diff --git a/src/FirmwarePlugin/PX4/PX4ParameterFactMetaData.xml b/src/FirmwarePlugin/PX4/PX4ParameterFactMetaData.xml
index eee5b8e9f0c3594c41e49b23c3df081055336d63..cfe7ec3508e5a8bebd37dc3e758ffd38b13d7f05 100644
--- a/src/FirmwarePlugin/PX4/PX4ParameterFactMetaData.xml
+++ b/src/FirmwarePlugin/PX4/PX4ParameterFactMetaData.xml
@@ -5007,6 +5007,17 @@ the setpoint will be capped to MPC_XY_VEL_MAX
+
+ Motor Ordering
+ Determines the motor ordering. This can be used for example in combination with a 4-in-1 ESC that assumes a motor ordering which is different from PX4. ONLY supported for Quads. ONLY supported for fmu output (Pixracer or Omnibus F4). When changing this, make sure to test the motor response without props first.
+ 0
+ 1
+ drivers/px4fmu
+
+ PX4
+ Betaflight / Cleanflight
+
+
Minimum motor rise time (slew rate limit)
Minimum time allowed for the motor input signal to pass through a range of 1000 PWM units. A value x means that the motor signal can only go from 1000 to 2000 PWM in maximum x seconds. Zero means that slew rate limiting is disabled.
@@ -7498,13 +7509,14 @@ the setpoint will be capped to MPC_XY_VEL_MAX
-
- RTL land location
- Land at the home location or planned mission landing
+
+ Return type
+ Fly straight to the home location or planned mission landing and land there or use the planned mission to get to those points.
modules/navigator
- Home Position
- Planned Landing (Mission)
+ Return home via direct path
+ Return to a planned mission landing, if available, via direct path, else return to home via direct path
+ Return to a planned mission landing, if available, using the mission path, else return to home via the reverse mission path