diff --git a/src/FirmwarePlugin/APM/APMParameterFactMetaData.Copter.3.5.xml b/src/FirmwarePlugin/APM/APMParameterFactMetaData.Copter.3.5.xml
index 91f87f90fda231c636912b9c077dc5fae61f4993..5829ed8a0301db9f5e231c2f69d419f7d119cd9c 100644
--- a/src/FirmwarePlugin/APM/APMParameterFactMetaData.Copter.3.5.xml
+++ b/src/FirmwarePlugin/APM/APMParameterFactMetaData.Copter.3.5.xml
@@ -1,8 +1,320 @@
 <?xml version="1.0" encoding="utf-8"?>
-        <!-- Dynamically generated list of documented parameters (generated by param_parse.py) -->    
+        <!-- Dynamically generated list of documented parameters (generated by param_parse.py) -->
         <paramfile>
         <vehicles>
-        <parameters name="ArduPlane">
+        <parameters name="ArduSub">
+<param humanName="Depth reading at surface" name="ArduSub:SURFACE_DEPTH" documentation="The depth the external pressure sensor will read when the vehicle is considered at the surface (in centimeters)" user="Standard">
+<field name="Range">-100 0</field>
+</param>
+<param humanName="Eeprom format version number" name="ArduSub:SYSID_SW_MREV" documentation="This value is incremented when changes are made to the eeprom format" user="Advanced">
+<field name="ReadOnly">True</field>
+</param>
+<param humanName="Software Type" name="ArduSub:SYSID_SW_TYPE" documentation="This is used by the ground station to recognise the software type (eg ArduPlane vs ArduCopter)" user="Advanced">
+<field name="ReadOnly">True</field>
+<values>
+<value code="0">ArduPlane</value>
+<value code="4">AntennaTracker</value>
+<value code="10">Copter</value>
+<value code="20">Rover</value>
+<value code="40">ArduSub</value>
+</values>
+</param>
+<param humanName="MAVLink system ID of this vehicle" name="ArduSub:SYSID_THISMAV" documentation="Allows setting an individual MAVLink system id for this vehicle to distinguish it from others on the same network" user="Advanced">
+<field name="Range">1 255</field>
+</param>
+<param humanName="My ground station number" name="ArduSub:SYSID_MYGCS" documentation="Allows restricting radio overrides to only come from my ground station" user="Advanced">
+<values>
+<value code="255">Mission Planner and DroidPlanner</value>
+<value code=" 252"> AP Planner 2</value>
+</values>
+</param>
+<param humanName="Throttle filter cutoff" name="ArduSub:PILOT_THR_FILT" documentation="Throttle filter cutoff (Hz) - active whenever altitude control is inactive - 0 to disable" user="Advanced">
+<field name="Range">0 10</field>
+<field name="Increment">.5</field>
+<field name="Units">Hz</field>
+</param>
+<param humanName="GCS PID tuning mask" name="ArduSub:GCS_PID_MASK" documentation="bitmask of PIDs to send MAVLink PID_TUNING messages for" user="Advanced">
+<field name="Bitmask">0:Roll,1:Pitch,2:Yaw</field>
+<values>
+<value code="0">None</value>
+<value code="1">Roll</value>
+<value code="2">Pitch</value>
+<value code="4">Yaw</value>
+</values>
+</param>
+<param humanName="Rangefinder gain" name="ArduSub:RNGFND_GAIN" documentation="Used to adjust the speed with which the target altitude is changed when objects are sensed below the sub" user="Standard">
+<field name="Range">0.01 2.0</field>
+<field name="Increment">0.01</field>
+</param>
+<param humanName="Battery Failsafe Enable" name="ArduSub:FS_BATT_ENABLE" documentation="Controls whether failsafe will be invoked when battery voltage or current runs low" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Warn only</value>
+<value code="2">Disarm</value>
+<value code="3">Enter surface mode</value>
+</values>
+</param>
+<param humanName="Failsafe battery voltage" name="ArduSub:FS_BATT_VOLTAGE" documentation="Battery voltage to trigger failsafe. Set to 0 to disable battery voltage failsafe." user="Standard">
+<field name="Increment">0.1</field>
+<field name="Units">Volts</field>
+</param>
+<param humanName="Failsafe battery milliAmpHours" name="ArduSub:FS_BATT_MAH" documentation="Battery capacity remaining to trigger failsafe. Set to 0 to disable battery remaining failsafe." user="Standard">
+<field name="Increment">50</field>
+<field name="Units">mAh</field>
+</param>
+<param humanName="Ground Station Failsafe Enable" name="ArduSub:FS_GCS_ENABLE" documentation="Controls what action to take when GCS heartbeat is lost." user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Warn only</value>
+<value code="2">Disarm</value>
+<value code="3">Enter depth hold mode</value>
+<value code="4">Enter surface mode</value>
+</values>
+</param>
+<param humanName="Leak Failsafe Enable" name="ArduSub:FS_LEAK_ENABLE" documentation="Controls what action to take if a leak is detected." user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Warn only</value>
+<value code="2">Enter surface mode</value>
+</values>
+</param>
+<param humanName="Internal Pressure Failsafe Enable" name="ArduSub:FS_PRESS_ENABLE" documentation="Controls what action to take if internal pressure exceeds FS_PRESS_MAX parameter." user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Warn only</value>
+</values>
+</param>
+<param humanName="Internal Temperature Failsafe Enable" name="ArduSub:FS_TEMP_ENABLE" documentation="Controls what action to take if internal temperature exceeds FS_TEMP_MAX parameter." user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Warn only</value>
+</values>
+</param>
+<param humanName="Internal Pressure Failsafe Threshold" name="ArduSub:FS_PRESS_MAX" documentation="The maximum internal pressure allowed before triggering failsafe. Failsafe action is determined by FS_PRESS_ENABLE parameter" user="Standard">
+<field name="Units">Pascal</field>
+</param>
+<param humanName="Internal Temperature Failsafe Threshold" name="ArduSub:FS_TEMP_MAX" documentation="The maximum internal temperature allowed before triggering failsafe. Failsafe action is determined by FS_TEMP_ENABLE parameter." user="Standard">
+<field name="Units">Degrees Centigrade</field>
+</param>
+<param humanName="Terrain Failsafe Enable" name="ArduSub:FS_TERRAIN_ENAB" documentation="Controls what action to take if terrain information is lost during AUTO mode" user="Standard">
+<values>
+<value code="0">Disarm</value>
+<value code=" 1">Hold Position</value>
+<value code=" 2">Surface</value>
+</values>
+</param>
+<param humanName="Pilot input failsafe action" name="ArduSub:FS_PILOT_INPUT" documentation="Controls what action to take if no pilot input has been received after the timeout period specified by the FS_PILOT_TIMEOUT parameter" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code=" 1">Warn Only</value>
+<value code=" 2">Disarm</value>
+</values>
+</param>
+<param humanName="Crosstrack correction angle limit" name="ArduSub:XTRACK_ANG_LIM" documentation="Maximum allowed angle (in degrees) between current track and desired heading during waypoint navigation" user="Standard">
+<field name="Range">10 90</field>
+</param>
+<param humanName="Compass enable/disable" name="ArduSub:MAG_ENABLE" documentation="Setting this to Enabled(1) will enable the compass. Setting this to Disabled(0) will disable the compass" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="Yaw behaviour during missions" name="ArduSub:WP_YAW_BEHAVIOR" documentation="Determines how the autopilot controls the yaw during missions and RTL" user="Standard">
+<values>
+<value code="0">Never change yaw</value>
+<value code=" 1">Face next waypoint</value>
+<value code=" 2">Face next waypoint except RTL</value>
+<value code=" 3">Face along GPS course</value>
+</values>
+</param>
+<param humanName="Pilot maximum vertical speed" name="ArduSub:PILOT_VELZ_MAX" documentation="The maximum vertical velocity the pilot may request in cm/s" user="Standard">
+<field name="Range">50 500</field>
+<field name="Increment">10</field>
+<field name="Units">Centimeters/Second</field>
+</param>
+<param humanName="Pilot vertical acceleration" name="ArduSub:PILOT_ACCEL_Z" documentation="The vertical acceleration used when pilot is controlling the altitude" user="Standard">
+<field name="Range">50 500</field>
+<field name="Increment">10</field>
+<field name="Units">cm/s/s</field>
+</param>
+<param humanName="Throttle deadzone" name="ArduSub:THR_DZ" documentation="The deadzone above and below mid throttle.  Used in AltHold, Loiter, PosHold flight modes" user="Standard">
+<field name="Range">0 300</field>
+<field name="Increment">1</field>
+<field name="Units">pwm</field>
+</param>
+<param humanName="Log bitmask" name="ArduSub:LOG_BITMASK" documentation="4 byte bitmap of log types to enable" user="Standard">
+<field name="Bitmask">0:ATTITUDE_FAST,1:ATTITUDE_MED,2:GPS,3:PM,4:CTUN,5:NTUN,6:RCIN,7:IMU,8:CMD,9:CURRENT,10:RCOUT,11:OPTFLOW,12:PID,13:COMPASS,14:INAV,15:CAMERA,17:MOTBATT,18:IMU_FAST,19:IMU_RAW</field>
+<values>
+<value code="830">Default</value>
+<value code="894">Default+RCIN</value>
+<value code="958">Default+IMU</value>
+<value code="1854">Default+Motors</value>
+<value code="-6146">NearlyAll-AC315</value>
+<value code="45054">NearlyAll</value>
+<value code="131071">All+FastATT</value>
+<value code="262142">All+MotBatt</value>
+<value code="393214">All+FastIMU</value>
+<value code="397310">All+FastIMU+PID</value>
+<value code="655358">All+FullIMU</value>
+<value code="0">Disabled</value>
+</values>
+</param>
+<param humanName="Angle Max" name="ArduSub:ANGLE_MAX" documentation="Maximum lean angle in all flight modes" user="Advanced">
+<field name="Range">1000 8000</field>
+<field name="Units">Centi-degrees</field>
+</param>
+<param humanName="RC Feel Roll/Pitch" name="ArduSub:RC_FEEL_RP" documentation="RC feel for roll/pitch which controls vehicle response to user input with 0 being extremely soft and 100 being crisp" user="Standard">
+<field name="Range">0 100</field>
+<values>
+<value code="0">Very Soft</value>
+<value code=" 25">Soft</value>
+<value code=" 50">Medium</value>
+<value code=" 75">Crisp</value>
+<value code=" 100">Very Crisp</value>
+</values>
+<field name="Increment">10</field>
+</param>
+<param humanName="EKF Failsafe Action" name="ArduSub:FS_EKF_ACTION" documentation="Controls the action that will be taken when an EKF failsafe is invoked" user="Advanced">
+<values>
+<value code="1">Disabled</value>
+</values>
+</param>
+<param humanName="EKF failsafe variance threshold" name="ArduSub:FS_EKF_THRESH" documentation="Allows setting the maximum acceptable compass and velocity variance" user="Advanced">
+<field name="Values">0.6:Strict, 0.8:Default, 1.0:Relaxed</field>
+</param>
+<param humanName="Crash check enable" name="ArduSub:FS_CRASH_CHECK" documentation="This enables automatic crash checking. When enabled the motors will disarm if a crash is detected." user="Advanced">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Warn only</value>
+<value code="2">Disarm</value>
+</values>
+</param>
+<param humanName="Default gain at boot" name="ArduSub:JS_GAIN_DEFAULT" documentation="Default gain at boot, must be in range [JS_GAIN_MIN , JS_GAIN_MAX]" user="Standard">
+<field name="Range">0.1 1.0</field>
+</param>
+<param humanName="Maximum joystick gain" name="ArduSub:JS_GAIN_MAX" documentation="Maximum joystick gain" user="Standard">
+<field name="Range">0.2 1.0</field>
+</param>
+<param humanName="Minimum joystick gain" name="ArduSub:JS_GAIN_MIN" documentation="Minimum joystick gain" user="Standard">
+<field name="Range">0.1 0.8</field>
+</param>
+<param humanName="Gain steps" name="ArduSub:JS_GAIN_STEPS" documentation="Controls the number of steps between minimum and maximum joystick gain when the gain is adjusted using buttons. Set to 1 to always use JS_GAIN_DEFAULT." user="Standard">
+<field name="Range">1 10</field>
+</param>
+<param humanName="Camera tilt step size" name="ArduSub:JS_CAM_TILT_STEP" documentation="Size of PWM increment on camera tilt servo" user="Standard">
+<field name="Range">30 400</field>
+</param>
+<param humanName="Lights step size" name="ArduSub:JS_LIGHTS_STEP" documentation="Size of PWM increment on lights servo" user="Standard">
+<field name="Range">30 400</field>
+</param>
+<param humanName="Throttle gain scalar" name="ArduSub:JS_THR_GAIN" documentation="Scalar for gain on the throttle channel" user="Standard">
+<field name="Range">0.5 4.0</field>
+</param>
+<param humanName="Camera tilt mount center" name="ArduSub:CAM_CENTER" documentation="Servo PWM at camera center position" user="Standard">
+<field name="Range">1000 2000</field>
+</param>
+<param humanName="Frame configuration" name="ArduSub:FRAME_CONFIG" documentation="Set this parameter according to your vehicle/motor configuration" user="Standard">
+<values>
+<value code="0">BlueROV1</value>
+<value code=" 1">Vectored</value>
+<value code=" 2">Vectored_6DOF</value>
+<value code=" 3">Vectored_6DOF_90</value>
+<value code=" 4">SimpleROV-3</value>
+<value code=" 5">SimpleROV-4</value>
+<value code=" 6">SimpleROV-5</value>
+<value code=" 7">Custom</value>
+</values>
+<field name="RebootRequired">True</field>
+</param>
+<param humanName="ESC Update Speed" name="ArduSub:RC_SPEED" documentation="This is the speed in Hertz that your ESCs will receive updates" user="Advanced">
+<field name="Range">50 490</field>
+<field name="Increment">1</field>
+<field name="Units">Hz</field>
+</param>
+<param humanName="Acro Roll and Pitch P gain" name="ArduSub:ACRO_RP_P" documentation="Converts pilot roll and pitch into a desired rate of rotation in ACRO and SPORT mode.  Higher values mean faster rate of rotation." user="Standard">
+<field name="Range">1 10</field>
+</param>
+<param humanName="Acro Yaw P gain" name="ArduSub:ACRO_YAW_P" documentation="Converts pilot yaw input into a desired rate of rotation.  Higher values mean faster rate of rotation." user="Standard">
+<field name="Range">1 10</field>
+</param>
+<param humanName="Acro Balance Roll" name="ArduSub:ACRO_BAL_ROLL" documentation="rate at which roll angle returns to level in acro mode.  A higher value causes the vehicle to return to level faster." user="Advanced">
