diff --git a/src/FirmwarePlugin/PX4/PX4ParameterFactMetaData.xml b/src/FirmwarePlugin/PX4/PX4ParameterFactMetaData.xml
index 0f8aeba83d9101ec182b8792be6e3513d91feda8..22a883ae27583f0737e1c014ad35548afb65004e 100644
--- a/src/FirmwarePlugin/PX4/PX4ParameterFactMetaData.xml
+++ b/src/FirmwarePlugin/PX4/PX4ParameterFactMetaData.xml
@@ -1573,7 +1573,7 @@ This parameter is used when the magnetometer fusion method is set automatically
       <decimal>6</decimal>
       <scope>modules/ekf2</scope>
     </parameter>
-    <parameter default="0" name="EKF2_MAG_DECL" type="FLOAT" volatile="true">
+    <parameter category="System" default="0" name="EKF2_MAG_DECL" type="FLOAT" volatile="true">
       <short_desc>Magnetic declination</short_desc>
       <unit>deg</unit>
       <decimal>1</decimal>
@@ -4040,19 +4040,6 @@ Used to calculate increased terrain random walk nosie due to movement</short_des
       <increment>0.5</increment>
       <scope>modules/navigator</scope>
     </parameter>
-    <parameter default="1" name="MIS_YAWMODE" type="INT32">
-      <short_desc>Multirotor only. Yaw setpoint mode</short_desc>
-      <long_desc>The values are defined in the enum mission_altitude_mode</long_desc>
-      <min>0</min>
-      <max>3</max>
-      <scope>modules/navigator</scope>
-      <values>
-        <value code="0">Heading as set by waypoint</value>
-        <value code="1">Heading towards waypoint</value>
-        <value code="2">Heading towards home</value>
-        <value code="3">Heading away from home</value>
-      </values>
-    </parameter>
     <parameter default="12.0" name="MIS_YAW_ERR" type="FLOAT">
       <short_desc>Max yaw error in degrees needed for waypoint heading acceptance</short_desc>
       <min>0</min>
@@ -4072,6 +4059,19 @@ Used to calculate increased terrain random walk nosie due to movement</short_des
       <increment>1</increment>
       <scope>modules/navigator</scope>
     </parameter>
+    <parameter default="0" name="MPC_YAW_MODE" type="INT32">
+      <short_desc>Yaw mode</short_desc>
+      <long_desc>Specifies the heading in Auto.</long_desc>
+      <min>0</min>
+      <max>2</max>
+      <scope>modules/mc_pos_control</scope>
+      <values>
+        <value code="0">towards waypoint</value>
+        <value code="1">towards home</value>
+        <value code="2">away from home</value>
+        <value code="3">along trajectory</value>
+      </values>
+    </parameter>
     <parameter default="10.0" name="NAV_ACC_RAD" type="FLOAT">
       <short_desc>Acceptance Radius</short_desc>
       <long_desc>Default acceptance radius, overridden by acceptance radius of waypoint if set. For fixed wing the L1 turning distance is used for horizontal acceptance.</long_desc>
@@ -7805,7 +7805,7 @@ to takeoff is reached</short_desc>
     </parameter>
   </group>
   <group name="Sensor Calibration">
-    <parameter category="Developer" default="1" name="CAL_ACC0_EN" type="INT32">
+    <parameter category="System" default="1" name="CAL_ACC0_EN" type="INT32">
       <short_desc>Accelerometer 0 enabled</short_desc>
       <boolean />
       <scope>modules/sensors</scope>
@@ -7838,7 +7838,7 @@ to takeoff is reached</short_desc>
       <short_desc>Accelerometer Z-axis scaling factor</short_desc>
       <scope>modules/sensors</scope>
     </parameter>
