentation="minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
-<field name="Range">500 2200</field>
-<field name="Increment">1</field>
 <field name="Units">PWM</field>
 <field name="UnitText">PWM in microseconds</field>
+<field name="Range">500 2200</field>
+<field name="Increment">1</field>
 </param>
 <param humanName="Maximum PWM" name="SERVO9_MAX" documentation="maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
-<field name="Range">800 2200</field>
-<field name="Increment">1</field>
 <field name="Units">PWM</field>
 <field name="UnitText">PWM in microseconds</field>
-</param>
-<param humanName="Trim PWM" name="SERVO9_TRIM" documentation="Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
 <field name="Range">800 2200</field>
 <field name="Increment">1</field>
+</param>
+<param humanName="Trim PWM" name="SERVO9_TRIM" documentation="Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
 <field name="Units">PWM</field>
 <field name="UnitText">PWM in microseconds</field>
+<field name="Range">800 2200</field>
+<field name="Increment">1</field>
 </param>
 <param humanName="Servo reverse" name="SERVO9_REVERSED" documentation="Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel." user="Standard">
 <values>
@@ -12066,14 +12232,14 @@
 </values>
 </param>
 <param humanName="BLHeli protocol timeout" name="SERVO_BLH_TMOUT" documentation="This sets the inactivity timeout for the BLHeli protocol in seconds. If no packets are received in this time normal MAVLink operations are resumed. A value of 0 means no timeout" user="Standard">
-<field name="Range">0 300</field>
 <field name="Units">s</field>
 <field name="UnitText">seconds</field>
+<field name="Range">0 300</field>
 </param>
 <param humanName="BLHeli telemetry rate" name="SERVO_BLH_TRATE" documentation="This sets the rate in Hz for requesting telemetry from ESCs. It is the rate per ESC. Setting to zero disables telemetry requests" user="Standard">
-<field name="Range">0 500</field>
 <field name="Units">Hz</field>
 <field name="UnitText">hertz</field>
+<field name="Range">0 500</field>
 </param>
 <param humanName="BLHeli debug level" name="SERVO_BLH_DEBUG" documentation="When set to 1 this enabled verbose debugging output over MAVLink when the blheli protocol is active. This can be used to diagnose failures." user="Standard">
 <values>
@@ -12176,33 +12342,33 @@
 </values>
 </param>
 <param humanName="Precland device origin's latitude" name="SIM_PLD_LAT" documentation="Precland device origin's latitude" user="Advanced">
-<field name="Range">-90 90</field>
-<field name="Increment">0.000001</field>
 <field name="Units">deg</field>
 <field name="UnitText">degrees</field>
+<field name="Increment">0.000001</field>
+<field name="Range">-90 90</field>
 </param>
 <param humanName="Precland device origin's longitude" name="SIM_PLD_LON" documentation="Precland device origin's longitude" user="Advanced">
-<field name="Range">-180 180</field>
-<field name="Increment">0.000001</field>
 <field name="Units">deg</field>
 <field name="UnitText">degrees</field>
+<field name="Increment">0.000001</field>
+<field name="Range">-180 180</field>
 </param>
 <param humanName="Precland device origin's height above sealevel" name="SIM_PLD_HEIGHT" documentation="Precland device origin's height above sealevel" user="Advanced">
-<field name="Range">0 10000</field>
-<field name="Increment">1</field>
 <field name="Units">cm</field>
 <field name="UnitText">centimeters</field>
+<field name="Increment">1</field>
+<field name="Range">0 10000</field>
 </param>
 <param humanName="Precland device systems rotation from north" name="SIM_PLD_YAW" documentation="Precland device systems rotation from north" user="Advanced">
-<field name="Range">-180 +180</field>
-<field name="Increment">1</field>
 <field name="Units">deg</field>
 <field name="UnitText">degrees</field>
+<field name="Increment">1</field>
+<field name="Range">-180 +180</field>
 </param>
 <param humanName="Precland device update rate" name="SIM_PLD_RATE" documentation="Precland device rate. e.g led patter refresh rate, RF message rate, etc." user="Advanced">
-<field name="Range">0 200</field>
 <field name="Units">Hz</field>
 <field name="UnitText">hertz</field>
+<field name="Range">0 200</field>
 </param>
 <param humanName="Precland device radiance type" name="SIM_PLD_TYPE" documentation="Precland device radiance type: it can be a cylinder, a cone, or a sphere." user="Advanced">