+<field name="Range">0 3</field>
+<field name="Increment">0.1</field>
+</param>
+<param humanName="Acro Balance Pitch" name="ArduSub:ACRO_BAL_PITCH" documentation="rate at which pitch angle returns to level in acro mode.  A higher value causes the vehicle to return to level faster." user="Advanced">
+<field name="Range">0 3</field>
+<field name="Increment">0.1</field>
+</param>
+<param humanName="Acro Trainer" name="ArduSub:ACRO_TRAINER" documentation="Type of trainer used in acro mode" user="Advanced">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Leveling</value>
+<value code="2">Leveling and Limited</value>
+</values>
+</param>
+<param humanName="Acro Expo" name="ArduSub:ACRO_EXPO" documentation="Acro roll/pitch Expo to allow faster rotation when stick at edges" user="Advanced">
+<values>
+<value code="0">Disabled</value>
+<value code="0.1">Very Low</value>
+<value code="0.2">Low</value>
+<value code="0.3">Medium</value>
+<value code="0.4">High</value>
+<value code="0.5">Very High</value>
+</values>
+</param>
+<param humanName="Velocity (horizontal) P gain" name="ArduSub:VEL_XY_P" documentation="Velocity (horizontal) P gain.  Converts the difference between desired velocity to a target acceleration" user="Advanced">
+<field name="Range">0.1 6.0</field>
+<field name="Increment">0.1</field>
+</param>
+<param humanName="Velocity (horizontal) I gain" name="ArduSub:VEL_XY_I" documentation="Velocity (horizontal) I gain.  Corrects long-term difference in desired velocity to a target acceleration" user="Advanced">
+<field name="Range">0.02 1.00</field>
+<field name="Increment">0.01</field>
+</param>
+<param humanName="Velocity (horizontal) integrator maximum" name="ArduSub:VEL_XY_IMAX" documentation="Velocity (horizontal) integrator maximum.  Constrains the target acceleration that the I gain will output" user="Advanced">
+<field name="Range">0 4500</field>
+<field name="Increment">10</field>
+<field name="Units">cm/s/s</field>
+</param>
+<param humanName="Velocity (horizontal) integrator maximum" name="ArduSub:VEL_XY_FILT_HZ" documentation="Velocity (horizontal) integrator maximum.  Constrains the target acceleration that the I gain will output" user="Advanced">
+<field name="Range">0 4500</field>
+<field name="Increment">10</field>
+<field name="Units">cm/s/s</field>
+</param>
+<param humanName="Velocity (vertical) P gain" name="ArduSub:VEL_Z_P" documentation="Velocity (vertical) P gain.  Converts the difference between desired vertical speed and actual speed into a desired acceleration that is passed to the throttle acceleration controller" user="Standard">
+<field name="Range">1.000 8.000</field>
+</param>
+<param humanName="Throttle acceleration controller P gain" name="ArduSub:ACCEL_Z_P" documentation="Throttle acceleration controller P gain.  Converts the difference between desired vertical acceleration and actual acceleration into a motor output" user="Standard">
+<field name="Range">0.500 1.500</field>
+<field name="Increment">0.05</field>
+</param>
+<param humanName="Throttle acceleration controller I gain" name="ArduSub:ACCEL_Z_I" documentation="Throttle acceleration controller I gain.  Corrects long-term difference in desired vertical acceleration and actual acceleration" user="Standard">
+<field name="Range">0.000 3.000</field>
+</param>
+<param humanName="Throttle acceleration controller I gain maximum" name="ArduSub:ACCEL_Z_IMAX" documentation="Throttle acceleration controller I gain maximum.  Constrains the maximum pwm that the I term will generate" user="Standard">
+<field name="Range">0 1000</field>
+<field name="Units">Percent*10</field>
+</param>
+<param humanName="Throttle acceleration controller D gain" name="ArduSub:ACCEL_Z_D" documentation="Throttle acceleration controller D gain.  Compensates for short-term change in desired vertical acceleration vs actual acceleration" user="Standard">
+<field name="Range">0.000 0.400</field>
+</param>
+<param humanName="Throttle acceleration filter" name="ArduSub:ACCEL_Z_FILT" documentation="Filter applied to acceleration to reduce noise.  Lower values reduce noise but add delay." user="Standard">
+<field name="Range">1.000 100.000</field>
+<field name="Units">Hz</field>
+</param>
+<param humanName="Position (vertical) controller P gain" name="ArduSub:POS_Z_P" documentation="Position (vertical) controller P gain.  Converts the difference between the desired altitude and actual altitude into a climb or descent rate which is passed to the throttle rate controller" user="Standard">
+<field name="Range">1.000 3.000</field>
+</param>
+<param humanName="Position (horizonal) controller P gain" name="ArduSub:POS_XY_P" documentation="Loiter position controller P gain.  Converts the distance (in the latitude direction) to the target location into a desired speed which is then passed to the loiter latitude rate controller" user="Standard">
+<field name="Range">0.500 2.000</field>
+</param>
+<param humanName="Terrain Following use control" name="ArduSub:TERRAIN_FOLLOW" documentation="This enables terrain following for RTL and SURFACE flight modes. To use this option TERRAIN_ENABLE must be 1 and the GCS must  support sending terrain data to the aircraft.  In RTL the RTL_ALT will be considered a height above the terrain.  In LAND mode the vehicle will slow to LAND_SPEED 10m above terrain (instead of 10m above home).  This parameter does not affect AUTO and Guided which use a per-command flag to determine if the height is above-home, absolute or above-terrain." user="Standard">
+<values>
+<value code="0">Do Not Use in RTL and SURFACE</value>
+<value code="1">Use in RTL and SURFACE</value>
+</values>
+</param>
+</parameters>
+<parameters name="ArduPlane">
 <param humanName="Eeprom format version number" name="ArduPlane:FORMAT_VERSION" documentation="This value is incremented when changes are made to the eeprom format" user="Advanced">
 </param>
 <param humanName="Software Type" name="ArduPlane:SYSID_SW_TYPE" documentation="This is used by the ground station to recognise the software type (eg ArduPlane vs ArduCopter)" user="Advanced">
@@ -30,7 +342,7 @@
 <field name="Units">seconds</field>
 </param>
 <param humanName="GCS PID tuning mask" name="ArduPlane:GCS_PID_MASK" documentation="bitmask of PIDs to send MAVLink PID_TUNING messages for" user="Advanced">
-<field name="Bitmask">0:Roll,1:Pitch,2:Yaw</field>
+<field name="Bitmask">0:Roll,1:Pitch,2:Yaw,3:Steering,4:Landing</field>
 </param>
 <param humanName="Rudder Mix" name="ArduPlane:KFF_RDDRMIX" documentation="The amount of rudder mix to apply during aileron movement 0 = 0 %, 1 = 100%" user="Standard">
 <field name="Range">0 1</field>
@@ -744,6 +1056,17 @@
 <value code="1">Enabled</value>
 </values>
 </param>
+<param humanName="GCS sysid enforcement" name="ArduPlane:SYSID_ENFORCE" documentation="This controls whether packets from other than the expected GCS system ID will be accepted" user="Advanced">
+<values>
+<value code="0">NotEnforced</value>
+<value code="1">Enforced</value>
+</values>
+</param>
+<param humanName="rudder differential thrust gain" name="ArduPlane:RUDD_DT_GAIN" documentation="gain control from rudder to differential thrust" user="Standard">
+<field name="Range">0 100</field>
+<field name="Increment">1</field>
+<field name="Units">Percent</field>
+</param>
 </parameters>
 <parameters name="ArduCopter">
 <param humanName="Eeprom format version number" name="ArduCopter:SYSID_SW_MREV" documentation="This value is incremented when changes are made to the eeprom format" user="Advanced">
@@ -784,7 +1107,7 @@
 <field name="Units">Centimeters</field>
 </param>
 <param humanName="Takeoff trigger deadzone" name="ArduCopter:PILOT_TKOFF_DZ" documentation="Offset from mid stick at which takeoff is triggered" user="Standard">
-<field name="Range">0.0 500.0</field>
+<field name="Range">0 500</field>
 <field name="Increment">10</field>
 </param>
 <param humanName="Throttle stick behavior" name="ArduCopter:PILOT_THR_BHV" documentation="Bitmask containing various throttle stick options. Add up the values for options that you want." user="Standard">
@@ -1163,22 +1486,21 @@
 <value code="3">Stab Yaw kP</value>
 <value code="6">Rate Yaw kP</value>
 <value code="26">Rate Yaw kD</value>
-<value code="14">Altitude Hold kP</value>
+<value code="56">Rate Yaw Filter</value>
+<value code="55">Motor Yaw Headroom</value>
+<value code="14">AltHold kP</value>
 <value code="7">Throttle Rate kP</value>
 <value code="34">Throttle Accel kP</value>
 <value code="35">Throttle Accel kI</value>
 <value code="36">Throttle Accel kD</value>
-<value code="42">Loiter Speed</value>
 <value code="12">Loiter Pos kP</value>
 <value code="22">Velocity XY kP</value>
 <value code="28">Velocity XY kI</value>
 <value code="10">WP Speed</value>
 <value code="25">Acro RollPitch kP</value>
 <value code="40">Acro Yaw kP</value>
+<value code="45">RC Feel</value>
 <value code="13">Heli Ext Gyro</value>
-<value code="17">OF Loiter kP</value>
-<value code="18">OF Loiter kI</value>
-<value code="19">OF Loiter kD</value>
 <value code="38">Declination</value>
 <value code="39">Circle Rate</value>
 <value code="41">RangeFinder Gain</value>
@@ -1245,7 +1567,7 @@
 <value code=" 32">Motor Interlock</value>
 <value code=" 33">Brake</value>
 <value code=" 37">Throw</value>
-<value code=" 38">Avoidance</value>
+<value code=" 38">ADSB-Avoidance</value>
 <value code=" 39">PrecLoiter</value>
 <value code=" 40">Object Avoidance</value>
 <value code=" 41">ArmDisarm</value>
@@ -1286,7 +1608,7 @@
 <value code=" 32">Motor Interlock</value>
 <value code=" 33">Brake</value>
 <value code=" 37">Throw</value>
-<value code=" 38">Avoidance</value>
+<value code=" 38">ADSB-Avoidance</value>
 <value code=" 39">PrecLoiter</value>
 <value code=" 40">Object Avoidance</value>
 <value code=" 41">ArmDisarm</value>
@@ -1327,7 +1649,7 @@
 <value code=" 32">Motor Interlock</value>
 <value code=" 33">Brake</value>
 <value code=" 37">Throw</value>
-<value code=" 38">Avoidance</value>
+<value code=" 38">ADSB-Avoidance</value>
 <value code=" 39">PrecLoiter</value>
 <value code=" 40">Object Avoidance</value>
 <value code=" 41">ArmDisarm</value>
@@ -1368,7 +1690,7 @@
 <value code=" 32">Motor Interlock</value>
 <value code=" 33">Brake</value>
 <value code=" 37">Throw</value>
-<value code=" 38">Avoidance</value>
+<value code=" 38">ADSB-Avoidance</value>
 <value code=" 39">PrecLoiter</value>
 <value code=" 40">Object Avoidance</value>
 <value code=" 41">ArmDisarm</value>
@@ -1409,7 +1731,7 @@
 <value code=" 32">Motor Interlock</value>
 <value code=" 33">Brake</value>
 <value code=" 37">Throw</value>
-<value code=" 38">Avoidance</value>
+<value code=" 38">ADSB-Avoidance</value>
 <value code=" 39">PrecLoiter</value>
 <value code=" 40">Object Avoidance</value>
 <value code=" 41">ArmDisarm</value>
@@ -1450,7 +1772,7 @@
 <value code=" 32">Motor Interlock</value>
 <value code=" 33">Brake</value>
 <value code=" 37">Throw</value>
-<value code=" 38">Avoidance</value>
+<value code=" 38">ADSB-Avoidance</value>
 <value code=" 39">PrecLoiter</value>
 <value code=" 40">Object Avoidance</value>
 <value code=" 41">ArmDisarm</value>
@@ -1654,6 +1976,12 @@
 <param humanName="Acro Thr Mid" name="ArduCopter:ACRO_THR_MID" documentation="Acro Throttle Mid" user="Advanced">
 <field name="Range">0 1</field>
 </param>
+<param humanName="GCS sysid enforcement" name="ArduCopter:SYSID_ENFORCE" documentation="This controls whether packets from other than the expected GCS system ID will be accepted" user="Advanced">
+<values>
+<value code="0">NotEnforced</value>
+<value code="1">Enforced</value>
+</values>
+</param>
 <param humanName="Frame Class" name="ArduCopter:FRAME_CLASS" documentation="Controls major frame class for multicopter component" user="Standard">
 <values>
 <value code="0">Undefined</value>
@@ -2137,6 +2465,12 @@
 <field name="Increment">0.1</field>
 <field name="Units">gravities</field>
 </param>
+<param humanName="GCS sysid enforcement" name="APMrover2:SYSID_ENFORCE" documentation="This controls whether packets from other than the expected GCS system ID will be accepted" user="Advanced">
+<values>
+<value code="0">NotEnforced</value>
+<value code="1">Enforced</value>
+</values>
+</param>
 </parameters>
 </vehicles><libraries><parameters name="ADSB_">
 <param humanName="Enable ADSB" name="ADSB_ENABLE" documentation="Enable ADS-B" user="Standard">
@@ -2526,6 +2860,10 @@
 <field name="Range">0.0 0.02</field>
 <field name="Increment">0.001</field>
 </param>
+<param humanName="Roll axis rate controller feed forward" name="ATC_RAT_RLL_FF" documentation="Roll axis rate controller feed forward" user="Standard">
+<field name="Range">0 0.5</field>
+<field name="Increment">0.001</field>
+</param>
 <param humanName="Roll axis rate controller input frequency in Hz" name="ATC_RAT_RLL_FILT" documentation="Roll axis rate controller input frequency in Hz" user="Standard">
 <field name="Range">1 100</field>
 <field name="Increment">1</field>
@@ -2548,6 +2886,10 @@
 <field name="Range">0.0 0.02</field>
 <field name="Increment">0.001</field>
 </param>
+<param humanName="Pitch axis rate controller feed forward" name="ATC_RAT_PIT_FF" documentation="Pitch axis rate controller feed forward" user="Standard">
+<field name="Range">0 0.5</field>
+<field name="Increment">0.001</field>
+</param>
 <param humanName="Pitch axis rate controller input frequency in Hz" name="ATC_RAT_PIT_FILT" documentation="Pitch axis rate controller input frequency in Hz" user="Standard">
 <field name="Range">1 100</field>
 <field name="Increment">1</field>
@@ -2570,6 +2912,10 @@
 <field name="Range">0.000 0.02</field>
 <field name="Increment">0.001</field>
 </param>
+<param humanName="Yaw axis rate controller feed forward" name="ATC_RAT_YAW_FF" documentation="Yaw axis rate controller feed forward" user="Standard">
+<field name="Range">0 0.5</field>
+<field name="Increment">0.001</field>
