diff --git a/src/FirmwarePlugin/PX4/PX4ParameterFactMetaData.xml b/src/FirmwarePlugin/PX4/PX4ParameterFactMetaData.xml
index 772ee02cbd7e673235eceb9e4ff98bf096657fed..397f1e36216865dc37fe7356654d082c5e93626f 100644
--- a/src/FirmwarePlugin/PX4/PX4ParameterFactMetaData.xml
+++ b/src/FirmwarePlugin/PX4/PX4ParameterFactMetaData.xml
@@ -2259,16 +2259,6 @@ This is the ratio of static pressure error to dynamic pressure generated by a wi
       <increment>0.5</increment>
       <scope>modules/fw_att_control</scope>
     </parameter>
-    <parameter default="0.4" name="GND_WR_TC" type="FLOAT">
-      <short_desc>Attitude Wheel Time Constant</short_desc>
-      <long_desc>This defines the latency between a steering step input and the achieved setpoint (inverse to a P gain). Half a second is a good start value and fits for most average systems. Smaller systems may require smaller values, but as this will wear out servos faster, the value should only be decreased as needed.</long_desc>
-      <min>0.4</min>
-      <max>1.0</max>
-      <unit>s</unit>
-      <decimal>2</decimal>
-      <increment>0.05</increment>
-      <scope>modules/gnd_att_control</scope>
-    </parameter>
   </group>
   <group name="FW L1 Control">
     <parameter default="10.0" name="FW_CLMBOUT_DIFF" type="FLOAT">
@@ -2892,6 +2882,16 @@ but also ignore less noise</short_desc>
       <increment>0.005</increment>
       <scope>modules/gnd_att_control</scope>
     </parameter>
+    <parameter default="0.4" name="GND_WR_TC" type="FLOAT">
+      <short_desc>Attitude Wheel Time Constant</short_desc>
+      <long_desc>This defines the latency between a steering step input and the achieved setpoint (inverse to a P gain). Half a second is a good start value and fits for most average systems. Smaller systems may require smaller values, but as this will wear out servos faster, the value should only be decreased as needed.</long_desc>
+      <min>0.4</min>
+      <max>1.0</max>
+      <unit>s</unit>
+      <decimal>2</decimal>
+      <increment>0.05</increment>
+      <scope>modules/gnd_att_control</scope>
+    </parameter>
     <parameter default="90.0" name="GND_W_RMAX" type="FLOAT">
       <short_desc>Maximum wheel steering rate</short_desc>
       <long_desc>This limits the maximum wheel steering rate the controller will output (in degrees per second). Setting a value of zero disables the limit.</long_desc>
@@ -8439,9 +8439,13 @@ This is used for gathering replay logs for the ekf2 module</short_desc>
         <value code="338400">Normal Telemetry (38400 baud, 8N1)</value>
         <value code="357600">Normal Telemetry (57600 baud, 8N1)</value>
         <value code="419200">Iridium Telemetry (19200 baud, 8N1)</value>
+        <value code="519200">Minimal Telemetry (19200 baud, 8N1)</value>
+        <value code="538400">Minimal Telemetry (38400 baud, 8N1)</value>
+        <value code="557600">Minimal Telemetry (57600 baud, 8N1)</value>
         <value code="921600">Companion Link (921600 baud, 8N1)</value>
         <value code="1921600">ESP8266 (921600 baud, 8N1)</value>
         <value code="3115200">Normal Telemetry (115200 baud, 8N1)</value>
+        <value code="5115200">Minimal Telemetry (115200 baud, 8N1)</value>
       </values>
     </parameter>
     <parameter default="0" name="SYS_FMU_TASK" type="INT32">