 <values>
@@ -12212,14 +12378,14 @@
 </values>
 </param>
 <param humanName="Precland device alt range" name="SIM_PLD_ALT_LIMIT" documentation="Precland device maximum range altitude" user="Advanced">
-<field name="Range">0 100</field>
 <field name="Units">m</field>
 <field name="UnitText">meters</field>
+<field name="Range">0 100</field>
 </param>
 <param humanName="Precland device lateral range" name="SIM_PLD_DIST_LIMIT" documentation="Precland device maximum lateral range" user="Advanced">
-<field name="Range">5 100</field>
 <field name="Units">m</field>
 <field name="UnitText">meters</field>
+<field name="Range">5 100</field>
 </param>
 </parameters>
 <parameters name="SIM_SPR_">
@@ -12244,255 +12410,255 @@
 </values>
 </param>
 <param humanName="Pump speed" name="SPRAYER_PUMP_RATE" documentation="Desired pump speed when traveling 1m/s expressed as a percentage" user="Standard">
-<field name="Range">0 100</field>
 <field name="Units">%</field>
 <field name="UnitText">percent</field>
+<field name="Range">0 100</field>
 </param>
 <param humanName="Spinner rotation speed" name="SPRAYER_SPINNER" documentation="Spinner's rotation speed in PWM (a higher rate will disperse the spray over a wider area horizontally)" user="Standard">
-<field name="Range">1000 2000</field>
 <field name="Units">ms</field>
 <field name="UnitText">milliseconds</field>
+<field name="Range">1000 2000</field>
 </param>
 <param humanName="Speed minimum" name="SPRAYER_SPEED_MIN" documentation="Speed minimum at which we will begin spraying" user="Standard">
-<field name="Range">0 1000</field>
 <field name="Units">cm/s</field>
 <field name="UnitText">centimeters per second</field>
+<field name="Range">0 1000</field>
 </param>
 <param humanName="Pump speed minimum" name="SPRAYER_PUMP_MIN" documentation="Minimum pump speed expressed as a percentage" user="Standard">
-<field name="Range">0 100</field>
 <field name="Units">%</field>
 <field name="UnitText">percent</field>
+<field name="Range">0 100</field>
 </param>
 </parameters>
 <parameters name="SR0_">
 <param humanName="Raw sensor stream rate" name="SR0_RAW_SENS" documentation="Raw sensor stream rate to ground station" user="Advanced">
-<field name="Range">0 10</field>
-<field name="Increment">1</field>
 <field name="Units">Hz</field>
 <field name="UnitText">hertz</field>
-</param>
-<param humanName="Extended status stream rate to ground station" name="SR0_EXT_STAT" documentation="Extended status stream rate to ground station" user="Advanced">
 <field name="Range">0 10</field>
 <field name="Increment">1</field>
+</param>
+<param humanName="Extended status stream rate to ground station" name="SR0_EXT_STAT" documentation="Extended status stream rate to ground station" user="Advanced">
 <field name="Units">Hz</field>
 <field name="UnitText">hertz</field>
-</param>
-<param humanName="RC Channel stream rate to ground station" name="SR0_RC_CHAN" documentation="RC Channel stream rate to ground station" user="Advanced">
 <field name="Range">0 10</field>
 <field name="Increment">1</field>
+</param>
+<param humanName="RC Channel stream rate to ground station" name="SR0_RC_CHAN" documentation="RC Channel stream rate to ground station" user="Advanced">
 <field name="Units">Hz</field>
 <field name="UnitText">hertz</field>
-</param>
-<param humanName="Raw Control stream rate to ground station" name="SR0_RAW_CTRL" documentation="Raw Control stream rate to ground station" user="Advanced">
 <field name="Range">0 10</field>
 <field name="Increment">1</field>
+</param>
+<param humanName="Raw Control stream rate to ground station" name="SR0_RAW_CTRL" documentation="Raw Control stream rate to ground station" user="Advanced">
 <field name="Units">Hz</field>
 <field name="UnitText">hertz</field>
-</param>
-<param humanName="Position stream rate to ground station" name="SR0_POSITION" documentation="Position stream rate to ground station" user="Advanced">
 <field name="Range">0 10</field>
 <field name="Increment">1</field>
+</param>
+<param humanName="Position stream rate to ground station" name="SR0_POSITION" documentation="Position stream rate to ground station" user="Advanced">
 <field name="Units">Hz</field>
 <field name="UnitText">hertz</field>
-</param>
-<param humanName="Extra data type 1 stream rate to ground station" name="SR0_EXTRA1" documentation="Extra data type 1 stream rate to ground station" user="Advanced">