+</param>
 <param humanName="Yaw axis rate controller input frequency in Hz" name="ATC_RAT_YAW_FILT" documentation="Yaw axis rate controller input frequency in Hz" user="Standard">
 <field name="Range">1 100</field>
 <field name="Increment">1</field>
@@ -2584,95 +2930,23 @@
 <param humanName="Throttle Mix Manual" name="ATC_THR_MIX_MAN" documentation="Throttle vs attitude control prioritisation used during manual flight (higher values mean we prioritise attitude control over throttle)" user="Advanced">
 <field name="Range">0.5 0.9</field>
 </param>
-<param humanName="Piro Comp Enable" name="ATC_PIRO_COMP" documentation="Pirouette compensation enabled" user="Advanced">
+</parameters>
+<parameters name="AVD_">
+<param humanName="Enable Avoidance using ADSB" name="AVD_ENABLE" documentation="Enable Avoidance using ADSB" user="Advanced">
 <values>
-<value code="0">Disabled 1</value>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
 </values>
 </param>
-<param humanName="Hover Roll Trim" name="ATC_HOVR_ROL_TRM" documentation="Trim the hover roll angle to counter tail rotor thrust in a hover" user="Advanced">
-<field name="Range">0 1000</field>
-<field name="Units">Centi-Degrees</field>
-</param>
-<param humanName="Roll axis rate controller P gain" name="ATC_RAT_RLL_P" documentation="Roll axis rate controller P gain.  Converts the difference between desired roll rate and actual roll rate into a motor speed output" user="Standard">
-<field name="Range">0.08 0.35</field>
-<field name="Increment">0.005</field>
+<param humanName="Recovery behaviour after a fail event" name="AVD_F_RCVRY" documentation="Determines what the aircraft will do after a fail event is resolved" user="Advanced">
+<values>
+<value code="0">Remain in AVOID_ADSB</value>
+<value code="1">Resume previous flight mode</value>
+<value code="2">RTL</value>
+<value code="3">Resume if AUTO else Loiter</value>
+</values>
 </param>
-<param humanName="Roll axis rate controller I gain" name="ATC_RAT_RLL_I" documentation="Roll axis rate controller I gain.  Corrects long-term difference in desired roll rate vs actual roll rate" user="Standard">
-<field name="Range">0.01 0.6</field>
-<field name="Increment">0.01</field>
-</param>
-<param humanName="Roll axis rate controller I gain maximum" name="ATC_RAT_RLL_IMAX" documentation="Roll axis rate controller I gain maximum.  Constrains the maximum motor output that the I gain will output" user="Standard">
-<field name="Range">0 1</field>
-<field name="Increment">0.01</field>
-</param>
-<param humanName="Roll axis rate controller D gain" name="ATC_RAT_RLL_D" documentation="Roll axis rate controller D gain.  Compensates for short-term change in desired roll rate vs actual roll rate" user="Standard">
-<field name="Range">0.001 0.03</field>
-<field name="Increment">0.001</field>
-</param>
-<param humanName="Roll axis rate conroller input frequency in Hz" name="ATC_RAT_RLL_FILT" documentation="Roll axis rate conroller input frequency in Hz">
-<field name="Range">1 20</field>
-<field name="Increment">1</field>
-<field name="Units">Hz</field>
-</param>
-<param humanName="Pitch axis rate controller P gain" name="ATC_RAT_PIT_P" documentation="Pitch axis rate controller P gain.  Converts the difference between desired pitch rate and actual pitch rate into a motor speed output" user="Standard">
-<field name="Range">0.08 0.35</field>
-<field name="Increment">0.005</field>
-</param>
-<param humanName="Pitch axis rate controller I gain" name="ATC_RAT_PIT_I" documentation="Pitch axis rate controller I gain.  Corrects long-term difference in desired pitch rate vs actual pitch rate" user="Standard">
-<field name="Range">0.01 0.6</field>
-<field name="Increment">0.01</field>
-</param>
-<param humanName="Pitch axis rate controller I gain maximum" name="ATC_RAT_PIT_IMAX" documentation="Pitch axis rate controller I gain maximum.  Constrains the maximum motor output that the I gain will output" user="Standard">
-<field name="Range">0 1</field>
-<field name="Increment">0.01</field>
-</param>
-<param humanName="Pitch axis rate controller D gain" name="ATC_RAT_PIT_D" documentation="Pitch axis rate controller D gain.  Compensates for short-term change in desired pitch rate vs actual pitch rate" user="Standard">
-<field name="Range">0.001 0.03</field>
-<field name="Increment">0.001</field>
-</param>
-<param humanName="Pitch axis rate conroller input frequency in Hz" name="ATC_RAT_PIT_FILT" documentation="Pitch axis rate conroller input frequency in Hz">
-<field name="Range">1 20</field>
-<field name="Increment">1</field>
-<field name="Units">Hz</field>
-</param>
-<param humanName="Yaw axis rate controller P gain" name="ATC_RAT_YAW_P" documentation="Yaw axis rate controller P gain.  Converts the difference between desired yaw rate and actual yaw rate into a motor speed output" user="Standard">
-<field name="Range">0.180 0.60</field>
-<field name="Increment">0.005</field>
-</param>
-<param humanName="Yaw axis rate controller I gain" name="ATC_RAT_YAW_I" documentation="Yaw axis rate controller I gain.  Corrects long-term difference in desired yaw rate vs actual yaw rate" user="Standard">
-<field name="Range">0.01 0.06</field>
-<field name="Increment">0.01</field>
-</param>
-<param humanName="Yaw axis rate controller I gain maximum" name="ATC_RAT_YAW_IMAX" documentation="Yaw axis rate controller I gain maximum.  Constrains the maximum motor output that the I gain will output" user="Standard">
-<field name="Range">0 1</field>
-<field name="Increment">0.01</field>
-</param>
-<param humanName="Yaw axis rate controller D gain" name="ATC_RAT_YAW_D" documentation="Yaw axis rate controller D gain.  Compensates for short-term change in desired yaw rate vs actual yaw rate" user="Standard">
-<field name="Range">0.000 0.02</field>
-<field name="Increment">0.001</field>
-</param>
-<param humanName="Yaw axis rate conroller input frequency in Hz" name="ATC_RAT_YAW_FILT" documentation="Yaw axis rate conroller input frequency in Hz">
-<field name="Range">1 20</field>
-<field name="Increment">1</field>
-<field name="Units">Hz</field>
-</param>
-</parameters>
-<parameters name="AVD_">
-<param humanName="Enable Avoidance using ADSB" name="AVD_ENABLE" documentation="Enable Avoidance using ADSB" user="Advanced">
-<values>
-<value code="0">Disabled</value>
-<value code="1">Enabled</value>
-</values>
-</param>
-<param humanName="Recovery behaviour after a fail event" name="AVD_F_RCVRY" documentation="Determines what the aircraft will do after a fail event is resolved" user="Advanced">
-<values>
-<value code="0">Remain in AVOID_ADSB</value>
-<value code="1">Resume previous flight mode</value>
-<value code="2">RTL</value>
-<value code="3">Resume if AUTO else Loiter</value>
-</values>
-</param>
-<param humanName="Maximum number of obstacles to track" name="AVD_OBS_MAX" documentation="Maximum number of obstacles to track" user="Advanced">
+<param humanName="Maximum number of obstacles to track" name="AVD_OBS_MAX" documentation="Maximum number of obstacles to track" user="Advanced">
 </param>
 <param humanName="Time Horizon Warn" name="AVD_W_TIME" documentation="Aircraft velocity vectors are multiplied by this time to determine closest approach.  If this results in an approach closer than W_DIST_XY or W_DIST_Z then W_ACTION is undertaken (assuming F_ACTION is not undertaken)" user="Advanced">
 <field name="Units">seconds</field>
@@ -2703,13 +2977,17 @@
 <value code="3">All</value>
 </values>
 </param>
-<param humanName="Avoidance max lean angle in non-GPS flight modes" name="AVOID_ANGLE" documentation="Max lean angle used to avoid obstacles while in non-GPS modes" user="Standard">
+<param humanName="Avoidance max lean angle in non-GPS flight modes" name="AVOID_ANGLE_MAX" documentation="Max lean angle used to avoid obstacles while in non-GPS modes" user="Standard">
 <field name="Range">0 4500</field>
 </param>
 <param humanName="Avoidance distance maximum in non-GPS flight modes" name="AVOID_DIST_MAX" documentation="Distance from object at which obstacle avoidance will begin in non-GPS modes" user="Standard">
 <field name="Range">3 30</field>
 <field name="Units">meters</field>
 </param>
+<param humanName="Avoidance distance margin in GPS modes" name="AVOID_MARGIN" documentation="Vehicle will attempt to stay at least this distance (in meters) from objects while in GPS modes" user="Standard">
+<field name="Range">1 10</field>
+<field name="Units">meters</field>
+</param>
 </parameters>
 <parameters name="BATT">
 <param humanName="Battery monitoring" name="BATT_MONITOR" documentation="Controls enabling monitoring of the battery's voltage and current" user="Standard">
@@ -2722,24 +3000,27 @@
 <value code="7">SMBus-Maxell</value>
 </values>
 </param>
-<param humanName="Battery Voltage sensing pin" name="BATT_VOLT_PIN" documentation="Setting this to 0 ~ 13 will enable battery voltage sensing on pins A0 ~ A13. For the 3DR power brick on APM2.5 it should be set to 13. On the PX4 it should be set to 100. On the Pixhawk powered from the PM connector it should be set to 2." user="Standard">
+<param humanName="Battery Voltage sensing pin" name="BATT_VOLT_PIN" documentation="Setting this to 0 ~ 13 will enable battery voltage sensing on pins A0 ~ A13. For APM2.x power brick it should be set to 13. On the PX4-v1 it should be set to 100. On the Pixhawk, Pixracer and NAVIO board's PM connector it should be set to 2, Pixhawk2 Power2 is 13." user="Standard">
 <values>
 <value code="-1">Disabled</value>
 <value code=" 0">A0</value>
 <value code=" 1">A1</value>
-<value code=" 2">Pixhawk</value>
-<value code=" 13">A13</value>
-<value code=" 100">PX4</value>
+<value code=" 2">Pixhawk/Pixracer/Navio2</value>
+<value code=" 5">A5</value>
+<value code=" 10">A10</value>
+<value code=" 13">A13/Pixhawk2_PM2</value>
+<value code=" 100">PX4-v1</value>
 </values>
 </param>
-<param humanName="Battery Current sensing pin" name="BATT_CURR_PIN" documentation="Setting this to 0 ~ 13 will enable battery current sensing on pins A0 ~ A13. For the 3DR power brick on APM2.5 it should be set to 12. On the PX4 it should be set to 101. On the Pixhawk powered from the PM connector it should be set to 3." user="Standard">
+<param humanName="Battery Current sensing pin" name="BATT_CURR_PIN" documentation="Setting this to 0 ~ 13 will enable battery current sensing on pins A0 ~ A13. For the 3DR power brick on APM2.5 it should be set to 12. On the PX4 it should be set to 101. On the Pixhawk powered from the PM connector it should be set to 3, Pixhawk2 Power2 is 12." user="Standard">
 <values>
 <value code="-1">Disabled</value>
 <value code=" 1">A1</value>
 <value code=" 2">A2</value>
-<value code=" 3">Pixhawk</value>
-<value code=" 12">A12</value>
-<value code=" 101">PX4</value>
+<value code=" 3">Pixhawk/Pixracer/Navio2</value>
+<value code=" 11">A11</value>
+<value code=" 12">A12/Pixhawk2_PM2</value>
+<value code=" 101">PX4-v1</value>
 </values>
 </param>
 <param humanName="Voltage Multiplier" name="BATT_VOLT_MULT" documentation="Used to convert the voltage of the voltage sensing pin (BATT_VOLT_PIN) to the actual battery's voltage (pin_voltage * VOLT_MULT). For the 3DR Power brick on APM2 or Pixhawk, this should be set to 10.1. For the Pixhawk with the 3DR 4in1 ESC this should be 12.02. For the PX4 using the PX4IO power supply this should be set to 1." user="Advanced">
@@ -2758,6 +3039,8 @@
 <field name="Increment">1</field>
 <field name="Units">Watts</field>
 </param>
+<param humanName="Battery serial number" name="BATT_SERIAL_NUM" documentation="Battery serial number, automatically filled in for SMBus batteries, otherwise will be -1" user="Advanced">
+</param>
 <param humanName="Battery monitoring" name="BATT2_MONITOR" documentation="Controls enabling monitoring of the battery's voltage and current" user="Standard">
 <values>
 <value code="0">Disabled</value>
@@ -2768,24 +3051,27 @@
 <value code="7">SMBus-Maxell</value>
 </values>
 </param>
-<param humanName="Battery Voltage sensing pin" name="BATT2_VOLT_PIN" documentation="Setting this to 0 ~ 13 will enable battery voltage sensing on pins A0 ~ A13. For the 3DR power brick on APM2.5 it should be set to 13. On the PX4 it should be set to 100. On the Pixhawk powered from the PM connector it should be set to 2." user="Standard">
+<param humanName="Battery Voltage sensing pin" name="BATT2_VOLT_PIN" documentation="Setting this to 0 ~ 13 will enable battery voltage sensing on pins A0 ~ A13. For APM2.x power brick it should be set to 13. On the PX4-v1 it should be set to 100. On the Pixhawk, Pixracer and NAVIO board's PM connector it should be set to 2, Pixhawk2 Power2 is 13." user="Standard">
 <values>
 <value code="-1">Disabled</value>
 <value code=" 0">A0</value>
 <value code=" 1">A1</value>
-<value code=" 2">Pixhawk</value>
-<value code=" 13">A13</value>
-<value code=" 100">PX4</value>
+<value code=" 2">Pixhawk/Pixracer/Navio2</value>
+<value code=" 5">A5</value>
+<value code=" 10">A10</value>
+<value code=" 13">A13/Pixhawk2_PM2</value>
+<value code=" 100">PX4-v1</value>
 </values>
 </param>
-<param humanName="Battery Current sensing pin" name="BATT2_CURR_PIN" documentation="Setting this to 0 ~ 13 will enable battery current sensing on pins A0 ~ A13. For the 3DR power brick on APM2.5 it should be set to 12. On the PX4 it should be set to 101. On the Pixhawk powered from the PM connector it should be set to 3." user="Standard">
+<param humanName="Battery Current sensing pin" name="BATT2_CURR_PIN" documentation="Setting this to 0 ~ 13 will enable battery current sensing on pins A0 ~ A13. For the 3DR power brick on APM2.5 it should be set to 12. On the PX4 it should be set to 101. On the Pixhawk powered from the PM connector it should be set to 3, Pixhawk2 Power2 is 12." user="Standard">
 <values>
 <value code="-1">Disabled</value>
 <value code=" 1">A1</value>
 <value code=" 2">A2</value>
-<value code=" 3">Pixhawk</value>