-    <parameter category="Developer" default="1" name="CAL_ACC1_EN" type="INT32">
+    <parameter category="System" default="1" name="CAL_ACC1_EN" type="INT32">
       <short_desc>Accelerometer 1 enabled</short_desc>
       <boolean />
       <scope>modules/sensors</scope>
@@ -7871,7 +7871,7 @@ to takeoff is reached</short_desc>
       <short_desc>Accelerometer Z-axis scaling factor</short_desc>
       <scope>modules/sensors</scope>
     </parameter>
-    <parameter category="Developer" default="1" name="CAL_ACC2_EN" type="INT32">
+    <parameter category="System" default="1" name="CAL_ACC2_EN" type="INT32">
       <short_desc>Accelerometer 2 enabled</short_desc>
       <boolean />
       <scope>modules/sensors</scope>
@@ -7908,148 +7908,123 @@ to takeoff is reached</short_desc>
       <short_desc>Primary accel ID</short_desc>
       <scope>modules/sensors</scope>
     </parameter>
-    <parameter default="0" name="CAL_AIR_CMODEL" type="INT32">
-      <short_desc>Airspeed sensor compensation model for the SDP3x</short_desc>
-      <long_desc>Model with Pitot CAL_AIR_TUBED_MM: Not used, 1.5 mm tubes assumed. CAL_AIR_TUBELEN: Length of the tubes connecting the pitot to the sensor. Model without Pitot (1.5 mm tubes) CAL_AIR_TUBED_MM: Not used, 1.5 mm tubes assumed. CAL_AIR_TUBELEN: Length of the tubes connecting the pitot to the sensor. Tube Pressure Drop CAL_AIR_TUBED_MM: Diameter in mm of the pitot and tubes, must have the same diameter. CAL_AIR_TUBELEN: Length of the tubes connecting the pitot to the sensor and the static + dynamic port length of the pitot.</long_desc>
-      <scope>modules/sensors</scope>
-      <values>
-        <value code="0">Model with Pitot</value>
-        <value code="1">Model without Pitot (1.5 mm tubes)</value>
-        <value code="2">Tube Pressure Drop</value>
-      </values>
-    </parameter>
-    <parameter default="1.5" name="CAL_AIR_TUBED_MM" type="FLOAT">
-      <short_desc>Airspeed sensor tube diameter. Only used for the Tube Pressure Drop Compensation</short_desc>
-      <min>0.1</min>
-      <max>100</max>
-      <unit>millimeter</unit>
-      <scope>modules/sensors</scope>
-    </parameter>
-    <parameter default="0.2" name="CAL_AIR_TUBELEN" type="FLOAT">
-      <short_desc>Airspeed sensor tube length</short_desc>
-      <long_desc>See the CAL_AIR_CMODEL explanation on how this parameter should be set.</long_desc>
-      <min>0.01</min>
-      <max>2.00</max>
-      <unit>meter</unit>
-      <scope>modules/sensors</scope>
-    </parameter>
-    <parameter default="0" name="CAL_BARO_PRIME" type="INT32">
+    <parameter category="System" default="0" name="CAL_BARO_PRIME" type="INT32">
       <short_desc>Primary baro ID</short_desc>
       <scope>modules/sensors</scope>
     </parameter>
-    <parameter default="1" name="CAL_GYRO0_EN" type="INT32">
+    <parameter category="System" default="1" name="CAL_GYRO0_EN" type="INT32">
       <short_desc>Gyro 0 enabled</short_desc>
       <boolean />
       <scope>modules/sensors</scope>
     </parameter>
-    <parameter default="0" name="CAL_GYRO0_ID" type="INT32">
+    <parameter category="System" default="0" name="CAL_GYRO0_ID" type="INT32">
       <short_desc>ID of the Gyro that the calibration is for</short_desc>
       <scope>modules/sensors</scope>
     </parameter>