 <field name="Range">0 10</field>
 <field name="Increment">1</field>
+</param>
+<param humanName="Extra data type 1 stream rate to ground station" name="SR0_EXTRA1" documentation="Extra data type 1 stream rate to ground station" user="Advanced">
 <field name="Units">Hz</field>
 <field name="UnitText">hertz</field>
-</param>
-<param humanName="Extra data type 2 stream rate to ground station" name="SR0_EXTRA2" documentation="Extra data type 2 stream rate to ground station" user="Advanced">
 <field name="Range">0 10</field>
 <field name="Increment">1</field>
+</param>
+<param humanName="Extra data type 2 stream rate to ground station" name="SR0_EXTRA2" documentation="Extra data type 2 stream rate to ground station" user="Advanced">
 <field name="Units">Hz</field>
 <field name="UnitText">hertz</field>
-</param>
-<param humanName="Extra data type 3 stream rate to ground station" name="SR0_EXTRA3" documentation="Extra data type 3 stream rate to ground station" user="Advanced">
 <field name="Range">0 10</field>
 <field name="Increment">1</field>
+</param>
+<param humanName="Extra data type 3 stream rate to ground station" name="SR0_EXTRA3" documentation="Extra data type 3 stream rate to ground station" user="Advanced">
 <field name="Units">Hz</field>
 <field name="UnitText">hertz</field>
-</param>
-<param humanName="Parameter stream rate to ground station" name="SR0_PARAMS" documentation="Parameter stream rate to ground station" user="Advanced">
 <field name="Range">0 10</field>
 <field name="Increment">1</field>
+</param>
+<param humanName="Parameter stream rate to ground station" name="SR0_PARAMS" documentation="Parameter stream rate to ground station" user="Advanced">
 <field name="Units">Hz</field>
 <field name="UnitText">hertz</field>
+<field name="Range">0 10</field>
+<field name="Increment">1</field>
 </param>
 </parameters>
 <parameters name="SR1_">
 <param humanName="Raw sensor stream rate" name="SR1_RAW_SENS" documentation="Raw sensor stream rate to ground station" user="Advanced">
-<field name="Range">0 10</field>
-<field name="Increment">1</field>
 <field name="Units">Hz</field>
 <field name="UnitText">hertz</field>
-</param>
-<param humanName="Extended status stream rate to ground station" name="SR1_EXT_STAT" documentation="Extended status stream rate to ground station" user="Advanced">
 <field name="Range">0 10</field>
 <field name="Increment">1</field>
+</param>
+<param humanName="Extended status stream rate to ground station" name="SR1_EXT_STAT" documentation="Extended status stream rate to ground station" user="Advanced">
 <field name="Units">Hz</field>
 <field name="UnitText">hertz</field>
-</param>
-<param humanName="RC Channel stream rate to ground station" name="SR1_RC_CHAN" documentation="RC Channel stream rate to ground station" user="Advanced">
 <field name="Range">0 10</field>
 <field name="Increment">1</field>
+</param>
+<param humanName="RC Channel stream rate to ground station" name="SR1_RC_CHAN" documentation="RC Channel stream rate to ground station" user="Advanced">
 <field name="Units">Hz</field>
 <field name="UnitText">hertz</field>
-</param>
-<param humanName="Raw Control stream rate to ground station" name="SR1_RAW_CTRL" documentation="Raw Control stream rate to ground station" user="Advanced">
 <field name="Range">0 10</field>
 <field name="Increment">1</field>
+</param>
+<param humanName="Raw Control stream rate to ground station" name="SR1_RAW_CTRL" documentation="Raw Control stream rate to ground station" user="Advanced">
 <field name="Units">Hz</field>
 <field name="UnitText">hertz</field>
-</param>
-<param humanName="Position stream rate to ground station" name="SR1_POSITION" documentation="Position stream rate to ground station" user="Advanced">
 <field name="Range">0 10</field>
 <field name="Increment">1</field>
+</param>
+<param humanName="Position stream rate to ground station" name="SR1_POSITION" documentation="Position stream rate to ground station" user="Advanced">
 <field name="Units">Hz</field>
 <field name="UnitText">hertz</field>
-</param>
-<param humanName="Extra data type 1 stream rate to ground station" name="SR1_EXTRA1" documentation="Extra data type 1 stream rate to ground station" user="Advanced">
 <field name="Range">0 10</field>
 <field name="Increment">1</field>
+</param>