-<value code=" 12">A12</value>
-<value code=" 101">PX4</value>
+<value code=" 3">Pixhawk/Pixracer/Navio2</value>
+<value code=" 11">A11</value>
+<value code=" 12">A12/Pixhawk2_PM2</value>
+<value code=" 101">PX4-v1</value>
 </values>
 </param>
 <param humanName="Voltage Multiplier" name="BATT2_VOLT_MULT" documentation="Used to convert the voltage of the voltage sensing pin (BATT_VOLT_PIN) to the actual battery's voltage (pin_voltage * VOLT_MULT). For the 3DR Power brick on APM2 or Pixhawk, this should be set to 10.1. For the Pixhawk with the 3DR 4in1 ESC this should be 12.02. For the PX4 using the PX4IO power supply this should be set to 1." user="Advanced">
@@ -2804,12 +3090,20 @@
 <field name="Increment">1</field>
 <field name="Units">Amps</field>
 </param>
+<param humanName="Battery serial number" name="BATT2_SERIAL_NUM" documentation="Battery serial number, automatically filled in for SMBus batteries, otherwise will be -1" user="Advanced">
+</param>
+<param humanName="Low voltage timeout" name="BATT_VOLT_TIMER" documentation="This is the timeout in seconds before a low voltage event will be triggered. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs. A value of zero disables low voltage errors." user="Advanced">
+<field name="Range">0 120</field>
+<field name="Increment">1</field>
+<field name="Units">Seconds</field>
+</param>
 </parameters>
 <parameters name="BCN">
 <param humanName="Beacon based position estimation device type" name="BCN_TYPE" documentation="What type of beacon based position estimation device is connected" user="Advanced">
 <values>
 <value code="0">None</value>
 <value code="1">Pozyx</value>
+<value code="2">Marvelmind</value>
 </values>
 </param>
 <param humanName="Beacon origin's latitude" name="BCN_LATITUDE" documentation="Beacon origin's latitude" user="Advanced">
@@ -2881,14 +3175,7 @@
 <field name="RebootRequired">True</field>
 </param>
 <param humanName="User-defined serial number" name="BRD_SERIAL_NUM" documentation="User-defined serial number of this vehicle, it can be any arbitrary number you want and has no effect on the autopilot" user="Standard">
-<field name="Range">-32767 32768</field>
-</param>
-<param humanName=" Enable use of UAVCAN devices" name="BRD_CAN_ENABLE" documentation="Enabling this option on a Pixhawk enables UAVCAN devices. Note that this uses about 25k of memory" user="Advanced">
-<values>
-<value code="0">Disabled</value>
-<value code="1">Enabled</value>
-<value code="2">Dynamic ID/Update</value>
-</values>
+<field name="Range">-32768 32767</field>
 </param>
 <param humanName="Channels to which ignore the safety switch state" name="BRD_SAFETY_MASK" documentation="A bitmask which controls what channels can move while the safety switch has not been pressed" user="Advanced">
 <field name="Bitmask">0:Ch1,1:Ch2,2:Ch3,3:Ch4,4:Ch5,5:Ch6,6:Ch7,7:Ch8,8:Ch9,9:Ch10,10:Ch11,11:Ch12,12:Ch13,13:Ch14</field>
@@ -2917,9 +3204,2192 @@
 <value code="10">VR Micro Brain 5.2</value>
 <value code="11">VRBrain Core 1.0</value>
 <value code="12">VRBrain 5.4</value>
+<value code="13">Intel Aero FC</value>
+<value code="20">AUAV2.1</value>
 </values>
 <field name="RebootRequired">True</field>
 </param>
+<param humanName="Enable IO co-processor" name="BRD_BRD_IO_ENABLE" documentation="This allows for the IO co-processor on FMUv1 and FMUv2 to be disabled" user="Advanced">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+<field name="RebootRequired">True</field>
+</param>
+</parameters>
+<parameters name="BRD_CAN_">
+<param humanName=" Enable use of CAN buses" name="BRD_CAN_ENABLE" documentation="Enabling this option enables use of CAN buses." user="Advanced">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled first channel</value>
+<value code="2">Enabled both channels</value>
+</values>
+</param>
+<param humanName=" Bitrate of CAN interface" name="BRD_CAN_BITRATE" documentation="Bit rate can be set up to from 10000 to 1000000" user="Advanced">
+<field name="Range">10000 1000000</field>
+</param>
+<param humanName=" Level of debug for CAN devices" name="BRD_CAN_DEBUG" documentation="Enabling this option will provide debug messages" user="Advanced">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Major messages</value>
+<value code="2">All messages</value>
+</values>
+</param>
+<param humanName=" Enable use of UAVCAN devices" name="BRD_CAN_UC_EN" documentation="Enabling this option starts UAVCAN protocol." user="Advanced">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+</parameters>
+<parameters name="BRD_CAN_UC_">
+<param humanName="UAVCAN node that is used for Ardupilot" name="BRD_CAN_UC_NODE" documentation="UAVCAN node should be set implicitly" user="Advanced">
+<field name="Range">1 250</field>
+</param>
+</parameters>
+<parameters name="BTN0_">
+<param humanName="Function for button" name="BTN0_FUNCTION" documentation="Set to 0 to disable or choose a function" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">shift</value>
+<value code="2">arm_toggle</value>
+<value code="3">arm</value>
+<value code="4">disarm</value>
+<value code="5">mode_manual</value>
+<value code="6">mode_stabilize</value>
+<value code="7">mode_depth_hold</value>
+<value code="8">mode_poshold</value>
+<value code="9">mode_auto</value>
+<value code="10">mode_circle</value>
+<value code="11">mode_guided</value>
+<value code="12">mode_acro</value>
+<value code="21">mount_center</value>
+<value code="22">mount_tilt_up</value>
+<value code="23">mount_tilt_down</value>
+<value code="24">camera_trigger</value>
+<value code="25">camera_source_toggle</value>
+<value code="26">mount_pan_right</value>
+<value code="27">mount_pan_left</value>
+<value code="31">lights1_cycle</value>
+<value code="32">lights1_brighter</value>
+<value code="33">lights1_dimmer</value>
+<value code="34">lights2_cycle</value>
+<value code="35">lights2_brighter</value>
+<value code="36">lights2_dimmer</value>
+<value code="41">gain_toggle</value>
+<value code="42">gain_inc</value>
+<value code="43">gain_dec</value>
+<value code="44">trim_roll_inc</value>
+<value code="45">trim_roll_dec</value>
+<value code="46">trim_pitch_inc</value>
+<value code="47">trim_pitch_dec</value>
+<value code="48">input_hold_toggle</value>
+<value code="49">roll_pitch_toggle</value>
+<value code="51">relay_1_on</value>
+<value code="52">relay_1_off</value>
+<value code="53">relay_1_toggle</value>
+<value code="54">relay_2_on</value>
+<value code="55">relay_2_off</value>
+<value code="56">relay_2_toggle</value>
+<value code="61">servo_1_inc</value>
+<value code="62">servo_1_dec</value>
+<value code="63">servo_1_min</value>
+<value code="64">servo_1_max</value>
+<value code="65">servo_1_center</value>
+<value code="66">servo_2_inc</value>
+<value code="67">servo_2_dec</value>
+<value code="68">servo_2_min</value>
+<value code="69">servo_2_max</value>
+<value code="70">servo_2_center</value>
+<value code="71">servo_3_inc</value>
+<value code="72">servo_3_dec</value>
+<value code="73">servo_3_min</value>
+<value code="74">servo_3_max</value>
+<value code="75">servo_3_center</value>
+<value code="91">custom_1</value>
+<value code="92">custom_2</value>
+<value code="93">custom_3</value>
+<value code="94">custom_4</value>
+<value code="95">custom_5</value>
+<value code="96">custom_6</value>
+</values>
+</param>
+<param humanName="Function for button when the shift mode is toggled on" name="BTN0_SFUNCTION" documentation="Set to 0 to disable or choose a function" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">shift</value>
+<value code="2">arm_toggle</value>
+<value code="3">arm</value>
+<value code="4">disarm</value>
+<value code="5">mode_manual</value>
+<value code="6">mode_stabilize</value>
+<value code="7">mode_depth_hold</value>
+<value code="8">mode_poshold</value>
+<value code="9">mode_auto</value>
+<value code="10">mode_circle</value>
+<value code="11">mode_guided</value>
+<value code="12">mode_acro</value>
+<value code="21">mount_center</value>
+<value code="22">mount_tilt_up</value>
+<value code="23">mount_tilt_down</value>
+<value code="24">camera_trigger</value>
+<value code="25">camera_source_toggle</value>
+<value code="26">mount_pan_right</value>
+<value code="27">mount_pan_left</value>
+<value code="31">lights1_cycle</value>
+<value code="32">lights1_brighter</value>
+<value code="33">lights1_dimmer</value>
+<value code="34">lights2_cycle</value>
+<value code="35">lights2_brighter</value>
+<value code="36">lights2_dimmer</value>
+<value code="41">gain_toggle</value>
+<value code="42">gain_inc</value>
+<value code="43">gain_dec</value>
+<value code="44">trim_roll_inc</value>
+<value code="45">trim_roll_dec</value>
+<value code="46">trim_pitch_inc</value>
+<value code="47">trim_pitch_dec</value>
+<value code="48">input_hold_toggle</value>
+<value code="49">roll_pitch_toggle</value>
+<value code="51">relay_1_on</value>
+<value code="52">relay_1_off</value>
+<value code="53">relay_1_toggle</value>
+<value code="54">relay_2_on</value>
+<value code="55">relay_2_off</value>
+<value code="56">relay_2_toggle</value>
+<value code="61">servo_1_inc</value>
+<value code="62">servo_1_dec</value>
+<value code="63">servo_1_min</value>
+<value code="64">servo_1_max</value>
+<value code="65">servo_1_center</value>
+<value code="66">servo_2_inc</value>
+<value code="67">servo_2_dec</value>
+<value code="68">servo_2_min</value>
+<value code="69">servo_2_max</value>
+<value code="70">servo_2_center</value>
+<value code="71">servo_3_inc</value>
+<value code="72">servo_3_dec</value>
+<value code="73">servo_3_min</value>
+<value code="74">servo_3_max</value>
+<value code="75">servo_3_center</value>
+<value code="91">custom_1</value>
+<value code="92">custom_2</value>
+<value code="93">custom_3</value>
+<value code="94">custom_4</value>
+<value code="95">custom_5</value>
+<value code="96">custom_6</value>
+</values>
+</param>
+</parameters>
+<parameters name="BTN10_">
+<param humanName="Function for button" name="BTN10_FUNCTION" documentation="Set to 0 to disable or choose a function" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">shift</value>
+<value code="2">arm_toggle</value>
+<value code="3">arm</value>
+<value code="4">disarm</value>
+<value code="5">mode_manual</value>
+<value code="6">mode_stabilize</value>
+<value code="7">mode_depth_hold</value>
+<value code="8">mode_poshold</value>
+<value code="9">mode_auto</value>
+<value code="10">mode_circle</value>
+<value code="11">mode_guided</value>
+<value code="12">mode_acro</value>
+<value code="21">mount_center</value>
+<value code="22">mount_tilt_up</value>
+<value code="23">mount_tilt_down</value>
+<value code="24">camera_trigger</value>
+<value code="25">camera_source_toggle</value>
+<value code="26">mount_pan_right</value>
+<value code="27">mount_pan_left</value>
+<value code="31">lights1_cycle</value>
+<value code="32">lights1_brighter</value>
+<value code="33">lights1_dimmer</value>
+<value code="34">lights2_cycle</value>
+<value code="35">lights2_brighter</value>
+<value code="36">lights2_dimmer</value>
+<value code="41">gain_toggle</value>
+<value code="42">gain_inc</value>
+<value code="43">gain_dec</value>
+<value code="44">trim_roll_inc</value>
+<value code="45">trim_roll_dec</value>
+<value code="46">trim_pitch_inc</value>
+<value code="47">trim_pitch_dec</value>
+<value code="48">input_hold_toggle</value>
+<value code="49">roll_pitch_toggle</value>
+<value code="51">relay_1_on</value>
+<value code="52">relay_1_off</value>
+<value code="53">relay_1_toggle</value>
+<value code="54">relay_2_on</value>
+<value code="55">relay_2_off</value>
+<value code="56">relay_2_toggle</value>
+<value code="61">servo_1_inc</value>
+<value code="62">servo_1_dec</value>
+<value code="63">servo_1_min</value>
+<value code="64">servo_1_max</value>
+<value code="65">servo_1_center</value>
+<value code="66">servo_2_inc</value>
+<value code="67">servo_2_dec</value>
+<value code="68">servo_2_min</value>
+<value code="69">servo_2_max</value>
+<value code="70">servo_2_center</value>
+<value code="71">servo_3_inc</value>
+<value code="72">servo_3_dec</value>
+<value code="73">servo_3_min</value>
+<value code="74">servo_3_max</value>
+<value code="75">servo_3_center</value>
+<value code="91">custom_1</value>
+<value code="92">custom_2</value>
+<value code="93">custom_3</value>
+<value code="94">custom_4</value>
+<value code="95">custom_5</value>
+<value code="96">custom_6</value>
+</values>
+</param>
+<param humanName="Function for button when the shift mode is toggled on" name="BTN10_SFUNCTION" documentation="Set to 0 to disable or choose a function" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">shift</value>
+<value code="2">arm_toggle</value>
+<value code="3">arm</value>
+<value code="4">disarm</value>
+<value code="5">mode_manual</value>
+<value code="6">mode_stabilize</value>
+<value code="7">mode_depth_hold</value>
+<value code="8">mode_poshold</value>
+<value code="9">mode_auto</value>
+<value code="10">mode_circle</value>
+<value code="11">mode_guided</value>
+<value code="12">mode_acro</value>
+<value code="21">mount_center</value>
+<value code="22">mount_tilt_up</value>
+<value code="23">mount_tilt_down</value>
+<value code="24">camera_trigger</value>
+<value code="25">camera_source_toggle</value>
+<value code="26">mount_pan_right</value>
+<value code="27">mount_pan_left</value>
+<value code="31">lights1_cycle</value>
+<value code="32">lights1_brighter</value>
+<value code="33">lights1_dimmer</value>
+<value code="34">lights2_cycle</value>
+<value code="35">lights2_brighter</value>
+<value code="36">lights2_dimmer</value>
+<value code="41">gain_toggle</value>
+<value code="42">gain_inc</value>
+<value code="43">gain_dec</value>
+<value code="44">trim_roll_inc</value>
+<value code="45">trim_roll_dec</value>
+<value code="46">trim_pitch_inc</value>
+<value code="47">trim_pitch_dec</value>
+<value code="48">input_hold_toggle</value>