-    <parameter default="0.0" name="CAL_GYRO0_XOFF" type="FLOAT">
+    <parameter category="System" default="0.0" name="CAL_GYRO0_XOFF" type="FLOAT">
       <short_desc>Gyro X-axis offset</short_desc>
       <scope>modules/sensors</scope>
     </parameter>
-    <parameter default="1.0" name="CAL_GYRO0_XSCALE" type="FLOAT">
+    <parameter category="System" default="1.0" name="CAL_GYRO0_XSCALE" type="FLOAT">
       <short_desc>Gyro X-axis scaling factor</short_desc>
       <scope>modules/sensors</scope>
     </parameter>
-    <parameter default="0.0" name="CAL_GYRO0_YOFF" type="FLOAT">
+    <parameter category="System" default="0.0" name="CAL_GYRO0_YOFF" type="FLOAT">
       <short_desc>Gyro Y-axis offset</short_desc>
       <scope>modules/sensors</scope>
     </parameter>
-    <parameter default="1.0" name="CAL_GYRO0_YSCALE" type="FLOAT">
+    <parameter category="System" default="1.0" name="CAL_GYRO0_YSCALE" type="FLOAT">
       <short_desc>Gyro Y-axis scaling factor</short_desc>
       <scope>modules/sensors</scope>
     </parameter>
-    <parameter default="0.0" name="CAL_GYRO0_ZOFF" type="FLOAT">
+    <parameter category="System" default="0.0" name="CAL_GYRO0_ZOFF" type="FLOAT">
       <short_desc>Gyro Z-axis offset</short_desc>
       <scope>modules/sensors</scope>
     </parameter>
-    <parameter default="1.0" name="CAL_GYRO0_ZSCALE" type="FLOAT">
+    <parameter category="System" default="1.0" name="CAL_GYRO0_ZSCALE" type="FLOAT">
       <short_desc>Gyro Z-axis scaling factor</short_desc>
       <scope>modules/sensors</scope>
     </parameter>
-    <parameter default="1" name="CAL_GYRO1_EN" type="INT32">
+    <parameter category="System" default="1" name="CAL_GYRO1_EN" type="INT32">
       <short_desc>Gyro 1 enabled</short_desc>
       <boolean />
       <scope>modules/sensors</scope>
     </parameter>
-    <parameter default="0" name="CAL_GYRO1_ID" type="INT32">
+    <parameter category="System" default="0" name="CAL_GYRO1_ID" type="INT32">
       <short_desc>ID of the Gyro that the calibration is for</short_desc>
       <scope>modules/sensors</scope>
     </parameter>
-    <parameter default="0.0" name="CAL_GYRO1_XOFF" type="FLOAT">
+    <parameter category="System" default="0.0" name="CAL_GYRO1_XOFF" type="FLOAT">
       <short_desc>Gyro X-axis offset</short_desc>
       <scope>modules/sensors</scope>
     </parameter>
-    <parameter default="1.0" name="CAL_GYRO1_XSCALE" type="FLOAT">
+    <parameter category="System" default="1.0" name="CAL_GYRO1_XSCALE" type="FLOAT">
       <short_desc>Gyro X-axis scaling factor</short_desc>
       <scope>modules/sensors</scope>
     </parameter>
-    <parameter default="0.0" name="CAL_GYRO1_YOFF" type="FLOAT">
+    <parameter category="System" default="0.0" name="CAL_GYRO1_YOFF" type="FLOAT">
       <short_desc>Gyro Y-axis offset</short_desc>
       <scope>modules/sensors</scope>
     </parameter>
-    <parameter default="1.0" name="CAL_GYRO1_YSCALE" type="FLOAT">
+    <parameter category="System" default="1.0" name="CAL_GYRO1_YSCALE" type="FLOAT">
       <short_desc>Gyro Y-axis scaling factor</short_desc>
       <scope>modules/sensors</scope>
     </parameter>
-    <parameter default="0.0" name="CAL_GYRO1_ZOFF" type="FLOAT">
+    <parameter category="System" default="0.0" name="CAL_GYRO1_ZOFF" type="FLOAT">
       <short_desc>Gyro Z-axis offset</short_desc>