+<param humanName="Extra data type 1 stream rate to ground station" name="SR1_EXTRA1" documentation="Extra data type 1 stream rate to ground station" user="Advanced">
 <field name="Units">Hz</field>
 <field name="UnitText">hertz</field>
-</param>
-<param humanName="Extra data type 2 stream rate to ground station" name="SR1_EXTRA2" documentation="Extra data type 2 stream rate to ground station" user="Advanced">
 <field name="Range">0 10</field>
 <field name="Increment">1</field>
+</param>
+<param humanName="Extra data type 2 stream rate to ground station" name="SR1_EXTRA2" documentation="Extra data type 2 stream rate to ground station" user="Advanced">
 <field name="Units">Hz</field>
 <field name="UnitText">hertz</field>
-</param>
-<param humanName="Extra data type 3 stream rate to ground station" name="SR1_EXTRA3" documentation="Extra data type 3 stream rate to ground station" user="Advanced">
 <field name="Range">0 10</field>
 <field name="Increment">1</field>
+</param>
+<param humanName="Extra data type 3 stream rate to ground station" name="SR1_EXTRA3" documentation="Extra data type 3 stream rate to ground station" user="Advanced">
 <field name="Units">Hz</field>
 <field name="UnitText">hertz</field>
-</param>
-<param humanName="Parameter stream rate to ground station" name="SR1_PARAMS" documentation="Parameter stream rate to ground station" user="Advanced">
 <field name="Range">0 10</field>
 <field name="Increment">1</field>
+</param>
+<param humanName="Parameter stream rate to ground station" name="SR1_PARAMS" documentation="Parameter stream rate to ground station" user="Advanced">
 <field name="Units">Hz</field>
 <field name="UnitText">hertz</field>
+<field name="Range">0 10</field>
+<field name="Increment">1</field>
 </param>
 </parameters>
 <parameters name="SR2_">
 <param humanName="Raw sensor stream rate" name="SR2_RAW_SENS" documentation="Raw sensor stream rate to ground station" user="Advanced">
-<field name="Range">0 10</field>
-<field name="Increment">1</field>
 <field name="Units">Hz</field>
 <field name="UnitText">hertz</field>
-</param>
-<param humanName="Extended status stream rate to ground station" name="SR2_EXT_STAT" documentation="Extended status stream rate to ground station" user="Advanced">
 <field name="Range">0 10</field>
 <field name="Increment">1</field>
+</param>
+<param humanName="Extended status stream rate to ground station" name="SR2_EXT_STAT" documentation="Extended status stream rate to ground station" user="Advanced">
 <field name="Units">Hz</field>
 <field name="UnitText">hertz</field>
-</param>
-<param humanName="RC Channel stream rate to ground station" name="SR2_RC_CHAN" documentation="RC Channel stream rate to ground station" user="Advanced">
 <field name="Range">0 10</field>
 <field name="Increment">1</field>
+</param>
+<param humanName="RC Channel stream rate to ground station" name="SR2_RC_CHAN" documentation="RC Channel stream rate to ground station" user="Advanced">
 <field name="Units">Hz</field>
 <field name="UnitText">hertz</field>
-</param>
-<param humanName="Raw Control stream rate to ground station" name="SR2_RAW_CTRL" documentation="Raw Control stream rate to ground station" user="Advanced">
 <field name="Range">0 10</field>
 <field name="Increment">1</field>
+</param>
+<param humanName="Raw Control stream rate to ground station" name="SR2_RAW_CTRL" documentation="Raw Control stream rate to ground station" user="Advanced">
 <field name="Units">Hz</field>
 <field name="UnitText">hertz</field>
-</param>
-<param humanName="Position stream rate to ground station" name="SR2_POSITION" documentation="Position stream rate to ground station" user="Advanced">
 <field name="Range">0 10</field>
 <field name="Increment">1</field>
+</param>
+<param humanName="Position stream rate to ground station" name="SR2_POSITION" documentation="Position stream rate to ground station" user="Advanced">
 <field name="Units">Hz</field>
 <field name="UnitText">hertz</field>
-</param>
-<param humanName="Extra data type 1 stream rate to ground station" name="SR2_EXTRA1" documentation="Extra data type 1 stream rate to ground station" user="Advanced">
 <field name="Range">0 10</field>
 <field name="Increment">1</field>
+</param>
+<param humanName="Extra data type 1 stream rate to ground station" name="SR2_EXTRA1" documentation="Extra data type 1 stream rate to ground station" user="Advanced">
 <field name="Units">Hz</field>
 <field name="UnitText">hertz</field>
-</param>