+<value code="49">roll_pitch_toggle</value>
+<value code="51">relay_1_on</value>
+<value code="52">relay_1_off</value>
+<value code="53">relay_1_toggle</value>
+<value code="54">relay_2_on</value>
+<value code="55">relay_2_off</value>
+<value code="56">relay_2_toggle</value>
+<value code="61">servo_1_inc</value>
+<value code="62">servo_1_dec</value>
+<value code="63">servo_1_min</value>
+<value code="64">servo_1_max</value>
+<value code="65">servo_1_center</value>
+<value code="66">servo_2_inc</value>
+<value code="67">servo_2_dec</value>
+<value code="68">servo_2_min</value>
+<value code="69">servo_2_max</value>
+<value code="70">servo_2_center</value>
+<value code="71">servo_3_inc</value>
+<value code="72">servo_3_dec</value>
+<value code="73">servo_3_min</value>
+<value code="74">servo_3_max</value>
+<value code="75">servo_3_center</value>
+<value code="91">custom_1</value>
+<value code="92">custom_2</value>
+<value code="93">custom_3</value>
+<value code="94">custom_4</value>
+<value code="95">custom_5</value>
+<value code="96">custom_6</value>
+</values>
+</param>
+</parameters>
+<parameters name="BTN11_">
+<param humanName="Function for button" name="BTN11_FUNCTION" documentation="Set to 0 to disable or choose a function" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">shift</value>
+<value code="2">arm_toggle</value>
+<value code="3">arm</value>
+<value code="4">disarm</value>
+<value code="5">mode_manual</value>
+<value code="6">mode_stabilize</value>
+<value code="7">mode_depth_hold</value>
+<value code="8">mode_poshold</value>
+<value code="9">mode_auto</value>
+<value code="10">mode_circle</value>
+<value code="11">mode_guided</value>
+<value code="12">mode_acro</value>
+<value code="21">mount_center</value>
+<value code="22">mount_tilt_up</value>
+<value code="23">mount_tilt_down</value>
+<value code="24">camera_trigger</value>
+<value code="25">camera_source_toggle</value>
+<value code="26">mount_pan_right</value>
+<value code="27">mount_pan_left</value>
+<value code="31">lights1_cycle</value>
+<value code="32">lights1_brighter</value>
+<value code="33">lights1_dimmer</value>
+<value code="34">lights2_cycle</value>
+<value code="35">lights2_brighter</value>
+<value code="36">lights2_dimmer</value>
+<value code="41">gain_toggle</value>
+<value code="42">gain_inc</value>
+<value code="43">gain_dec</value>
+<value code="44">trim_roll_inc</value>
+<value code="45">trim_roll_dec</value>
+<value code="46">trim_pitch_inc</value>
+<value code="47">trim_pitch_dec</value>
+<value code="48">input_hold_toggle</value>
+<value code="49">roll_pitch_toggle</value>
+<value code="51">relay_1_on</value>
+<value code="52">relay_1_off</value>
+<value code="53">relay_1_toggle</value>
+<value code="54">relay_2_on</value>
+<value code="55">relay_2_off</value>
+<value code="56">relay_2_toggle</value>
+<value code="61">servo_1_inc</value>
+<value code="62">servo_1_dec</value>
+<value code="63">servo_1_min</value>
+<value code="64">servo_1_max</value>
+<value code="65">servo_1_center</value>
+<value code="66">servo_2_inc</value>
+<value code="67">servo_2_dec</value>
+<value code="68">servo_2_min</value>
+<value code="69">servo_2_max</value>
+<value code="70">servo_2_center</value>
+<value code="71">servo_3_inc</value>
+<value code="72">servo_3_dec</value>
+<value code="73">servo_3_min</value>
+<value code="74">servo_3_max</value>
+<value code="75">servo_3_center</value>
+<value code="91">custom_1</value>
+<value code="92">custom_2</value>
+<value code="93">custom_3</value>
+<value code="94">custom_4</value>
+<value code="95">custom_5</value>
+<value code="96">custom_6</value>
+</values>
+</param>
+<param humanName="Function for button when the shift mode is toggled on" name="BTN11_SFUNCTION" documentation="Set to 0 to disable or choose a function" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">shift</value>
+<value code="2">arm_toggle</value>
+<value code="3">arm</value>
+<value code="4">disarm</value>
+<value code="5">mode_manual</value>
+<value code="6">mode_stabilize</value>
+<value code="7">mode_depth_hold</value>
+<value code="8">mode_poshold</value>
+<value code="9">mode_auto</value>
+<value code="10">mode_circle</value>
+<value code="11">mode_guided</value>
+<value code="12">mode_acro</value>
+<value code="21">mount_center</value>
+<value code="22">mount_tilt_up</value>
+<value code="23">mount_tilt_down</value>
+<value code="24">camera_trigger</value>
+<value code="25">camera_source_toggle</value>
+<value code="26">mount_pan_right</value>
+<value code="27">mount_pan_left</value>
+<value code="31">lights1_cycle</value>
+<value code="32">lights1_brighter</value>
+<value code="33">lights1_dimmer</value>
+<value code="34">lights2_cycle</value>
+<value code="35">lights2_brighter</value>
+<value code="36">lights2_dimmer</value>
+<value code="41">gain_toggle</value>
+<value code="42">gain_inc</value>
+<value code="43">gain_dec</value>
+<value code="44">trim_roll_inc</value>
+<value code="45">trim_roll_dec</value>
+<value code="46">trim_pitch_inc</value>
+<value code="47">trim_pitch_dec</value>
+<value code="48">input_hold_toggle</value>
+<value code="49">roll_pitch_toggle</value>
+<value code="51">relay_1_on</value>
+<value code="52">relay_1_off</value>
+<value code="53">relay_1_toggle</value>
+<value code="54">relay_2_on</value>
+<value code="55">relay_2_off</value>
+<value code="56">relay_2_toggle</value>
+<value code="61">servo_1_inc</value>
+<value code="62">servo_1_dec</value>
+<value code="63">servo_1_min</value>
+<value code="64">servo_1_max</value>
+<value code="65">servo_1_center</value>
+<value code="66">servo_2_inc</value>
+<value code="67">servo_2_dec</value>
+<value code="68">servo_2_min</value>
+<value code="69">servo_2_max</value>
+<value code="70">servo_2_center</value>
+<value code="71">servo_3_inc</value>
+<value code="72">servo_3_dec</value>
+<value code="73">servo_3_min</value>
+<value code="74">servo_3_max</value>
+<value code="75">servo_3_center</value>
+<value code="91">custom_1</value>
+<value code="92">custom_2</value>
+<value code="93">custom_3</value>
+<value code="94">custom_4</value>
+<value code="95">custom_5</value>
+<value code="96">custom_6</value>
+</values>
+</param>
+</parameters>
+<parameters name="BTN12_">
+<param humanName="Function for button" name="BTN12_FUNCTION" documentation="Set to 0 to disable or choose a function" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">shift</value>
+<value code="2">arm_toggle</value>
+<value code="3">arm</value>
+<value code="4">disarm</value>
+<value code="5">mode_manual</value>
+<value code="6">mode_stabilize</value>
+<value code="7">mode_depth_hold</value>
+<value code="8">mode_poshold</value>
+<value code="9">mode_auto</value>
+<value code="10">mode_circle</value>
+<value code="11">mode_guided</value>
+<value code="12">mode_acro</value>
+<value code="21">mount_center</value>
+<value code="22">mount_tilt_up</value>
+<value code="23">mount_tilt_down</value>
+<value code="24">camera_trigger</value>
+<value code="25">camera_source_toggle</value>
+<value code="26">mount_pan_right</value>
+<value code="27">mount_pan_left</value>
+<value code="31">lights1_cycle</value>
+<value code="32">lights1_brighter</value>
+<value code="33">lights1_dimmer</value>
+<value code="34">lights2_cycle</value>
+<value code="35">lights2_brighter</value>
+<value code="36">lights2_dimmer</value>
+<value code="41">gain_toggle</value>
+<value code="42">gain_inc</value>
+<value code="43">gain_dec</value>
+<value code="44">trim_roll_inc</value>
+<value code="45">trim_roll_dec</value>
+<value code="46">trim_pitch_inc</value>
+<value code="47">trim_pitch_dec</value>
+<value code="48">input_hold_toggle</value>
+<value code="49">roll_pitch_toggle</value>
+<value code="51">relay_1_on</value>
+<value code="52">relay_1_off</value>
+<value code="53">relay_1_toggle</value>
+<value code="54">relay_2_on</value>
+<value code="55">relay_2_off</value>
+<value code="56">relay_2_toggle</value>
+<value code="61">servo_1_inc</value>
+<value code="62">servo_1_dec</value>
+<value code="63">servo_1_min</value>
+<value code="64">servo_1_max</value>
+<value code="65">servo_1_center</value>
+<value code="66">servo_2_inc</value>
+<value code="67">servo_2_dec</value>
+<value code="68">servo_2_min</value>
+<value code="69">servo_2_max</value>
+<value code="70">servo_2_center</value>
+<value code="71">servo_3_inc</value>
+<value code="72">servo_3_dec</value>
+<value code="73">servo_3_min</value>
+<value code="74">servo_3_max</value>
+<value code="75">servo_3_center</value>
+<value code="91">custom_1</value>
+<value code="92">custom_2</value>
+<value code="93">custom_3</value>
+<value code="94">custom_4</value>
+<value code="95">custom_5</value>
+<value code="96">custom_6</value>
+</values>
+</param>
+<param humanName="Function for button when the shift mode is toggled on" name="BTN12_SFUNCTION" documentation="Set to 0 to disable or choose a function" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">shift</value>
+<value code="2">arm_toggle</value>
+<value code="3">arm</value>
+<value code="4">disarm</value>
+<value code="5">mode_manual</value>
+<value code="6">mode_stabilize</value>
+<value code="7">mode_depth_hold</value>
+<value code="8">mode_poshold</value>
+<value code="9">mode_auto</value>
+<value code="10">mode_circle</value>
+<value code="11">mode_guided</value>
+<value code="12">mode_acro</value>
+<value code="21">mount_center</value>
+<value code="22">mount_tilt_up</value>
+<value code="23">mount_tilt_down</value>
+<value code="24">camera_trigger</value>
+<value code="25">camera_source_toggle</value>
+<value code="26">mount_pan_right</value>
+<value code="27">mount_pan_left</value>
+<value code="31">lights1_cycle</value>
+<value code="32">lights1_brighter</value>
+<value code="33">lights1_dimmer</value>
+<value code="34">lights2_cycle</value>
+<value code="35">lights2_brighter</value>
+<value code="36">lights2_dimmer</value>
+<value code="41">gain_toggle</value>
+<value code="42">gain_inc</value>
+<value code="43">gain_dec</value>
+<value code="44">trim_roll_inc</value>
+<value code="45">trim_roll_dec</value>
+<value code="46">trim_pitch_inc</value>
+<value code="47">trim_pitch_dec</value>
+<value code="48">input_hold_toggle</value>
+<value code="49">roll_pitch_toggle</value>
+<value code="51">relay_1_on</value>
+<value code="52">relay_1_off</value>
+<value code="53">relay_1_toggle</value>
+<value code="54">relay_2_on</value>
+<value code="55">relay_2_off</value>
+<value code="56">relay_2_toggle</value>
+<value code="61">servo_1_inc</value>
+<value code="62">servo_1_dec</value>
+<value code="63">servo_1_min</value>
+<value code="64">servo_1_max</value>
+<value code="65">servo_1_center</value>
+<value code="66">servo_2_inc</value>
+<value code="67">servo_2_dec</value>
+<value code="68">servo_2_min</value>
+<value code="69">servo_2_max</value>
+<value code="70">servo_2_center</value>
+<value code="71">servo_3_inc</value>
+<value code="72">servo_3_dec</value>
+<value code="73">servo_3_min</value>
+<value code="74">servo_3_max</value>
+<value code="75">servo_3_center</value>
+<value code="91">custom_1</value>
+<value code="92">custom_2</value>
+<value code="93">custom_3</value>
+<value code="94">custom_4</value>
+<value code="95">custom_5</value>
+<value code="96">custom_6</value>
+</values>
+</param>
+</parameters>
+<parameters name="BTN13_">
+<param humanName="Function for button" name="BTN13_FUNCTION" documentation="Set to 0 to disable or choose a function" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">shift</value>
+<value code="2">arm_toggle</value>
+<value code="3">arm</value>
+<value code="4">disarm</value>
+<value code="5">mode_manual</value>
+<value code="6">mode_stabilize</value>
+<value code="7">mode_depth_hold</value>
+<value code="8">mode_poshold</value>
+<value code="9">mode_auto</value>
+<value code="10">mode_circle</value>
+<value code="11">mode_guided</value>
+<value code="12">mode_acro</value>
+<value code="21">mount_center</value>
+<value code="22">mount_tilt_up</value>
+<value code="23">mount_tilt_down</value>
+<value code="24">camera_trigger</value>
+<value code="25">camera_source_toggle</value>
+<value code="26">mount_pan_right</value>
+<value code="27">mount_pan_left</value>
+<value code="31">lights1_cycle</value>
+<value code="32">lights1_brighter</value>
+<value code="33">lights1_dimmer</value>
+<value code="34">lights2_cycle</value>
+<value code="35">lights2_brighter</value>
+<value code="36">lights2_dimmer</value>
+<value code="41">gain_toggle</value>
+<value code="42">gain_inc</value>
+<value code="43">gain_dec</value>
+<value code="44">trim_roll_inc</value>
+<value code="45">trim_roll_dec</value>
+<value code="46">trim_pitch_inc</value>
+<value code="47">trim_pitch_dec</value>
+<value code="48">input_hold_toggle</value>
+<value code="49">roll_pitch_toggle</value>
+<value code="51">relay_1_on</value>
+<value code="52">relay_1_off</value>
+<value code="53">relay_1_toggle</value>
+<value code="54">relay_2_on</value>
+<value code="55">relay_2_off</value>
+<value code="56">relay_2_toggle</value>
+<value code="61">servo_1_inc</value>
+<value code="62">servo_1_dec</value>
+<value code="63">servo_1_min</value>
+<value code="64">servo_1_max</value>
+<value code="65">servo_1_center</value>
+<value code="66">servo_2_inc</value>
+<value code="67">servo_2_dec</value>
+<value code="68">servo_2_min</value>
+<value code="69">servo_2_max</value>
+<value code="70">servo_2_center</value>
+<value code="71">servo_3_inc</value>
+<value code="72">servo_3_dec</value>
+<value code="73">servo_3_min</value>
+<value code="74">servo_3_max</value>
+<value code="75">servo_3_center</value>
+<value code="91">custom_1</value>
+<value code="92">custom_2</value>
+<value code="93">custom_3</value>
+<value code="94">custom_4</value>
+<value code="95">custom_5</value>
+<value code="96">custom_6</value>
+</values>
+</param>