       <scope>modules/sensors</scope>
     </parameter>
-    <parameter default="1.0" name="CAL_GYRO1_ZSCALE" type="FLOAT">
+    <parameter category="System" default="1.0" name="CAL_GYRO1_ZSCALE" type="FLOAT">
       <short_desc>Gyro Z-axis scaling factor</short_desc>
       <scope>modules/sensors</scope>
     </parameter>
-    <parameter default="1" name="CAL_GYRO2_EN" type="INT32">
+    <parameter category="System" default="1" name="CAL_GYRO2_EN" type="INT32">
       <short_desc>Gyro 2 enabled</short_desc>
       <boolean />
       <scope>modules/sensors</scope>
     </parameter>
-    <parameter default="0" name="CAL_GYRO2_ID" type="INT32">
+    <parameter category="System" default="0" name="CAL_GYRO2_ID" type="INT32">
       <short_desc>ID of the Gyro that the calibration is for</short_desc>
       <scope>modules/sensors</scope>
     </parameter>
-    <parameter default="0.0" name="CAL_GYRO2_XOFF" type="FLOAT">
+    <parameter category="System" default="0.0" name="CAL_GYRO2_XOFF" type="FLOAT">
       <short_desc>Gyro X-axis offset</short_desc>
       <scope>modules/sensors</scope>
     </parameter>
-    <parameter default="1.0" name="CAL_GYRO2_XSCALE" type="FLOAT">
+    <parameter category="System" default="1.0" name="CAL_GYRO2_XSCALE" type="FLOAT">
       <short_desc>Gyro X-axis scaling factor</short_desc>
       <scope>modules/sensors</scope>
     </parameter>
-    <parameter default="0.0" name="CAL_GYRO2_YOFF" type="FLOAT">
+    <parameter category="System" default="0.0" name="CAL_GYRO2_YOFF" type="FLOAT">
       <short_desc>Gyro Y-axis offset</short_desc>
       <scope>modules/sensors</scope>
     </parameter>
-    <parameter default="1.0" name="CAL_GYRO2_YSCALE" type="FLOAT">
+    <parameter category="System" default="1.0" name="CAL_GYRO2_YSCALE" type="FLOAT">
       <short_desc>Gyro Y-axis scaling factor</short_desc>
       <scope>modules/sensors</scope>
     </parameter>
-    <parameter default="0.0" name="CAL_GYRO2_ZOFF" type="FLOAT">
+    <parameter category="System" default="0.0" name="CAL_GYRO2_ZOFF" type="FLOAT">
       <short_desc>Gyro Z-axis offset</short_desc>
       <scope>modules/sensors</scope>
     </parameter>
-    <parameter default="1.0" name="CAL_GYRO2_ZSCALE" type="FLOAT">
+    <parameter category="System" default="1.0" name="CAL_GYRO2_ZSCALE" type="FLOAT">
       <short_desc>Gyro Z-axis scaling factor</short_desc>
       <scope>modules/sensors</scope>
     </parameter>
-    <parameter default="0" name="CAL_GYRO_PRIME" type="INT32">
+    <parameter category="System" default="0" name="CAL_GYRO_PRIME" type="INT32">
       <short_desc>Primary gyro ID</short_desc>
       <scope>modules/sensors</scope>
     </parameter>
-    <parameter default="1" name="CAL_MAG0_EN" type="INT32">
+    <parameter category="System" default="1" name="CAL_MAG0_EN" type="INT32">
       <short_desc>Mag 0 enabled</short_desc>
       <boolean />
       <scope>modules/sensors</scope>
     </parameter>
-    <parameter default="0" name="CAL_MAG0_ID" type="INT32">
+    <parameter category="System" default="0" name="CAL_MAG0_ID" type="INT32">
       <short_desc>ID of Magnetometer the calibration is for</short_desc>
       <scope>modules/sensors</scope>
     </parameter>
-    <parameter default="-1" name="CAL_MAG0_ROT" type="INT32">