-<param humanName="Extra data type 2 stream rate to ground station" name="SR2_EXTRA2" documentation="Extra data type 2 stream rate to ground station" user="Advanced">
 <field name="Range">0 10</field>
 <field name="Increment">1</field>
+</param>
+<param humanName="Extra data type 2 stream rate to ground station" name="SR2_EXTRA2" documentation="Extra data type 2 stream rate to ground station" user="Advanced">
 <field name="Units">Hz</field>
 <field name="UnitText">hertz</field>
-</param>
-<param humanName="Extra data type 3 stream rate to ground station" name="SR2_EXTRA3" documentation="Extra data type 3 stream rate to ground station" user="Advanced">
 <field name="Range">0 10</field>
 <field name="Increment">1</field>
+</param>
+<param humanName="Extra data type 3 stream rate to ground station" name="SR2_EXTRA3" documentation="Extra data type 3 stream rate to ground station" user="Advanced">
 <field name="Units">Hz</field>
 <field name="UnitText">hertz</field>
-</param>
-<param humanName="Parameter stream rate to ground station" name="SR2_PARAMS" documentation="Parameter stream rate to ground station" user="Advanced">
 <field name="Range">0 10</field>
 <field name="Increment">1</field>
+</param>
+<param humanName="Parameter stream rate to ground station" name="SR2_PARAMS" documentation="Parameter stream rate to ground station" user="Advanced">
 <field name="Units">Hz</field>
 <field name="UnitText">hertz</field>
+<field name="Range">0 10</field>
+<field name="Increment">1</field>
 </param>
 </parameters>
 <parameters name="SR3_">
 <param humanName="Raw sensor stream rate" name="SR3_RAW_SENS" documentation="Raw sensor stream rate to ground station" user="Advanced">
-<field name="Range">0 10</field>
-<field name="Increment">1</field>
 <field name="Units">Hz</field>
 <field name="UnitText">hertz</field>
-</param>
-<param humanName="Extended status stream rate to ground station" name="SR3_EXT_STAT" documentation="Extended status stream rate to ground station" user="Advanced">
 <field name="Range">0 10</field>
 <field name="Increment">1</field>
+</param>
+<param humanName="Extended status stream rate to ground station" name="SR3_EXT_STAT" documentation="Extended status stream rate to ground station" user="Advanced">
 <field name="Units">Hz</field>
 <field name="UnitText">hertz</field>
-</param>
-<param humanName="RC Channel stream rate to ground station" name="SR3_RC_CHAN" documentation="RC Channel stream rate to ground station" user="Advanced">
 <field name="Range">0 10</field>
 <field name="Increment">1</field>
+</param>
+<param humanName="RC Channel stream rate to ground station" name="SR3_RC_CHAN" documentation="RC Channel stream rate to ground station" user="Advanced">
 <field name="Units">Hz</field>
 <field name="UnitText">hertz</field>
-</param>
-<param humanName="Raw Control stream rate to ground station" name="SR3_RAW_CTRL" documentation="Raw Control stream rate to ground station" user="Advanced">
 <field name="Range">0 10</field>
 <field name="Increment">1</field>
+</param>
+<param humanName="Raw Control stream rate to ground station" name="SR3_RAW_CTRL" documentation="Raw Control stream rate to ground station" user="Advanced">
 <field name="Units">Hz</field>
 <field name="UnitText">hertz</field>
-</param>
-<param humanName="Position stream rate to ground station" name="SR3_POSITION" documentation="Position stream rate to ground station" user="Advanced">
 <field name="Range">0 10</field>
 <field name="Increment">1</field>
+</param>
+<param humanName="Position stream rate to ground station" name="SR3_POSITION" documentation="Position stream rate to ground station" user="Advanced">
 <field name="Units">Hz</field>
 <field name="UnitText">hertz</field>
-</param>
-<param humanName="Extra data type 1 stream rate to ground station" name="SR3_EXTRA1" documentation="Extra data type 1 stream rate to ground station" user="Advanced">
 <field name="Range">0 10</field>
 <field name="Increment">1</field>
+</param>
+<param humanName="Extra data type 1 stream rate to ground station" name="SR3_EXTRA1" documentation="Extra data type 1 stream rate to ground station" user="Advanced">
 <field name="Units">Hz</field>
 <field name="UnitText">hertz</field>
-</param>
-<param humanName="Extra data type 2 stream rate to ground station" name="SR3_EXTRA2" documentation="Extra data type 2 stream rate to ground station" user="Advanced">
 <field name="Range">0 10</field>