+<param humanName="Function for button when the shift mode is toggled on" name="BTN13_SFUNCTION" documentation="Set to 0 to disable or choose a function" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">shift</value>
+<value code="2">arm_toggle</value>
+<value code="3">arm</value>
+<value code="4">disarm</value>
+<value code="5">mode_manual</value>
+<value code="6">mode_stabilize</value>
+<value code="7">mode_depth_hold</value>
+<value code="8">mode_poshold</value>
+<value code="9">mode_auto</value>
+<value code="10">mode_circle</value>
+<value code="11">mode_guided</value>
+<value code="12">mode_acro</value>
+<value code="21">mount_center</value>
+<value code="22">mount_tilt_up</value>
+<value code="23">mount_tilt_down</value>
+<value code="24">camera_trigger</value>
+<value code="25">camera_source_toggle</value>
+<value code="26">mount_pan_right</value>
+<value code="27">mount_pan_left</value>
+<value code="31">lights1_cycle</value>
+<value code="32">lights1_brighter</value>
+<value code="33">lights1_dimmer</value>
+<value code="34">lights2_cycle</value>
+<value code="35">lights2_brighter</value>
+<value code="36">lights2_dimmer</value>
+<value code="41">gain_toggle</value>
+<value code="42">gain_inc</value>
+<value code="43">gain_dec</value>
+<value code="44">trim_roll_inc</value>
+<value code="45">trim_roll_dec</value>
+<value code="46">trim_pitch_inc</value>
+<value code="47">trim_pitch_dec</value>
+<value code="48">input_hold_toggle</value>
+<value code="49">roll_pitch_toggle</value>
+<value code="51">relay_1_on</value>
+<value code="52">relay_1_off</value>
+<value code="53">relay_1_toggle</value>
+<value code="54">relay_2_on</value>
+<value code="55">relay_2_off</value>
+<value code="56">relay_2_toggle</value>
+<value code="61">servo_1_inc</value>
+<value code="62">servo_1_dec</value>
+<value code="63">servo_1_min</value>
+<value code="64">servo_1_max</value>
+<value code="65">servo_1_center</value>
+<value code="66">servo_2_inc</value>
+<value code="67">servo_2_dec</value>
+<value code="68">servo_2_min</value>
+<value code="69">servo_2_max</value>
+<value code="70">servo_2_center</value>
+<value code="71">servo_3_inc</value>
+<value code="72">servo_3_dec</value>
+<value code="73">servo_3_min</value>
+<value code="74">servo_3_max</value>
+<value code="75">servo_3_center</value>
+<value code="91">custom_1</value>
+<value code="92">custom_2</value>
+<value code="93">custom_3</value>
+<value code="94">custom_4</value>
+<value code="95">custom_5</value>
+<value code="96">custom_6</value>
+</values>
+</param>
+</parameters>
+<parameters name="BTN14_">
+<param humanName="Function for button" name="BTN14_FUNCTION" documentation="Set to 0 to disable or choose a function" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">shift</value>
+<value code="2">arm_toggle</value>
+<value code="3">arm</value>
+<value code="4">disarm</value>
+<value code="5">mode_manual</value>
+<value code="6">mode_stabilize</value>
+<value code="7">mode_depth_hold</value>
+<value code="8">mode_poshold</value>
+<value code="9">mode_auto</value>
+<value code="10">mode_circle</value>
+<value code="11">mode_guided</value>
+<value code="12">mode_acro</value>
+<value code="21">mount_center</value>
+<value code="22">mount_tilt_up</value>
+<value code="23">mount_tilt_down</value>
+<value code="24">camera_trigger</value>
+<value code="25">camera_source_toggle</value>
+<value code="26">mount_pan_right</value>
+<value code="27">mount_pan_left</value>
+<value code="31">lights1_cycle</value>
+<value code="32">lights1_brighter</value>
+<value code="33">lights1_dimmer</value>
+<value code="34">lights2_cycle</value>
+<value code="35">lights2_brighter</value>
+<value code="36">lights2_dimmer</value>
+<value code="41">gain_toggle</value>
+<value code="42">gain_inc</value>
+<value code="43">gain_dec</value>
+<value code="44">trim_roll_inc</value>
+<value code="45">trim_roll_dec</value>
+<value code="46">trim_pitch_inc</value>
+<value code="47">trim_pitch_dec</value>
+<value code="48">input_hold_toggle</value>
+<value code="49">roll_pitch_toggle</value>
+<value code="51">relay_1_on</value>
+<value code="52">relay_1_off</value>
+<value code="53">relay_1_toggle</value>
+<value code="54">relay_2_on</value>
+<value code="55">relay_2_off</value>
+<value code="56">relay_2_toggle</value>
+<value code="61">servo_1_inc</value>
+<value code="62">servo_1_dec</value>
+<value code="63">servo_1_min</value>
+<value code="64">servo_1_max</value>
+<value code="65">servo_1_center</value>
+<value code="66">servo_2_inc</value>
+<value code="67">servo_2_dec</value>
+<value code="68">servo_2_min</value>
+<value code="69">servo_2_max</value>
+<value code="70">servo_2_center</value>
+<value code="71">servo_3_inc</value>
+<value code="72">servo_3_dec</value>
+<value code="73">servo_3_min</value>
+<value code="74">servo_3_max</value>
+<value code="75">servo_3_center</value>
+<value code="91">custom_1</value>
+<value code="92">custom_2</value>
+<value code="93">custom_3</value>
+<value code="94">custom_4</value>
+<value code="95">custom_5</value>
+<value code="96">custom_6</value>
+</values>
+</param>
+<param humanName="Function for button when the shift mode is toggled on" name="BTN14_SFUNCTION" documentation="Set to 0 to disable or choose a function" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">shift</value>
+<value code="2">arm_toggle</value>
+<value code="3">arm</value>
+<value code="4">disarm</value>
+<value code="5">mode_manual</value>
+<value code="6">mode_stabilize</value>
+<value code="7">mode_depth_hold</value>
+<value code="8">mode_poshold</value>
+<value code="9">mode_auto</value>
+<value code="10">mode_circle</value>
+<value code="11">mode_guided</value>
+<value code="12">mode_acro</value>
+<value code="21">mount_center</value>
+<value code="22">mount_tilt_up</value>
+<value code="23">mount_tilt_down</value>
+<value code="24">camera_trigger</value>
+<value code="25">camera_source_toggle</value>
+<value code="26">mount_pan_right</value>
+<value code="27">mount_pan_left</value>
+<value code="31">lights1_cycle</value>
+<value code="32">lights1_brighter</value>
+<value code="33">lights1_dimmer</value>
+<value code="34">lights2_cycle</value>
+<value code="35">lights2_brighter</value>
+<value code="36">lights2_dimmer</value>
+<value code="41">gain_toggle</value>
+<value code="42">gain_inc</value>
+<value code="43">gain_dec</value>
+<value code="44">trim_roll_inc</value>
+<value code="45">trim_roll_dec</value>
+<value code="46">trim_pitch_inc</value>
+<value code="47">trim_pitch_dec</value>
+<value code="48">input_hold_toggle</value>
+<value code="49">roll_pitch_toggle</value>
+<value code="51">relay_1_on</value>
+<value code="52">relay_1_off</value>
+<value code="53">relay_1_toggle</value>
+<value code="54">relay_2_on</value>
+<value code="55">relay_2_off</value>
+<value code="56">relay_2_toggle</value>
+<value code="61">servo_1_inc</value>
+<value code="62">servo_1_dec</value>
+<value code="63">servo_1_min</value>
+<value code="64">servo_1_max</value>
+<value code="65">servo_1_center</value>
+<value code="66">servo_2_inc</value>
+<value code="67">servo_2_dec</value>
+<value code="68">servo_2_min</value>
+<value code="69">servo_2_max</value>
+<value code="70">servo_2_center</value>
+<value code="71">servo_3_inc</value>
+<value code="72">servo_3_dec</value>
+<value code="73">servo_3_min</value>
+<value code="74">servo_3_max</value>
+<value code="75">servo_3_center</value>
+<value code="91">custom_1</value>
+<value code="92">custom_2</value>
+<value code="93">custom_3</value>
+<value code="94">custom_4</value>
+<value code="95">custom_5</value>
+<value code="96">custom_6</value>
+</values>
+</param>
+</parameters>
+<parameters name="BTN15_">
+<param humanName="Function for button" name="BTN15_FUNCTION" documentation="Set to 0 to disable or choose a function" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">shift</value>
+<value code="2">arm_toggle</value>
+<value code="3">arm</value>
+<value code="4">disarm</value>
+<value code="5">mode_manual</value>
+<value code="6">mode_stabilize</value>
+<value code="7">mode_depth_hold</value>
+<value code="8">mode_poshold</value>
+<value code="9">mode_auto</value>
+<value code="10">mode_circle</value>
+<value code="11">mode_guided</value>
+<value code="12">mode_acro</value>
+<value code="21">mount_center</value>
+<value code="22">mount_tilt_up</value>
+<value code="23">mount_tilt_down</value>
+<value code="24">camera_trigger</value>
+<value code="25">camera_source_toggle</value>
+<value code="26">mount_pan_right</value>
+<value code="27">mount_pan_left</value>
+<value code="31">lights1_cycle</value>
+<value code="32">lights1_brighter</value>
+<value code="33">lights1_dimmer</value>
+<value code="34">lights2_cycle</value>
+<value code="35">lights2_brighter</value>
+<value code="36">lights2_dimmer</value>
+<value code="41">gain_toggle</value>
+<value code="42">gain_inc</value>
+<value code="43">gain_dec</value>
+<value code="44">trim_roll_inc</value>
+<value code="45">trim_roll_dec</value>
+<value code="46">trim_pitch_inc</value>
+<value code="47">trim_pitch_dec</value>
+<value code="48">input_hold_toggle</value>
+<value code="49">roll_pitch_toggle</value>
+<value code="51">relay_1_on</value>
+<value code="52">relay_1_off</value>
+<value code="53">relay_1_toggle</value>
+<value code="54">relay_2_on</value>
+<value code="55">relay_2_off</value>
+<value code="56">relay_2_toggle</value>
+<value code="61">servo_1_inc</value>
+<value code="62">servo_1_dec</value>
+<value code="63">servo_1_min</value>
+<value code="64">servo_1_max</value>
+<value code="65">servo_1_center</value>
+<value code="66">servo_2_inc</value>
+<value code="67">servo_2_dec</value>
+<value code="68">servo_2_min</value>
+<value code="69">servo_2_max</value>
+<value code="70">servo_2_center</value>
+<value code="71">servo_3_inc</value>
+<value code="72">servo_3_dec</value>
+<value code="73">servo_3_min</value>
+<value code="74">servo_3_max</value>
+<value code="75">servo_3_center</value>
+<value code="91">custom_1</value>
+<value code="92">custom_2</value>
+<value code="93">custom_3</value>
+<value code="94">custom_4</value>
+<value code="95">custom_5</value>
+<value code="96">custom_6</value>
+</values>
+</param>
+<param humanName="Function for button when the shift mode is toggled on" name="BTN15_SFUNCTION" documentation="Set to 0 to disable or choose a function" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">shift</value>
+<value code="2">arm_toggle</value>
+<value code="3">arm</value>
+<value code="4">disarm</value>
+<value code="5">mode_manual</value>
+<value code="6">mode_stabilize</value>
+<value code="7">mode_depth_hold</value>
+<value code="8">mode_poshold</value>
+<value code="9">mode_auto</value>
+<value code="10">mode_circle</value>
+<value code="11">mode_guided</value>
+<value code="12">mode_acro</value>
+<value code="21">mount_center</value>
+<value code="22">mount_tilt_up</value>
+<value code="23">mount_tilt_down</value>
+<value code="24">camera_trigger</value>
+<value code="25">camera_source_toggle</value>
+<value code="26">mount_pan_right</value>
+<value code="27">mount_pan_left</value>
+<value code="31">lights1_cycle</value>
+<value code="32">lights1_brighter</value>
+<value code="33">lights1_dimmer</value>
+<value code="34">lights2_cycle</value>
+<value code="35">lights2_brighter</value>
+<value code="36">lights2_dimmer</value>
+<value code="41">gain_toggle</value>
+<value code="42">gain_inc</value>
+<value code="43">gain_dec</value>
+<value code="44">trim_roll_inc</value>
+<value code="45">trim_roll_dec</value>
+<value code="46">trim_pitch_inc</value>
+<value code="47">trim_pitch_dec</value>
+<value code="48">input_hold_toggle</value>
+<value code="49">roll_pitch_toggle</value>
+<value code="51">relay_1_on</value>
+<value code="52">relay_1_off</value>
+<value code="53">relay_1_toggle</value>
+<value code="54">relay_2_on</value>
+<value code="55">relay_2_off</value>
+<value code="56">relay_2_toggle</value>
+<value code="61">servo_1_inc</value>
+<value code="62">servo_1_dec</value>
+<value code="63">servo_1_min</value>
+<value code="64">servo_1_max</value>
+<value code="65">servo_1_center</value>
+<value code="66">servo_2_inc</value>
+<value code="67">servo_2_dec</value>
+<value code="68">servo_2_min</value>
+<value code="69">servo_2_max</value>
+<value code="70">servo_2_center</value>
+<value code="71">servo_3_inc</value>
+<value code="72">servo_3_dec</value>
+<value code="73">servo_3_min</value>
+<value code="74">servo_3_max</value>
+<value code="75">servo_3_center</value>
+<value code="91">custom_1</value>
+<value code="92">custom_2</value>
+<value code="93">custom_3</value>
+<value code="94">custom_4</value>
+<value code="95">custom_5</value>
+<value code="96">custom_6</value>
+</values>
+</param>
+</parameters>
+<parameters name="BTN1_">
+<param humanName="Function for button" name="BTN1_FUNCTION" documentation="Set to 0 to disable or choose a function" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">shift</value>
+<value code="2">arm_toggle</value>
+<value code="3">arm</value>
+<value code="4">disarm</value>
+<value code="5">mode_manual</value>
+<value code="6">mode_stabilize</value>
+<value code="7">mode_depth_hold</value>
+<value code="8">mode_poshold</value>
+<value code="9">mode_auto</value>
+<value code="10">mode_circle</value>
+<value code="11">mode_guided</value>
+<value code="12">mode_acro</value>
+<value code="21">mount_center</value>
+<value code="22">mount_tilt_up</value>
+<value code="23">mount_tilt_down</value>
+<value code="24">camera_trigger</value>
+<value code="25">camera_source_toggle</value>
+<value code="26">mount_pan_right</value>
+<value code="27">mount_pan_left</value>
+<value code="31">lights1_cycle</value>
+<value code="32">lights1_brighter</value>
+<value code="33">lights1_dimmer</value>
+<value code="34">lights2_cycle</value>