+    <parameter category="System" default="-1" name="CAL_MAG0_ROT" type="INT32">
       <short_desc>Rotation of magnetometer 0 relative to airframe</short_desc>
       <long_desc>An internal magnetometer will force a value of -1, so a GCS should only attempt to configure the rotation if the value is greater than or equal to zero.</long_desc>
       <min>-1</min>
@@ -8086,40 +8061,40 @@ to takeoff is reached</short_desc>
         <value code="25">Pitch 270°</value>
       </values>
     </parameter>
-    <parameter default="0.0" name="CAL_MAG0_XOFF" type="FLOAT">
+    <parameter category="System" default="0.0" name="CAL_MAG0_XOFF" type="FLOAT">
       <short_desc>Magnetometer X-axis offset</short_desc>
       <scope>modules/sensors</scope>
     </parameter>
-    <parameter default="1.0" name="CAL_MAG0_XSCALE" type="FLOAT">
+    <parameter category="System" default="1.0" name="CAL_MAG0_XSCALE" type="FLOAT">
       <short_desc>Magnetometer X-axis scaling factor</short_desc>
       <scope>modules/sensors</scope>
     </parameter>
-    <parameter default="0.0" name="CAL_MAG0_YOFF" type="FLOAT">
+    <parameter category="System" default="0.0" name="CAL_MAG0_YOFF" type="FLOAT">
       <short_desc>Magnetometer Y-axis offset</short_desc>
       <scope>modules/sensors</scope>
     </parameter>
-    <parameter default="1.0" name="CAL_MAG0_YSCALE" type="FLOAT">
+    <parameter category="System" default="1.0" name="CAL_MAG0_YSCALE" type="FLOAT">
       <short_desc>Magnetometer Y-axis scaling factor</short_desc>
       <scope>modules/sensors</scope>
     </parameter>
-    <parameter default="0.0" name="CAL_MAG0_ZOFF" type="FLOAT">
+    <parameter category="System" default="0.0" name="CAL_MAG0_ZOFF" type="FLOAT">
       <short_desc>Magnetometer Z-axis offset</short_desc>
       <scope>modules/sensors</scope>
     </parameter>
-    <parameter default="1.0" name="CAL_MAG0_ZSCALE" type="FLOAT">
+    <parameter category="System" default="1.0" name="CAL_MAG0_ZSCALE" type="FLOAT">
       <short_desc>Magnetometer Z-axis scaling factor</short_desc>
       <scope>modules/sensors</scope>
     </parameter>
-    <parameter default="1" name="CAL_MAG1_EN" type="INT32">
+    <parameter category="System" default="1" name="CAL_MAG1_EN" type="INT32">
       <short_desc>Mag 1 enabled</short_desc>
       <boolean />
       <scope>modules/sensors</scope>
     </parameter>
-    <parameter default="0" name="CAL_MAG1_ID" type="INT32">
+    <parameter category="System" default="0" name="CAL_MAG1_ID" type="INT32">
       <short_desc>ID of Magnetometer the calibration is for</short_desc>
       <scope>modules/sensors</scope>
     </parameter>
-    <parameter default="-1" name="CAL_MAG1_ROT" type="INT32">
+    <parameter category="System" default="-1" name="CAL_MAG1_ROT" type="INT32">
       <short_desc>Rotation of magnetometer 1 relative to airframe</short_desc>
       <long_desc>An internal magnetometer will force a value of -1, so a GCS should only attempt to configure the rotation if the value is greater than or equal to zero.</long_desc>
       <min>-1</min>
@@ -8156,40 +8131,40 @@ to takeoff is reached</short_desc>
         <value code="25">Pitch 270°</value>
       </values>
     </parameter>
-    <parameter default="0.0" name="CAL_MAG1_XOFF" type="FLOAT">
+    <parameter category="System" default="0.0" name="CAL_MAG1_XOFF" type="FLOAT">