 <field name="Increment">1</field>
+</param>
+<param humanName="Extra data type 2 stream rate to ground station" name="SR3_EXTRA2" documentation="Extra data type 2 stream rate to ground station" user="Advanced">
 <field name="Units">Hz</field>
 <field name="UnitText">hertz</field>
-</param>
-<param humanName="Extra data type 3 stream rate to ground station" name="SR3_EXTRA3" documentation="Extra data type 3 stream rate to ground station" user="Advanced">
 <field name="Range">0 10</field>
 <field name="Increment">1</field>
+</param>
+<param humanName="Extra data type 3 stream rate to ground station" name="SR3_EXTRA3" documentation="Extra data type 3 stream rate to ground station" user="Advanced">
 <field name="Units">Hz</field>
 <field name="UnitText">hertz</field>
-</param>
-<param humanName="Parameter stream rate to ground station" name="SR3_PARAMS" documentation="Parameter stream rate to ground station" user="Advanced">
 <field name="Range">0 10</field>
 <field name="Increment">1</field>
+</param>
+<param humanName="Parameter stream rate to ground station" name="SR3_PARAMS" documentation="Parameter stream rate to ground station" user="Advanced">
 <field name="Units">Hz</field>
 <field name="UnitText">hertz</field>
+<field name="Range">0 10</field>
+<field name="Increment">1</field>
 </param>
 </parameters>
 <parameters name="SRTL_">
 <param humanName="SmartRTL accuracy" name="SRTL_ACCURACY" documentation="SmartRTL accuracy. The minimum distance between points." user="Advanced">
-<field name="Range">0 10</field>
 <field name="Units">m</field>
 <field name="UnitText">meters</field>
+<field name="Range">0 10</field>
 </param>
 <param humanName="SmartRTL maximum number of points on path" name="SRTL_POINTS" documentation="SmartRTL maximum number of points on path. Set to 0 to disable SmartRTL.  100 points consumes about 3k of memory." user="Advanced">
 <field name="Range">0 500</field>
@@ -12504,19 +12670,19 @@
 <field name="ReadOnly">True</field>
 </param>
 <param humanName="Total FlightTime" name="STAT_FLTTIME" documentation="Total FlightTime (seconds)" user="Standard">
-<field name="ReadOnly">True</field>
 <field name="Units">s</field>
 <field name="UnitText">seconds</field>
+<field name="ReadOnly">True</field>
 </param>
 <param humanName="Total RunTime" name="STAT_RUNTIME" documentation="Total time autopilot has run" user="Standard">
-<field name="ReadOnly">True</field>
 <field name="Units">s</field>
 <field name="UnitText">seconds</field>
+<field name="ReadOnly">True</field>
 </param>
 <param humanName="Statistics Reset Time" name="STAT_RESET" documentation="Seconds since January 1st 2016 (Unix epoch+1451606400) since statistics reset (set to 0 to reset statistics)" user="Standard">
-<field name="ReadOnly">True</field>
 <field name="Units">s</field>
 <field name="UnitText">seconds</field>
+<field name="ReadOnly">True</field>
 </param>
 </parameters>
 <parameters name="VISO">
@@ -12560,24 +12726,24 @@
 <field name="Increment">1</field>
 </param>
 <param humanName="Wheel radius" name="WENC_RADIUS" documentation="Wheel radius" user="Standard">
-<field name="Increment">0.001</field>
 <field name="Units">m</field>
 <field name="UnitText">meters</field>
+<field name="Increment">0.001</field>
 </param>
 <param humanName="Wheel's X position offset" name="WENC_POS_X" documentation="X position of the center of the wheel in body frame. Positive X is forward of the origin." user="Standard">
-<field name="Increment">0.01</field>
 <field name="Units">m</field>
 <field name="UnitText">meters</field>
+<field name="Increment">0.01</field>
 </param>
 <param humanName="Wheel's Y position offset" name="WENC_POS_Y" documentation="Y position of the center of the wheel in body frame. Positive Y is to the right of the origin." user="Standard">
-<field name="Increment">0.01</field>
 <field name="Units">m</field>
 <field name="UnitText">meters</field>
+<field name="Increment">0.01</field>
 </param>
 <param humanName="Wheel's Z position offset" name="WENC_POS_Z" documentation="Z position of the center of the wheel in body frame. Positive Z is down from the origin." user="Standard">
-<field name="Increment">0.01</field>
 <field name="Units">m</field>
 <field name="UnitText">meters</field>
+<field name="Increment">0.01</field>
 </param>
 <param humanName="Input Pin A" name="WENC_PINA" documentation="Input Pin A" user="Standard">
 <values>
@@ -12611,24 +12777,24 @@
