diff git a/src/FirmwarePlugin/PX4/PX4ParameterFactMetaData.xml b/src/FirmwarePlugin/PX4/PX4ParameterFactMetaData.xml
index 7bbe90d07db9910932cd8dc562b4a2b8d33c87bf..439edf9315d490f7c005a3fde6b2b91a8344cadd 100644
 a/src/FirmwarePlugin/PX4/PX4ParameterFactMetaData.xml
+++ b/src/FirmwarePlugin/PX4/PX4ParameterFactMetaData.xml
@@ 4267,102 +4267,6 @@ if required by the gimbal (only in AUX output mode)

 Acro mode Expo factor for Roll and Pitch
 Exponential factor for tuning the input curve shape. 0 Purely linear input curve 1 Purely cubic input curve
 0
 1
 2


 Acro mode Expo factor for Yaw
 Exponential factor for tuning the input curve shape. 0 Purely linear input curve 1 Purely cubic input curve
 0
 1
 2


 Max acro pitch rate
default: 2 turns per second
 0.0
 1800.0
 deg/s
 1
 5


 Max acro roll rate
default: 2 turns per second
 0.0
 1800.0
 deg/s
 1
 5


 Acro mode SuperExpo factor for Roll and Pitch
 SuperExpo factor for refining the input curve shape tuned using MC_ACRO_EXPO. 0 Pure Expo function 0.7 resonable shape enhancement for intuitive stick feel 0.95 very strong bent input curve only near maxima have effect
 0
 0.95
 2


 Acro mode SuperExpo factor for Yaw
 SuperExpo factor for refining the input curve shape tuned using MC_ACRO_EXPO_Y. 0 Pure Expo function 0.7 resonable shape enhancement for intuitive stick feel 0.95 very strong bent input curve only near maxima have effect
 0
 0.95
 2


 Max acro yaw rate
default 1.5 turns per second
 0.0
 1800.0
 deg/s
 1
 5


 Battery power level scaler
 This compensates for voltage drop of the battery over time by attempting to normalize performance across the operating range of the battery. The copter should constantly behave as if it was fully charged with reduced max acceleration at lower battery percentages. i.e. if hover is at 0.5 throttle at 100% battery, it will still be 0.5 at 60% battery.


 Cutoff frequency for the low pass filter on the Dterm in the rate controller
 The Dterm uses the derivative of the rate and thus is the most susceptible to noise. Therefore, using a Dterm filter allows to decrease the driverlevel filtering, which leads to reduced control latency and permits to increase the P gains. A value of 0 disables the filter.
 0
 1000
 Hz
 0
 10


 Pitch rate D gain
 Pitch rate differential gain. Small values help reduce fast oscillations. If value is too big oscillations will appear again.
 0.0
 4
 0.0005


 Pitch rate feedforward
 Improves tracking performance.
 0.0
 4


 Pitch rate I gain
 Pitch rate integral gain. Can be set to compensate static thrust difference or gravity center offset.
 0.0
 3
 0.01


 Pitch rate controller gain
 Global gain of the controller. This gain scales the P, I and D terms of the controller: output = MC_PITCHRATE_K * (MC_PITCHRATE_P * error + MC_PITCHRATE_I * error_integral + MC_PITCHRATE_D * error_derivative) Set MC_PITCHRATE_P=1 to implement a PID in the ideal form. Set MC_PITCHRATE_K=1 to implement a PID in the parallel form.
 0.0
 5.0
 4
 0.0005

Max pitch rate
Limit for pitch rate in manual and auto modes (except acro). Has effect for large rotations in autonomous mode, to avoid large control output and mixer saturation. This is not only limited by the vehicle's properties, but also by the maximum measurement rate of the gyro.
@@ 4372,14 +4276,6 @@ default 1.5 turns per second
1
5

 Pitch rate P gain
 Pitch rate proportional gain, i.e. control output for angular speed error 1 rad/s.
 0.0
 0.6
 3
 0.01

Pitch P gain
Pitch proportional gain, i.e. desired angular speed in rad/s for error 1 rad.
@@ 4389,13 +4285,6 @@ default 1.5 turns per second
2
0.1

 Pitch rate integrator limit
 Pitch rate integrator limit. Can be set to increase the amount of integrator available to counteract disturbances or reduced to improve settling time after large pitch moment trim changes.
 0.0
 2
 0.01

Threshold for Rattitude mode
Manual input needed in order to override attitude control rate setpoints and instead pass manual stick inputs as rate setpoints
@@ 4404,35 +4293,6 @@ default 1.5 turns per second
2
0.01

 Roll rate D gain
 Roll rate differential gain. Small values help reduce fast oscillations. If value is too big oscillations will appear again.
 0.0
 0.01
 4
 0.0005


 Roll rate feedforward
 Improves tracking performance.
 0.0
 4


 Roll rate I gain
 Roll rate integral gain. Can be set to compensate static thrust difference or gravity center offset.
 0.0
 3
 0.01