       <short_desc>Magnetometer X-axis offset</short_desc>
       <scope>modules/sensors</scope>
     </parameter>
-    <parameter default="1.0" name="CAL_MAG1_XSCALE" type="FLOAT">
+    <parameter category="System" default="1.0" name="CAL_MAG1_XSCALE" type="FLOAT">
       <short_desc>Magnetometer X-axis scaling factor</short_desc>
       <scope>modules/sensors</scope>
     </parameter>
-    <parameter default="0.0" name="CAL_MAG1_YOFF" type="FLOAT">
+    <parameter category="System" default="0.0" name="CAL_MAG1_YOFF" type="FLOAT">
       <short_desc>Magnetometer Y-axis offset</short_desc>
       <scope>modules/sensors</scope>
     </parameter>
-    <parameter default="1.0" name="CAL_MAG1_YSCALE" type="FLOAT">
+    <parameter category="System" default="1.0" name="CAL_MAG1_YSCALE" type="FLOAT">
       <short_desc>Magnetometer Y-axis scaling factor</short_desc>
       <scope>modules/sensors</scope>
     </parameter>
-    <parameter default="0.0" name="CAL_MAG1_ZOFF" type="FLOAT">
+    <parameter category="System" default="0.0" name="CAL_MAG1_ZOFF" type="FLOAT">
       <short_desc>Magnetometer Z-axis offset</short_desc>
       <scope>modules/sensors</scope>
     </parameter>
-    <parameter default="1.0" name="CAL_MAG1_ZSCALE" type="FLOAT">
+    <parameter category="System" default="1.0" name="CAL_MAG1_ZSCALE" type="FLOAT">
       <short_desc>Magnetometer Z-axis scaling factor</short_desc>
       <scope>modules/sensors</scope>
     </parameter>
-    <parameter default="1" name="CAL_MAG2_EN" type="INT32">
+    <parameter category="System" default="1" name="CAL_MAG2_EN" type="INT32">
       <short_desc>Mag 2 enabled</short_desc>
       <boolean />
       <scope>modules/sensors</scope>
     </parameter>
-    <parameter default="0" name="CAL_MAG2_ID" type="INT32">
+    <parameter category="System" default="0" name="CAL_MAG2_ID" type="INT32">
       <short_desc>ID of Magnetometer the calibration is for</short_desc>
       <scope>modules/sensors</scope>
     </parameter>
-    <parameter default="-1" name="CAL_MAG2_ROT" type="INT32">
+    <parameter category="System" default="-1" name="CAL_MAG2_ROT" type="INT32">
       <short_desc>Rotation of magnetometer 2 relative to airframe</short_desc>
       <long_desc>An internal magnetometer will force a value of -1, so a GCS should only attempt to configure the rotation if the value is greater than or equal to zero.</long_desc>
       <min>-1</min>
@@ -8226,40 +8201,40 @@ to takeoff is reached</short_desc>
         <value code="25">Pitch 270°</value>
       </values>
     </parameter>
-    <parameter default="0.0" name="CAL_MAG2_XOFF" type="FLOAT">
+    <parameter category="System" default="0.0" name="CAL_MAG2_XOFF" type="FLOAT">
       <short_desc>Magnetometer X-axis offset</short_desc>
       <scope>modules/sensors</scope>
     </parameter>
-    <parameter default="1.0" name="CAL_MAG2_XSCALE" type="FLOAT">
+    <parameter category="System" default="1.0" name="CAL_MAG2_XSCALE" type="FLOAT">
       <short_desc>Magnetometer X-axis scaling factor</short_desc>
       <scope>modules/sensors</scope>
     </parameter>
-    <parameter default="0.0" name="CAL_MAG2_YOFF" type="FLOAT">
+    <parameter category="System" default="0.0" name="CAL_MAG2_YOFF" type="FLOAT">
       <short_desc>Magnetometer Y-axis offset</short_desc>