 <field name="Increment">1</field>
 </param>
 <param humanName="Wheel2's radius" name="WENC2_RADIUS" documentation="Wheel2's radius" user="Standard">
-<field name="Increment">0.001</field>
 <field name="Units">m</field>
 <field name="UnitText">meters</field>
+<field name="Increment">0.001</field>
 </param>
 <param humanName="Wheel2's X position offset" name="WENC2_POS_X" documentation="X position of the center of the second wheel in body frame. Positive X is forward of the origin." user="Standard">
-<field name="Increment">0.01</field>
 <field name="Units">m</field>
 <field name="UnitText">meters</field>
+<field name="Increment">0.01</field>
 </param>
 <param humanName="Wheel2's Y position offset" name="WENC2_POS_Y" documentation="Y position of the center of the second wheel in body frame. Positive Y is to the right of the origin." user="Standard">
-<field name="Increment">0.01</field>
 <field name="Units">m</field>
 <field name="UnitText">meters</field>
+<field name="Increment">0.01</field>
 </param>
 <param humanName="Wheel2's Z position offset" name="WENC2_POS_Z" documentation="Z position of the center of the second wheel in body frame. Positive Z is down from the origin." user="Standard">
-<field name="Increment">0.01</field>
 <field name="Units">m</field>
 <field name="UnitText">meters</field>
+<field name="Increment">0.01</field>
 </param>
 <param humanName="Second Encoder Input Pin A" name="WENC2_PINA" documentation="Second Encoder Input Pin A" user="Standard">
 <values>
@@ -12660,7 +12826,10 @@
 <value code="1">Heading when armed</value>
 <value code="2">RC input offset heading when armed</value>
 <value code="3">Analog</value>
+<value code="4">NMEA</value>
+<value code="10">SITL</value>
 </values>
+<field name="RebootRequired">True</field>
 </param>
 <param humanName="Wind vane sensor RC Input Channel" name="WNDVN_RC_IN_NO" documentation="RC Input Channel to use as wind angle value" user="Standard">
 <field name="Range">0 16</field>
@@ -12683,44 +12852,45 @@
 </values>
 </param>
 <param humanName="Wind vane voltage minimum" name="WNDVN_DIR_V_MIN" documentation="Minimum voltage supplied by analog wind vane" user="Standard">
-<field name="Range">0 5.0</field>
-<field name="Increment">0.01</field>
 <field name="Units">V</field>
 <field name="UnitText">volt</field>
+<field name="Increment">0.01</field>
+<field name="Range">0 5.0</field>
 </param>
 <param humanName="Wind vane voltage maximum" name="WNDVN_DIR_V_MAX" documentation="Maximum voltage supplied by analog wind vane" user="Standard">
-<field name="Range">0 5.0</field>
-<field name="Increment">0.01</field>
 <field name="Units">V</field>
 <field name="UnitText">volt</field>
+<field name="Increment">0.01</field>
+<field name="Range">0 5.0</field>
 </param>
 <param humanName="Wind vane headwind offset" name="WNDVN_DIR_OFS" documentation="Angle offset when analog windvane is indicating a headwind, ie 0 degress relative to vehicle" user="Standard">
-<field name="Range">0 360</field>
-<field name="Increment">1</field>
 <field name="Units">deg</field>
 <field name="UnitText">degrees</field>
+<field name="Increment">1</field>
+<field name="Range">0 360</field>
 </param>
 <param humanName="Wind vane direction low pass filter frequency" name="WNDVN_DIR_FILT" documentation="Wind vane direction low pass filter frequency, a value of -1 disables filter" user="Standard">
 <field name="Units">Hz</field>
 <field name="UnitText">hertz</field>
 </param>
-<param humanName="Wind vane calibration start" name="WNDVN_CAL" documentation="Start wind vane calibration by setting this to 1" user="Standard">
+<param humanName="Wind vane calibration start" name="WNDVN_CAL" documentation="Start wind vane calibration by setting this to 1 or 2" user="Standard">
 <values>
 <value code="0">None</value>
-<value code=" 1">Calibrate</value>
+<value code=" 1">Calibrate direction</value>
+<value code=" 2">Calibrate speed</value>
 </values>
 </param>
 <param humanName="Wind vane deadzone when using analog sensor" name="WNDVN_DIR_DZ" documentation="Wind vane deadzone when using analog sensor" user="Standard">
-<field name="Range">0 360</field>
-<field name="Increment">1</field>
 <field name="Units">deg</field>
 <field name="UnitText">degrees</field>
+<field name="Increment">1</field>
+<field name="Range">0 360</field>
 </param>