 Roll rate controller gain
 Global gain of the controller. This gain scales the P, I and D terms of the controller: output = MC_ROLLRATE_K * (MC_ROLLRATE_P * error + MC_ROLLRATE_I * error_integral + MC_ROLLRATE_D * error_derivative) Set MC_ROLLRATE_P=1 to implement a PID in the ideal form. Set MC_ROLLRATE_K=1 to implement a PID in the parallel form.
 0.0
 5.0
 4
 0.0005

Max roll rate
Limit for roll rate in manual and auto modes (except acro). Has effect for large rotations in autonomous mode, to avoid large control output and mixer saturation. This is not only limited by the vehicle's properties, but also by the maximum measurement rate of the gyro.
@@ 4442,14 +4302,6 @@ default 1.5 turns per second
1
5

 Roll rate P gain
 Roll rate proportional gain, i.e. control output for angular speed error 1 rad/s.
 0.0
 0.5
 3
 0.01

Roll P gain
Roll proportional gain, i.e. desired angular speed in rad/s for error 1 rad.
@@ 4459,42 +4311,6 @@ default 1.5 turns per second
2
0.1

 Roll rate integrator limit
 Roll rate integrator limit. Can be set to increase the amount of integrator available to counteract disturbances or reduced to improve settling time after large roll moment trim changes.
 0.0
 2
 0.01


 Yaw rate D gain
 Yaw rate differential gain. Small values help reduce fast oscillations. If value is too big oscillations will appear again.
 0.0
 2
 0.01


 Yaw rate feedforward
 Improves tracking performance.
 0.0
 4
 0.01


 Yaw rate I gain
 Yaw rate integral gain. Can be set to compensate static thrust difference or gravity center offset.
 0.0
 2
 0.01


 Yaw rate controller gain
 Global gain of the controller. This gain scales the P, I and D terms of the controller: output = MC_YAWRATE_K * (MC_YAWRATE_P * error + MC_YAWRATE_I * error_integral + MC_YAWRATE_D * error_derivative) Set MC_YAWRATE_P=1 to implement a PID in the ideal form. Set MC_YAWRATE_K=1 to implement a PID in the parallel form.
 0.0
 5.0
 4
 0.0005

Max yaw rate
0.0
@@ 4503,14 +4319,6 @@ default 1.5 turns per second
1
5

 Yaw rate P gain
 Yaw rate proportional gain, i.e. control output for angular speed error 1 rad/s.
 0.0
 0.6
 2
 0.01

Yaw P gain
Yaw proportional gain, i.e. desired angular speed in rad/s for error 1 rad.
@@ 4520,13 +4328,6 @@ default 1.5 turns per second
2
0.1

 Yaw rate integrator limit
 Yaw rate integrator limit. Can be set to increase the amount of integrator available to counteract disturbances or reduced to improve settling time after large yaw moment trim changes.
 0.0
 2
 0.01