+<value code="35">lights2_brighter</value>
+<value code="36">lights2_dimmer</value>
+<value code="41">gain_toggle</value>
+<value code="42">gain_inc</value>
+<value code="43">gain_dec</value>
+<value code="44">trim_roll_inc</value>
+<value code="45">trim_roll_dec</value>
+<value code="46">trim_pitch_inc</value>
+<value code="47">trim_pitch_dec</value>
+<value code="48">input_hold_toggle</value>
+<value code="49">roll_pitch_toggle</value>
+<value code="51">relay_1_on</value>
+<value code="52">relay_1_off</value>
+<value code="53">relay_1_toggle</value>
+<value code="54">relay_2_on</value>
+<value code="55">relay_2_off</value>
+<value code="56">relay_2_toggle</value>
+<value code="61">servo_1_inc</value>
+<value code="62">servo_1_dec</value>
+<value code="63">servo_1_min</value>
+<value code="64">servo_1_max</value>
+<value code="65">servo_1_center</value>
+<value code="66">servo_2_inc</value>
+<value code="67">servo_2_dec</value>
+<value code="68">servo_2_min</value>
+<value code="69">servo_2_max</value>
+<value code="70">servo_2_center</value>
+<value code="71">servo_3_inc</value>
+<value code="72">servo_3_dec</value>
+<value code="73">servo_3_min</value>
+<value code="74">servo_3_max</value>
+<value code="75">servo_3_center</value>
+<value code="91">custom_1</value>
+<value code="92">custom_2</value>
+<value code="93">custom_3</value>
+<value code="94">custom_4</value>
+<value code="95">custom_5</value>
+<value code="96">custom_6</value>
+</values>
+</param>
+<param humanName="Function for button when the shift mode is toggled on" name="BTN1_SFUNCTION" documentation="Set to 0 to disable or choose a function" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">shift</value>
+<value code="2">arm_toggle</value>
+<value code="3">arm</value>
+<value code="4">disarm</value>
+<value code="5">mode_manual</value>
+<value code="6">mode_stabilize</value>
+<value code="7">mode_depth_hold</value>
+<value code="8">mode_poshold</value>
+<value code="9">mode_auto</value>
+<value code="10">mode_circle</value>
+<value code="11">mode_guided</value>
+<value code="12">mode_acro</value>
+<value code="21">mount_center</value>
+<value code="22">mount_tilt_up</value>
+<value code="23">mount_tilt_down</value>
+<value code="24">camera_trigger</value>
+<value code="25">camera_source_toggle</value>
+<value code="26">mount_pan_right</value>
+<value code="27">mount_pan_left</value>
+<value code="31">lights1_cycle</value>
+<value code="32">lights1_brighter</value>
+<value code="33">lights1_dimmer</value>
+<value code="34">lights2_cycle</value>
+<value code="35">lights2_brighter</value>
+<value code="36">lights2_dimmer</value>
+<value code="41">gain_toggle</value>
+<value code="42">gain_inc</value>
+<value code="43">gain_dec</value>
+<value code="44">trim_roll_inc</value>
+<value code="45">trim_roll_dec</value>
+<value code="46">trim_pitch_inc</value>
+<value code="47">trim_pitch_dec</value>
+<value code="48">input_hold_toggle</value>
+<value code="49">roll_pitch_toggle</value>
+<value code="51">relay_1_on</value>
+<value code="52">relay_1_off</value>
+<value code="53">relay_1_toggle</value>
+<value code="54">relay_2_on</value>
+<value code="55">relay_2_off</value>
+<value code="56">relay_2_toggle</value>
+<value code="61">servo_1_inc</value>
+<value code="62">servo_1_dec</value>
+<value code="63">servo_1_min</value>
+<value code="64">servo_1_max</value>
+<value code="65">servo_1_center</value>
+<value code="66">servo_2_inc</value>
+<value code="67">servo_2_dec</value>
+<value code="68">servo_2_min</value>
+<value code="69">servo_2_max</value>
+<value code="70">servo_2_center</value>
+<value code="71">servo_3_inc</value>
+<value code="72">servo_3_dec</value>
+<value code="73">servo_3_min</value>
+<value code="74">servo_3_max</value>
+<value code="75">servo_3_center</value>
+<value code="91">custom_1</value>
+<value code="92">custom_2</value>
+<value code="93">custom_3</value>
+<value code="94">custom_4</value>
+<value code="95">custom_5</value>
+<value code="96">custom_6</value>
+</values>
+</param>
+</parameters>
+<parameters name="BTN2_">
+<param humanName="Function for button" name="BTN2_FUNCTION" documentation="Set to 0 to disable or choose a function" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">shift</value>
+<value code="2">arm_toggle</value>
+<value code="3">arm</value>
+<value code="4">disarm</value>
+<value code="5">mode_manual</value>
+<value code="6">mode_stabilize</value>
+<value code="7">mode_depth_hold</value>
+<value code="8">mode_poshold</value>
+<value code="9">mode_auto</value>
+<value code="10">mode_circle</value>
+<value code="11">mode_guided</value>
+<value code="12">mode_acro</value>
+<value code="21">mount_center</value>
+<value code="22">mount_tilt_up</value>
+<value code="23">mount_tilt_down</value>
+<value code="24">camera_trigger</value>
+<value code="25">camera_source_toggle</value>
+<value code="26">mount_pan_right</value>
+<value code="27">mount_pan_left</value>
+<value code="31">lights1_cycle</value>
+<value code="32">lights1_brighter</value>
+<value code="33">lights1_dimmer</value>
+<value code="34">lights2_cycle</value>
+<value code="35">lights2_brighter</value>
+<value code="36">lights2_dimmer</value>
+<value code="41">gain_toggle</value>
+<value code="42">gain_inc</value>
+<value code="43">gain_dec</value>
+<value code="44">trim_roll_inc</value>
+<value code="45">trim_roll_dec</value>
+<value code="46">trim_pitch_inc</value>
+<value code="47">trim_pitch_dec</value>
+<value code="48">input_hold_toggle</value>
+<value code="49">roll_pitch_toggle</value>
+<value code="51">relay_1_on</value>
+<value code="52">relay_1_off</value>
+<value code="53">relay_1_toggle</value>
+<value code="54">relay_2_on</value>
+<value code="55">relay_2_off</value>
+<value code="56">relay_2_toggle</value>
+<value code="61">servo_1_inc</value>
+<value code="62">servo_1_dec</value>
+<value code="63">servo_1_min</value>
+<value code="64">servo_1_max</value>
+<value code="65">servo_1_center</value>
+<value code="66">servo_2_inc</value>
+<value code="67">servo_2_dec</value>
+<value code="68">servo_2_min</value>
+<value code="69">servo_2_max</value>
+<value code="70">servo_2_center</value>
+<value code="71">servo_3_inc</value>
+<value code="72">servo_3_dec</value>
+<value code="73">servo_3_min</value>
+<value code="74">servo_3_max</value>
+<value code="75">servo_3_center</value>
+<value code="91">custom_1</value>
+<value code="92">custom_2</value>
+<value code="93">custom_3</value>
+<value code="94">custom_4</value>
+<value code="95">custom_5</value>
+<value code="96">custom_6</value>
+</values>
+</param>
+<param humanName="Function for button when the shift mode is toggled on" name="BTN2_SFUNCTION" documentation="Set to 0 to disable or choose a function" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">shift</value>
+<value code="2">arm_toggle</value>
+<value code="3">arm</value>
+<value code="4">disarm</value>
+<value code="5">mode_manual</value>
+<value code="6">mode_stabilize</value>
+<value code="7">mode_depth_hold</value>
+<value code="8">mode_poshold</value>
+<value code="9">mode_auto</value>
+<value code="10">mode_circle</value>
+<value code="11">mode_guided</value>
+<value code="12">mode_acro</value>
+<value code="21">mount_center</value>
+<value code="22">mount_tilt_up</value>
+<value code="23">mount_tilt_down</value>
+<value code="24">camera_trigger</value>
+<value code="25">camera_source_toggle</value>
+<value code="26">mount_pan_right</value>
+<value code="27">mount_pan_left</value>
+<value code="31">lights1_cycle</value>
+<value code="32">lights1_brighter</value>
+<value code="33">lights1_dimmer</value>
+<value code="34">lights2_cycle</value>
+<value code="35">lights2_brighter</value>
+<value code="36">lights2_dimmer</value>
+<value code="41">gain_toggle</value>
+<value code="42">gain_inc</value>
+<value code="43">gain_dec</value>
+<value code="44">trim_roll_inc</value>
+<value code="45">trim_roll_dec</value>
+<value code="46">trim_pitch_inc</value>
+<value code="47">trim_pitch_dec</value>
+<value code="48">input_hold_toggle</value>
+<value code="49">roll_pitch_toggle</value>
+<value code="51">relay_1_on</value>
+<value code="52">relay_1_off</value>
+<value code="53">relay_1_toggle</value>
+<value code="54">relay_2_on</value>
+<value code="55">relay_2_off</value>
+<value code="56">relay_2_toggle</value>
+<value code="61">servo_1_inc</value>
+<value code="62">servo_1_dec</value>
+<value code="63">servo_1_min</value>
+<value code="64">servo_1_max</value>
+<value code="65">servo_1_center</value>
+<value code="66">servo_2_inc</value>
+<value code="67">servo_2_dec</value>
+<value code="68">servo_2_min</value>
+<value code="69">servo_2_max</value>
+<value code="70">servo_2_center</value>
+<value code="71">servo_3_inc</value>
+<value code="72">servo_3_dec</value>
+<value code="73">servo_3_min</value>
+<value code="74">servo_3_max</value>
+<value code="75">servo_3_center</value>
+<value code="91">custom_1</value>
+<value code="92">custom_2</value>
+<value code="93">custom_3</value>
+<value code="94">custom_4</value>
+<value code="95">custom_5</value>
+<value code="96">custom_6</value>
+</values>
+</param>
+</parameters>
+<parameters name="BTN3_">
+<param humanName="Function for button" name="BTN3_FUNCTION" documentation="Set to 0 to disable or choose a function" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">shift</value>
+<value code="2">arm_toggle</value>
+<value code="3">arm</value>
+<value code="4">disarm</value>
+<value code="5">mode_manual</value>
+<value code="6">mode_stabilize</value>
+<value code="7">mode_depth_hold</value>
+<value code="8">mode_poshold</value>
+<value code="9">mode_auto</value>
+<value code="10">mode_circle</value>
+<value code="11">mode_guided</value>
+<value code="12">mode_acro</value>
+<value code="21">mount_center</value>
+<value code="22">mount_tilt_up</value>
+<value code="23">mount_tilt_down</value>
+<value code="24">camera_trigger</value>
+<value code="25">camera_source_toggle</value>
+<value code="26">mount_pan_right</value>
+<value code="27">mount_pan_left</value>
+<value code="31">lights1_cycle</value>
+<value code="32">lights1_brighter</value>
+<value code="33">lights1_dimmer</value>
+<value code="34">lights2_cycle</value>
+<value code="35">lights2_brighter</value>
+<value code="36">lights2_dimmer</value>
+<value code="41">gain_toggle</value>
+<value code="42">gain_inc</value>
+<value code="43">gain_dec</value>
+<value code="44">trim_roll_inc</value>
+<value code="45">trim_roll_dec</value>
+<value code="46">trim_pitch_inc</value>
+<value code="47">trim_pitch_dec</value>
+<value code="48">input_hold_toggle</value>
+<value code="49">roll_pitch_toggle</value>
+<value code="51">relay_1_on</value>
+<value code="52">relay_1_off</value>
+<value code="53">relay_1_toggle</value>
+<value code="54">relay_2_on</value>
+<value code="55">relay_2_off</value>
+<value code="56">relay_2_toggle</value>
+<value code="61">servo_1_inc</value>
+<value code="62">servo_1_dec</value>
+<value code="63">servo_1_min</value>
+<value code="64">servo_1_max</value>
+<value code="65">servo_1_center</value>
+<value code="66">servo_2_inc</value>
+<value code="67">servo_2_dec</value>
+<value code="68">servo_2_min</value>
+<value code="69">servo_2_max</value>
+<value code="70">servo_2_center</value>
+<value code="71">servo_3_inc</value>
+<value code="72">servo_3_dec</value>
+<value code="73">servo_3_min</value>
+<value code="74">servo_3_max</value>
+<value code="75">servo_3_center</value>
+<value code="91">custom_1</value>
+<value code="92">custom_2</value>
+<value code="93">custom_3</value>
+<value code="94">custom_4</value>
+<value code="95">custom_5</value>
+<value code="96">custom_6</value>
+</values>
+</param>
+<param humanName="Function for button when the shift mode is toggled on" name="BTN3_SFUNCTION" documentation="Set to 0 to disable or choose a function" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">shift</value>
+<value code="2">arm_toggle</value>
+<value code="3">arm</value>
+<value code="4">disarm</value>
+<value code="5">mode_manual</value>
+<value code="6">mode_stabilize</value>
+<value code="7">mode_depth_hold</value>
+<value code="8">mode_poshold</value>
+<value code="9">mode_auto</value>
+<value code="10">mode_circle</value>
+<value code="11">mode_guided</value>
+<value code="12">mode_acro</value>
+<value code="21">mount_center</value>
+<value code="22">mount_tilt_up</value>
+<value code="23">mount_tilt_down</value>
+<value code="24">camera_trigger</value>
+<value code="25">camera_source_toggle</value>
+<value code="26">mount_pan_right</value>
+<value code="27">mount_pan_left</value>
+<value code="31">lights1_cycle</value>
+<value code="32">lights1_brighter</value>
+<value code="33">lights1_dimmer</value>
+<value code="34">lights2_cycle</value>
+<value code="35">lights2_brighter</value>
+<value code="36">lights2_dimmer</value>
+<value code="41">gain_toggle</value>
+<value code="42">gain_inc</value>
+<value code="43">gain_dec</value>
+<value code="44">trim_roll_inc</value>
+<value code="45">trim_roll_dec</value>
+<value code="46">trim_pitch_inc</value>
+<value code="47">trim_pitch_dec</value>
+<value code="48">input_hold_toggle</value>
+<value code="49">roll_pitch_toggle</value>
+<value code="51">relay_1_on</value>
+<value code="52">relay_1_off</value>
+<value code="53">relay_1_toggle</value>
+<value code="54">relay_2_on</value>
+<value code="55">relay_2_off</value>
+<value code="56">relay_2_toggle</value>
+<value code="61">servo_1_inc</value>
+<value code="62">servo_1_dec</value>
+<value code="63">servo_1_min</value>
+<value code="64">servo_1_max</value>
+<value code="65">servo_1_center</value>
+<value code="66">servo_2_inc</value>
+<value code="67">servo_2_dec</value>
+<value code="68">servo_2_min</value>
+<value code="69">servo_2_max</value>
+<value code="70">servo_2_center</value>
+<value code="71">servo_3_inc</value>
+<value code="72">servo_3_dec</value>