       <scope>modules/sensors</scope>
     </parameter>
-    <parameter default="1.0" name="CAL_MAG2_YSCALE" type="FLOAT">
+    <parameter category="System" default="1.0" name="CAL_MAG2_YSCALE" type="FLOAT">
       <short_desc>Magnetometer Y-axis scaling factor</short_desc>
       <scope>modules/sensors</scope>
     </parameter>
-    <parameter default="0.0" name="CAL_MAG2_ZOFF" type="FLOAT">
+    <parameter category="System" default="0.0" name="CAL_MAG2_ZOFF" type="FLOAT">
       <short_desc>Magnetometer Z-axis offset</short_desc>
       <scope>modules/sensors</scope>
     </parameter>
-    <parameter default="1.0" name="CAL_MAG2_ZSCALE" type="FLOAT">
+    <parameter category="System" default="1.0" name="CAL_MAG2_ZSCALE" type="FLOAT">
       <short_desc>Magnetometer Z-axis scaling factor</short_desc>
       <scope>modules/sensors</scope>
     </parameter>
-    <parameter default="1" name="CAL_MAG3_EN" type="INT32">
+    <parameter category="System" default="1" name="CAL_MAG3_EN" type="INT32">
       <short_desc>Mag 3 enabled</short_desc>
       <boolean />
       <scope>modules/sensors</scope>
     </parameter>
-    <parameter default="0" name="CAL_MAG3_ID" type="INT32">
+    <parameter category="System" default="0" name="CAL_MAG3_ID" type="INT32">
       <short_desc>ID of Magnetometer the calibration is for</short_desc>
       <scope>modules/sensors</scope>
     </parameter>
-    <parameter default="-1" name="CAL_MAG3_ROT" type="INT32">
+    <parameter category="System" default="-1" name="CAL_MAG3_ROT" type="INT32">
       <short_desc>Rotation of magnetometer 2 relative to airframe</short_desc>
       <long_desc>An internal magnetometer will force a value of -1, so a GCS should only attempt to configure the rotation if the value is greater than or equal to zero.</long_desc>
       <min>-1</min>
@@ -8296,31 +8271,31 @@ to takeoff is reached</short_desc>
         <value code="25">Pitch 270°</value>
       </values>
     </parameter>
-    <parameter default="0.0" name="CAL_MAG3_XOFF" type="FLOAT">
+    <parameter category="System" default="0.0" name="CAL_MAG3_XOFF" type="FLOAT">
       <short_desc>Magnetometer X-axis offset</short_desc>
       <scope>modules/sensors</scope>
     </parameter>
-    <parameter default="1.0" name="CAL_MAG3_XSCALE" type="FLOAT">
+    <parameter category="System" default="1.0" name="CAL_MAG3_XSCALE" type="FLOAT">
       <short_desc>Magnetometer X-axis scaling factor</short_desc>
       <scope>modules/sensors</scope>
     </parameter>
-    <parameter default="0.0" name="CAL_MAG3_YOFF" type="FLOAT">
+    <parameter category="System" default="0.0" name="CAL_MAG3_YOFF" type="FLOAT">
       <short_desc>Magnetometer Y-axis offset</short_desc>
       <scope>modules/sensors</scope>
     </parameter>
-    <parameter default="1.0" name="CAL_MAG3_YSCALE" type="FLOAT">
+    <parameter category="System" default="1.0" name="CAL_MAG3_YSCALE" type="FLOAT">
       <short_desc>Magnetometer Y-axis scaling factor</short_desc>
       <scope>modules/sensors</scope>
     </parameter>
-    <parameter default="0.0" name="CAL_MAG3_ZOFF" type="FLOAT">
+    <parameter category="System" default="0.0" name="CAL_MAG3_ZOFF" type="FLOAT">
       <short_desc>Magnetometer Z-axis offset</short_desc>
       <scope>modules/sensors</scope>
     </parameter>
