diff --git a/parameters_bravo.txt b/parameters_bravo.txt
new file mode 100644
index 0000000000000000000000000000000000000000..f1b17368c2cc91035a252bb9bd58f8c3ed70c0dd
--- /dev/null
+++ b/parameters_bravo.txt
@@ -0,0 +1,81 @@
+# Onboard parameters for system MAV 042
+#
+# MAV ID  COMPONENT ID  PARAM NAME  VALUE (FLOAT)
+42	200	ACC_NAV_OFFS_X	0
+42	200	ACC_NAV_OFFS_Y	0
+42	200	ACC_NAV_OFFS_Z	-1000
+42	200	ACC_OFFSET_X	0
+42	200	ACC_OFFSET_Y	0
+42	200	ACC_OFFSET_Z	0
+42	200	ATT_KAL_IYAW	1
+42	200	ATT_KAL_KACC	0.0033
+42	200	ATT_OFFSET_X	0
+42	200	ATT_OFFSET_Y	0
+42	200	ATT_OFFSET_Z	-0.08
+42	200	CAM_EXP	1000
+42	200	CAM_INTERVAL	36000
+42	200	DEBUG_1	0
+42	200	DEBUG_2	0
+42	200	DEBUG_3	0
+42	200	DEBUG_4	0
+42	200	DEBUG_5	0
+42	200	DEBUG_6	0
+42	200	GYRO_OFFSET_X	29936
+42	200	GYRO_OFFSET_Y	30294
+42	200	GYRO_OFFSET_Z	29453
+42	200	MIX_OFFSET	0
+42	200	MIX_POSITION	0
+42	200	MIX_POS_YAW	0
+42	200	PID_ATT_AWU	0.3
+42	200	PID_ATT_D	30
+42	200	PID_ATT_I	60
+42	200	PID_POS_AWU	5
+42	200	PID_POS_D	2
+42	200	PID_POS_I	0.4
+42	200	PID_POS_P	1.8
+42	200	PID_POS_Z_AWU	3
+42	200	PID_POS_Z_D	0.2
+42	200	PID_POS_Z_I	0.4
+42	200	PID_POS_Z_LIM	0.3
+42	200	PID_POS_Z_P	0.5
+42	200	PID_YAWPOS_AWU	1
+42	200	PID_YAWPOS_D	1
+42	200	PID_YAWPOS_I	0.1
+42	200	PID_YAWPOS_P	5
+42	200	PID_YAWSPEED_D	0
+42	200	PID_YAWSPEED_I	10
+42	200	PID_YAWSPEED_P	30
+42	200	PID_YAWSPE_AWU	1
+42	200	POS_SP_ACCEPT	0
+42	200	POS_SP_X	1.1
+42	200	POS_SP_Y	1.1
+42	200	POS_SP_YAW	0
+42	200	POS_SP_Z	-0.8
+42	200	POS_TIMEOUT	2e+06
+42	200	RC_NICK_CHAN	1
+42	200	RC_ROLL_CHAN	2
+42	200	RC_SAFETY_CHAN	5
+42	200	RC_THRUST_CHAN	3
+42	200	RC_TUNE_CHAN1	7
+42	200	RC_TUNE_CHAN2	5
+42	200	RC_TUNE_CHAN3	6
+42	200	RC_TUNE_CHAN4	8
+42	200	RC_YAW_CHAN	4
+42	200	SEND_DEBUGCHAN	0
+42	200	SLOT_ATTITUDE	1
+42	200	SLOT_CONTROL	0
+42	200	SLOT_RAW_IMU	0
+42	200	SLOT_RC	0
+42	200	SYS_COMP_ID	200
+42	200	SYS_ID	42
+42	200	SYS_IMU_RESET	0
+42	200	SYS_SW_VER	2000
+42	200	SYS_TYPE	2
+42	200	UART_0_BAUD	115200
+42	200	UART_1_BAUD	57600
+42	200	VEL_DAMP	0.95
+42	200	VEL_OFFSET_X	0
+42	200	VEL_OFFSET_Y	0
+42	200	VEL_OFFSET_Z	0
+42	200	VIS_OUTL_TRESH	0.2
+42	200	VIS_YAWCORR	0