 <param humanName="Wind vane cut off wind speed" name="WNDVN_SPEED_MIN" documentation="Wind vane direction will be ignored when apparent wind speeds are below this value (if wind speed sensor is present).  If the apparent wind is consistently below this value the vane will not work" user="Standard">
-<field name="Range">0 5</field>
-<field name="Increment">0.1</field>
 <field name="Units">m/s</field>
 <field name="UnitText">meters per second</field>
+<field name="Increment">0.1</field>
+<field name="Range">0 5</field>
 </param>
 <param humanName="Wind speed sensor Type" name="WNDVN_SPEED_TYPE" documentation="Wind speed sensor type" user="Standard">
 <values>
@@ -12728,8 +12898,10 @@
 <value code="1">Airspeed library</value>
 <value code="2">Modern Devices Wind Sensor</value>
 <value code="3">RPM library</value>
+<value code="4">NMEA</value>
 <value code="10">SITL</value>
 </values>
+<field name="RebootRequired">True</field>
 </param>
 <param humanName="Wind vane speed sensor analog pin" name="WNDVN_SPEED_PIN" documentation="Wind speed analog speed input pin for Modern Devices Wind Sensor rev. p" user="Standard">
 <values>
@@ -12764,16 +12936,48 @@
 </values>
 </param>
 <param humanName="Wind speed sensor analog voltage offset" name="WNDVN_SPEED_OFS" documentation="Wind sensor analog voltage offset at zero wind speed" user="Standard">
-<field name="Range">0 3.3</field>
-<field name="Increment">0.01</field>
 <field name="Units">V</field>
 <field name="UnitText">volt</field>
+<field name="Increment">0.01</field>
+<field name="Range">0 3.3</field>
 </param>
 <param humanName="Wind speed low pass filter frequency" name="WNDVN_SPEED_FILT" documentation="Wind speed low pass filter frequency, a value of -1 disables filter" user="Standard">
 <field name="Units">Hz</field>
 <field name="UnitText">hertz</field>
 </param>
 </parameters>
+<parameters name="WP_">
+<param humanName="Waypoint speed default" name="WP_SPEED" documentation="Waypoint speed default" user="Standard">
+<field name="Units">m/s</field>
+<field name="UnitText">meters per second</field>
+<field name="Range">0 100</field>
+<field name="Increment">0.1</field>
+</param>
+<param humanName="Waypoint radius" name="WP_RADIUS" documentation="The distance in meters from a waypoint when we consider the waypoint has been reached. This determines when the vehicle will turn toward the next waypoint." user="Standard">
+<field name="Units">m</field>
+<field name="UnitText">meters</field>
+<field name="Range">0 100</field>
+<field name="Increment">0.1</field>
+</param>
+<param humanName="Waypoint overshoot maximum" name="WP_OVERSHOOT" documentation="Waypoint overshoot maximum in meters.  The vehicle will attempt to stay within this many meters of the track as it completes one waypoint and moves to the next." user="Standard">
+<field name="Units">m</field>
+<field name="UnitText">meters</field>
+<field name="Range">0 10</field>
+<field name="Increment">0.1</field>
+</param>
+<param humanName="Waypoint Pivot Angle" name="WP_PIVOT_ANGLE" documentation="Pivot when the difference bewteen the vehicle's heading and it's target heading is more than this many degrees.  Set to zero to disable pivot turns" user="Standard">
+<field name="Units">deg</field>
+<field name="UnitText">degrees</field>
+<field name="Range">0 360</field>
+<field name="Increment">1</field>
+</param>
+<param humanName="Waypoint Pivot Turn Rate" name="WP_PIVOT_RATE" documentation="Turn rate during pivot turns" user="Standard">
+<field name="Units">deg/s</field>
+<field name="UnitText">degrees per second</field>
+<field name="Range">0 360</field>
+<field name="Increment">1</field>
+</param>
+</parameters>
 <parameters name="WRC">
 <param humanName="Wheel rate control enable/disable" name="WRC_ENABLE" documentation="Enable or disable wheel rate control" user="Standard">
 <values>
@@ -12782,9 +12986,9 @@
 </values>
 </param>
 <param humanName="Wheel max rotation rate" name="WRC_RATE_MAX" documentation="Wheel max rotation rate" user="Standard">
-<field name="Range">0 200</field>
 <field name="Units">rad/s</field>
 <field name="UnitText">radians per second</field>
+<field name="Range">0 200</field>
 </param>
 <param humanName="Wheel rate control feed forward gain" name="WRC_RATE_FF" documentation="Wheel rate control feed forward gain.  Desired rate (in radians/sec) is multiplied by this constant and output to output (in the range -1 to +1)" user="Standard">
 <field name="Range">0.100 2.000</field>