-    <parameter default="1.0" name="CAL_MAG3_ZSCALE" type="FLOAT">
+    <parameter category="System" default="1.0" name="CAL_MAG3_ZSCALE" type="FLOAT">
       <short_desc>Magnetometer Z-axis scaling factor</short_desc>
       <scope>modules/sensors</scope>
     </parameter>
-    <parameter default="0" name="CAL_MAG_PRIME" type="INT32">
+    <parameter category="System" default="0" name="CAL_MAG_PRIME" type="INT32">
       <short_desc>Primary mag ID</short_desc>
       <scope>modules/sensors</scope>
     </parameter>
@@ -8329,7 +8304,7 @@ to takeoff is reached</short_desc>
       <long_desc>Pick the appropriate scaling from the datasheet. this number defines the (linear) conversion from voltage to Pascal (pa). For the MPXV7002DP this is 1000. NOTE: If the sensor always registers zero, try switching the static and dynamic tubes.</long_desc>
       <scope>modules/sensors</scope>
     </parameter>
-    <parameter default="0.0" name="SENS_DPRES_OFF" type="FLOAT">
+    <parameter category="System" default="0.0" name="SENS_DPRES_OFF" type="FLOAT">
       <short_desc>Differential pressure sensor offset</short_desc>
       <long_desc>The offset (zero-reading) in Pascal</long_desc>
       <scope>modules/sensors</scope>
@@ -8366,6 +8341,31 @@ is less than 50% of this value</short_desc>
     </parameter>
   </group>
   <group name="Sensors">
+    <parameter default="0" name="CAL_AIR_CMODEL" type="INT32">
+      <short_desc>Airspeed sensor compensation model for the SDP3x</short_desc>
+      <long_desc>Model with Pitot CAL_AIR_TUBED_MM: Not used, 1.5 mm tubes assumed. CAL_AIR_TUBELEN: Length of the tubes connecting the pitot to the sensor. Model without Pitot (1.5 mm tubes) CAL_AIR_TUBED_MM: Not used, 1.5 mm tubes assumed. CAL_AIR_TUBELEN: Length of the tubes connecting the pitot to the sensor. Tube Pressure Drop CAL_AIR_TUBED_MM: Diameter in mm of the pitot and tubes, must have the same diameter. CAL_AIR_TUBELEN: Length of the tubes connecting the pitot to the sensor and the static + dynamic port length of the pitot.</long_desc>
+      <scope>modules/sensors</scope>
+      <values>
+        <value code="0">Model with Pitot</value>
+        <value code="1">Model without Pitot (1.5 mm tubes)</value>
+        <value code="2">Tube Pressure Drop</value>
+      </values>
+    </parameter>
+    <parameter default="1.5" name="CAL_AIR_TUBED_MM" type="FLOAT">
+      <short_desc>Airspeed sensor tube diameter. Only used for the Tube Pressure Drop Compensation</short_desc>
+      <min>0.1</min>
+      <max>100</max>
+      <unit>millimeter</unit>
+      <scope>modules/sensors</scope>
+    </parameter>
+    <parameter default="0.2" name="CAL_AIR_TUBELEN" type="FLOAT">
+      <short_desc>Airspeed sensor tube length</short_desc>
+      <long_desc>See the CAL_AIR_CMODEL explanation on how this parameter should be set.</long_desc>
+      <min>0.01</min>
+      <max>2.00</max>
+      <unit>meter</unit>
+      <scope>modules/sensors</scope>
+    </parameter>
     <parameter default="63" name="CAL_MAG_SIDES" type="INT32">
       <short_desc>Bitfield selecting mag sides for calibration</short_desc>
       <long_desc>DETECT_ORIENTATION_TAIL_DOWN = 1 DETECT_ORIENTATION_NOSE_DOWN = 2 DETECT_ORIENTATION_LEFT = 4 DETECT_ORIENTATION_RIGHT = 8 DETECT_ORIENTATION_UPSIDE_DOWN = 16 DETECT_ORIENTATION_RIGHTSIDE_UP = 32</long_desc>