Max yaw rate in auto mode
Limit the rate of change of the yaw setpoint in autonomous mode to avoid large control output and mixer saturation.
@@ 4967,6 +4768,207 @@ the setpoint will be capped to MPC_XY_VEL_MAX
deg/s
+
+
+ Acro mode Expo factor for Roll and Pitch
+ Exponential factor for tuning the input curve shape. 0 Purely linear input curve 1 Purely cubic input curve
+ 0
+ 1
+ 2
+
+
+ Acro mode Expo factor for Yaw
+ Exponential factor for tuning the input curve shape. 0 Purely linear input curve 1 Purely cubic input curve
+ 0
+ 1
+ 2
+
+
+ Max acro pitch rate
+default: 2 turns per second
+ 0.0
+ 1800.0
+ deg/s
+ 1
+ 5
+
+
+ Max acro roll rate
+default: 2 turns per second
+ 0.0
+ 1800.0
+ deg/s
+ 1
+ 5
+
+
+ Acro mode SuperExpo factor for Roll and Pitch
+ SuperExpo factor for refining the input curve shape tuned using MC_ACRO_EXPO. 0 Pure Expo function 0.7 resonable shape enhancement for intuitive stick feel 0.95 very strong bent input curve only near maxima have effect
+ 0
+ 0.95
+ 2
+
+
+ Acro mode SuperExpo factor for Yaw
+ SuperExpo factor for refining the input curve shape tuned using MC_ACRO_EXPO_Y. 0 Pure Expo function 0.7 resonable shape enhancement for intuitive stick feel 0.95 very strong bent input curve only near maxima have effect
+ 0
+ 0.95
+ 2
+
+
+ Max acro yaw rate
+default 1.5 turns per second
+ 0.0
+ 1800.0
+ deg/s
+ 1
+ 5
+
+
+ Battery power level scaler
+ This compensates for voltage drop of the battery over time by attempting to normalize performance across the operating range of the battery. The copter should constantly behave as if it was fully charged with reduced max acceleration at lower battery percentages. i.e. if hover is at 0.5 throttle at 100% battery, it will still be 0.5 at 60% battery.
+
+
+ Cutoff frequency for the low pass filter on the Dterm in the rate controller
+ The Dterm uses the derivative of the rate and thus is the most susceptible to noise. Therefore, using a Dterm filter allows to decrease the driverlevel filtering, which leads to reduced control latency and permits to increase the P gains. A value of 0 disables the filter.
+ 0
+ 1000
+ Hz
+ 0
+ 10
+
+
+ Pitch rate D gain
+ Pitch rate differential gain. Small values help reduce fast oscillations. If value is too big oscillations will appear again.
+ 0.0
+ 4
+ 0.0005
+
+
+ Pitch rate feedforward
+ Improves tracking performance.
+ 0.0
+ 4
+
+
+ Pitch rate I gain
+ Pitch rate integral gain. Can be set to compensate static thrust difference or gravity center offset.
+ 0.0
+ 3
+ 0.01
+
+
+ Pitch rate controller gain
+ Global gain of the controller. This gain scales the P, I and D terms of the controller: output = MC_PITCHRATE_K * (MC_PITCHRATE_P * error + MC_PITCHRATE_I * error_integral + MC_PITCHRATE_D * error_derivative) Set MC_PITCHRATE_P=1 to implement a PID in the ideal form. Set MC_PITCHRATE_K=1 to implement a PID in the parallel form.
+ 0.0
+ 5.0
+ 4
+ 0.0005
+
+
+ Pitch rate P gain
+ Pitch rate proportional gain, i.e. control output for angular speed error 1 rad/s.
+ 0.0
+ 0.6
+ 3
+ 0.01
+
+
+ Pitch rate integrator limit
+ Pitch rate integrator limit. Can be set to increase the amount of integrator available to counteract disturbances or reduced to improve settling time after large pitch moment trim changes.
+ 0.0
+ 2
+ 0.01
+
+
+ Roll rate D gain
+ Roll rate differential gain. Small values help reduce fast oscillations. If value is too big oscillations will appear again.
+ 0.0
+ 0.01
+ 4
+ 0.0005
+
+
+ Roll rate feedforward
+ Improves tracking performance.
+ 0.0
+ 4
+
+
+ Roll rate I gain
+ Roll rate integral gain. Can be set to compensate static thrust difference or gravity center offset.
+ 0.0
+ 3
+ 0.01
+
+
+ Roll rate controller gain
+ Global gain of the controller. This gain scales the P, I and D terms of the controller: output = MC_ROLLRATE_K * (MC_ROLLRATE_P * error + MC_ROLLRATE_I * error_integral + MC_ROLLRATE_D * error_derivative) Set MC_ROLLRATE_P=1 to implement a PID in the ideal form. Set MC_ROLLRATE_K=1 to implement a PID in the parallel form.
+ 0.0
+ 5.0
+ 4
+ 0.0005
+
+
+ Roll rate P gain
+ Roll rate proportional gain, i.e. control output for angular speed error 1 rad/s.
+ 0.0
+ 0.5
+ 3
+ 0.01
+
+
+ Roll rate integrator limit
+ Roll rate integrator limit. Can be set to increase the amount of integrator available to counteract disturbances or reduced to improve settling time after large roll moment trim changes.
+ 0.0
+ 2
+ 0.01
+
+
+ Yaw rate D gain
+ Yaw rate differential gain. Small values help reduce fast oscillations. If value is too big oscillations will appear again.
+ 0.0
+ 2
+ 0.01
+
+
+ Yaw rate feedforward
+ Improves tracking performance.
+ 0.0
+ 4
+ 0.01
+
+
+ Yaw rate I gain
+ Yaw rate integral gain. Can be set to compensate static thrust difference or gravity center offset.
+ 0.0
+ 2
+ 0.01
+
+
+ Yaw rate controller gain
+ Global gain of the controller. This gain scales the P, I and D terms of the controller: output = MC_YAWRATE_K * (MC_YAWRATE_P * error + MC_YAWRATE_I * error_integral + MC_YAWRATE_D * error_derivative) Set MC_YAWRATE_P=1 to implement a PID in the ideal form. Set MC_YAWRATE_K=1 to implement a PID in the parallel form.
+ 0.0
+ 5.0
+ 4
+ 0.0005
+
+
+ Yaw rate P gain
+ Yaw rate proportional gain, i.e. control output for angular speed error 1 rad/s.
+ 0.0
+ 0.6
+ 2
+ 0.01
+
+
+ Yaw rate integrator limit
+ Yaw rate integrator limit. Can be set to increase the amount of integrator available to counteract disturbances or reduced to improve settling time after large yaw moment trim changes.
+ 0.0
+ 2
+ 0.01
+
+
Enable/Disable the ATXXX OSD Chip