+<value code="73">servo_3_min</value>
+<value code="74">servo_3_max</value>
+<value code="75">servo_3_center</value>
+<value code="91">custom_1</value>
+<value code="92">custom_2</value>
+<value code="93">custom_3</value>
+<value code="94">custom_4</value>
+<value code="95">custom_5</value>
+<value code="96">custom_6</value>
+</values>
+</param>
+</parameters>
+<parameters name="BTN4_">
+<param humanName="Function for button" name="BTN4_FUNCTION" documentation="Set to 0 to disable or choose a function" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">shift</value>
+<value code="2">arm_toggle</value>
+<value code="3">arm</value>
+<value code="4">disarm</value>
+<value code="5">mode_manual</value>
+<value code="6">mode_stabilize</value>
+<value code="7">mode_depth_hold</value>
+<value code="8">mode_poshold</value>
+<value code="9">mode_auto</value>
+<value code="10">mode_circle</value>
+<value code="11">mode_guided</value>
+<value code="12">mode_acro</value>
+<value code="21">mount_center</value>
+<value code="22">mount_tilt_up</value>
+<value code="23">mount_tilt_down</value>
+<value code="24">camera_trigger</value>
+<value code="25">camera_source_toggle</value>
+<value code="26">mount_pan_right</value>
+<value code="27">mount_pan_left</value>
+<value code="31">lights1_cycle</value>
+<value code="32">lights1_brighter</value>
+<value code="33">lights1_dimmer</value>
+<value code="34">lights2_cycle</value>
+<value code="35">lights2_brighter</value>
+<value code="36">lights2_dimmer</value>
+<value code="41">gain_toggle</value>
+<value code="42">gain_inc</value>
+<value code="43">gain_dec</value>
+<value code="44">trim_roll_inc</value>
+<value code="45">trim_roll_dec</value>
+<value code="46">trim_pitch_inc</value>
+<value code="47">trim_pitch_dec</value>
+<value code="48">input_hold_toggle</value>
+<value code="49">roll_pitch_toggle</value>
+<value code="51">relay_1_on</value>
+<value code="52">relay_1_off</value>
+<value code="53">relay_1_toggle</value>
+<value code="54">relay_2_on</value>
+<value code="55">relay_2_off</value>
+<value code="56">relay_2_toggle</value>
+<value code="61">servo_1_inc</value>
+<value code="62">servo_1_dec</value>
+<value code="63">servo_1_min</value>
+<value code="64">servo_1_max</value>
+<value code="65">servo_1_center</value>
+<value code="66">servo_2_inc</value>
+<value code="67">servo_2_dec</value>
+<value code="68">servo_2_min</value>
+<value code="69">servo_2_max</value>
+<value code="70">servo_2_center</value>
+<value code="71">servo_3_inc</value>
+<value code="72">servo_3_dec</value>
+<value code="73">servo_3_min</value>
+<value code="74">servo_3_max</value>
+<value code="75">servo_3_center</value>
+<value code="91">custom_1</value>
+<value code="92">custom_2</value>
+<value code="93">custom_3</value>
+<value code="94">custom_4</value>
+<value code="95">custom_5</value>
+<value code="96">custom_6</value>
+</values>
+</param>
+<param humanName="Function for button when the shift mode is toggled on" name="BTN4_SFUNCTION" documentation="Set to 0 to disable or choose a function" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">shift</value>
+<value code="2">arm_toggle</value>
+<value code="3">arm</value>
+<value code="4">disarm</value>
+<value code="5">mode_manual</value>
+<value code="6">mode_stabilize</value>
+<value code="7">mode_depth_hold</value>
+<value code="8">mode_poshold</value>
+<value code="9">mode_auto</value>
+<value code="10">mode_circle</value>
+<value code="11">mode_guided</value>
+<value code="12">mode_acro</value>
+<value code="21">mount_center</value>
+<value code="22">mount_tilt_up</value>
+<value code="23">mount_tilt_down</value>
+<value code="24">camera_trigger</value>
+<value code="25">camera_source_toggle</value>
+<value code="26">mount_pan_right</value>
+<value code="27">mount_pan_left</value>
+<value code="31">lights1_cycle</value>
+<value code="32">lights1_brighter</value>
+<value code="33">lights1_dimmer</value>
+<value code="34">lights2_cycle</value>
+<value code="35">lights2_brighter</value>
+<value code="36">lights2_dimmer</value>
+<value code="41">gain_toggle</value>
+<value code="42">gain_inc</value>
+<value code="43">gain_dec</value>
+<value code="44">trim_roll_inc</value>
+<value code="45">trim_roll_dec</value>
+<value code="46">trim_pitch_inc</value>
+<value code="47">trim_pitch_dec</value>
+<value code="48">input_hold_toggle</value>
+<value code="49">roll_pitch_toggle</value>
+<value code="51">relay_1_on</value>
+<value code="52">relay_1_off</value>
+<value code="53">relay_1_toggle</value>
+<value code="54">relay_2_on</value>
+<value code="55">relay_2_off</value>
+<value code="56">relay_2_toggle</value>
+<value code="61">servo_1_inc</value>
+<value code="62">servo_1_dec</value>
+<value code="63">servo_1_min</value>
+<value code="64">servo_1_max</value>
+<value code="65">servo_1_center</value>
+<value code="66">servo_2_inc</value>
+<value code="67">servo_2_dec</value>
+<value code="68">servo_2_min</value>
+<value code="69">servo_2_max</value>
+<value code="70">servo_2_center</value>
+<value code="71">servo_3_inc</value>
+<value code="72">servo_3_dec</value>
+<value code="73">servo_3_min</value>
+<value code="74">servo_3_max</value>
+<value code="75">servo_3_center</value>
+<value code="91">custom_1</value>
+<value code="92">custom_2</value>
+<value code="93">custom_3</value>
+<value code="94">custom_4</value>
+<value code="95">custom_5</value>
+<value code="96">custom_6</value>
+</values>
+</param>
+</parameters>
+<parameters name="BTN5_">
+<param humanName="Function for button" name="BTN5_FUNCTION" documentation="Set to 0 to disable or choose a function" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">shift</value>
+<value code="2">arm_toggle</value>
+<value code="3">arm</value>
+<value code="4">disarm</value>
+<value code="5">mode_manual</value>
+<value code="6">mode_stabilize</value>
+<value code="7">mode_depth_hold</value>
+<value code="8">mode_poshold</value>
+<value code="9">mode_auto</value>
+<value code="10">mode_circle</value>
+<value code="11">mode_guided</value>
+<value code="12">mode_acro</value>
+<value code="21">mount_center</value>
+<value code="22">mount_tilt_up</value>
+<value code="23">mount_tilt_down</value>
+<value code="24">camera_trigger</value>
+<value code="25">camera_source_toggle</value>
+<value code="26">mount_pan_right</value>
+<value code="27">mount_pan_left</value>
+<value code="31">lights1_cycle</value>
+<value code="32">lights1_brighter</value>
+<value code="33">lights1_dimmer</value>
+<value code="34">lights2_cycle</value>
+<value code="35">lights2_brighter</value>
+<value code="36">lights2_dimmer</value>
+<value code="41">gain_toggle</value>
+<value code="42">gain_inc</value>
+<value code="43">gain_dec</value>
+<value code="44">trim_roll_inc</value>
+<value code="45">trim_roll_dec</value>
+<value code="46">trim_pitch_inc</value>
+<value code="47">trim_pitch_dec</value>
+<value code="48">input_hold_toggle</value>
+<value code="49">roll_pitch_toggle</value>
+<value code="51">relay_1_on</value>
+<value code="52">relay_1_off</value>
+<value code="53">relay_1_toggle</value>
+<value code="54">relay_2_on</value>
+<value code="55">relay_2_off</value>
+<value code="56">relay_2_toggle</value>
+<value code="61">servo_1_inc</value>
+<value code="62">servo_1_dec</value>
+<value code="63">servo_1_min</value>
+<value code="64">servo_1_max</value>
+<value code="65">servo_1_center</value>
+<value code="66">servo_2_inc</value>
+<value code="67">servo_2_dec</value>
+<value code="68">servo_2_min</value>
+<value code="69">servo_2_max</value>
+<value code="70">servo_2_center</value>
+<value code="71">servo_3_inc</value>
+<value code="72">servo_3_dec</value>
+<value code="73">servo_3_min</value>
+<value code="74">servo_3_max</value>
+<value code="75">servo_3_center</value>
+<value code="91">custom_1</value>
+<value code="92">custom_2</value>
+<value code="93">custom_3</value>
+<value code="94">custom_4</value>
+<value code="95">custom_5</value>
+<value code="96">custom_6</value>
+</values>
+</param>
+<param humanName="Function for button when the shift mode is toggled on" name="BTN5_SFUNCTION" documentation="Set to 0 to disable or choose a function" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">shift</value>
+<value code="2">arm_toggle</value>
+<value code="3">arm</value>
+<value code="4">disarm</value>
+<value code="5">mode_manual</value>
+<value code="6">mode_stabilize</value>
+<value code="7">mode_depth_hold</value>
+<value code="8">mode_poshold</value>
+<value code="9">mode_auto</value>
+<value code="10">mode_circle</value>
+<value code="11">mode_guided</value>
+<value code="12">mode_acro</value>
+<value code="21">mount_center</value>
+<value code="22">mount_tilt_up</value>
+<value code="23">mount_tilt_down</value>
+<value code="24">camera_trigger</value>
+<value code="25">camera_source_toggle</value>
+<value code="26">mount_pan_right</value>
+<value code="27">mount_pan_left</value>
+<value code="31">lights1_cycle</value>
+<value code="32">lights1_brighter</value>
+<value code="33">lights1_dimmer</value>
+<value code="34">lights2_cycle</value>
+<value code="35">lights2_brighter</value>
+<value code="36">lights2_dimmer</value>
+<value code="41">gain_toggle</value>
+<value code="42">gain_inc</value>
+<value code="43">gain_dec</value>
+<value code="44">trim_roll_inc</value>
+<value code="45">trim_roll_dec</value>
+<value code="46">trim_pitch_inc</value>
+<value code="47">trim_pitch_dec</value>
+<value code="48">input_hold_toggle</value>
+<value code="49">roll_pitch_toggle</value>
+<value code="51">relay_1_on</value>
+<value code="52">relay_1_off</value>
+<value code="53">relay_1_toggle</value>
+<value code="54">relay_2_on</value>
+<value code="55">relay_2_off</value>
+<value code="56">relay_2_toggle</value>
+<value code="61">servo_1_inc</value>
+<value code="62">servo_1_dec</value>
+<value code="63">servo_1_min</value>
+<value code="64">servo_1_max</value>
+<value code="65">servo_1_center</value>
+<value code="66">servo_2_inc</value>
+<value code="67">servo_2_dec</value>
+<value code="68">servo_2_min</value>
+<value code="69">servo_2_max</value>
+<value code="70">servo_2_center</value>
+<value code="71">servo_3_inc</value>
+<value code="72">servo_3_dec</value>
+<value code="73">servo_3_min</value>
+<value code="74">servo_3_max</value>
+<value code="75">servo_3_center</value>
+<value code="91">custom_1</value>
+<value code="92">custom_2</value>
+<value code="93">custom_3</value>
+<value code="94">custom_4</value>
+<value code="95">custom_5</value>
+<value code="96">custom_6</value>
+</values>
+</param>
+</parameters>
+<parameters name="BTN6_">
+<param humanName="Function for button" name="BTN6_FUNCTION" documentation="Set to 0 to disable or choose a function" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">shift</value>
+<value code="2">arm_toggle</value>
+<value code="3">arm</value>
+<value code="4">disarm</value>
+<value code="5">mode_manual</value>
+<value code="6">mode_stabilize</value>
+<value code="7">mode_depth_hold</value>
+<value code="8">mode_poshold</value>
+<value code="9">mode_auto</value>
+<value code="10">mode_circle</value>
+<value code="11">mode_guided</value>
+<value code="12">mode_acro</value>
+<value code="21">mount_center</value>
+<value code="22">mount_tilt_up</value>
+<value code="23">mount_tilt_down</value>
+<value code="24">camera_trigger</value>
+<value code="25">camera_source_toggle</value>
+<value code="26">mount_pan_right</value>
+<value code="27">mount_pan_left</value>
+<value code="31">lights1_cycle</value>
+<value code="32">lights1_brighter</value>
+<value code="33">lights1_dimmer</value>
+<value code="34">lights2_cycle</value>
+<value code="35">lights2_brighter</value>
+<value code="36">lights2_dimmer</value>
+<value code="41">gain_toggle</value>
+<value code="42">gain_inc</value>
+<value code="43">gain_dec</value>
+<value code="44">trim_roll_inc</value>
+<value code="45">trim_roll_dec</value>
+<value code="46">trim_pitch_inc</value>
+<value code="47">trim_pitch_dec</value>
+<value code="48">input_hold_toggle</value>
+<value code="49">roll_pitch_toggle</value>
+<value code="51">relay_1_on</value>
+<value code="52">relay_1_off</value>
+<value code="53">relay_1_toggle</value>
+<value code="54">relay_2_on</value>
+<value code="55">relay_2_off</value>
+<value code="56">relay_2_toggle</value>
+<value code="61">servo_1_inc</value>
+<value code="62">servo_1_dec</value>
+<value code="63">servo_1_min</value>
+<value code="64">servo_1_max</value>
+<value code="65">servo_1_center</value>
+<value code="66">servo_2_inc</value>
+<value code="67">servo_2_dec</value>
+<value code="68">servo_2_min</value>
+<value code="69">servo_2_max</value>
+<value code="70">servo_2_center</value>
+<value code="71">servo_3_inc</value>
+<value code="72">servo_3_dec</value>
+<value code="73">servo_3_min</value>
+<value code="74">servo_3_max</value>
+<value code="75">servo_3_center</value>
+<value code="91">custom_1</value>
+<value code="92">custom_2</value>
+<value code="93">custom_3</value>
+<value code="94">custom_4</value>
+<value code="95">custom_5</value>
+<value code="96">custom_6</value>
+</values>
+</param>
+<param humanName="Function for button when the shift mode is toggled on" name="BTN6_SFUNCTION" documentation="Set to 0 to disable or choose a function" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">shift</value>
+<value code="2">arm_toggle</value>
+<value code="3">arm</value>
+<value code="4">disarm</value>
+<value code="5">mode_manual</value>
+<value code="6">mode_stabilize</value>
+<value code="7">mode_depth_hold</value>
+<value code="8">mode_poshold</value>
+<value code="9">mode_auto</value>
+<value code="10">mode_circle</value>
+<value code="11">mode_guided</value>
+<value code="12">mode_acro</value>
+<value code="21">mount_center</value>
+<value code="22">mount_tilt_up</value>
+<value code="23">mount_tilt_down</value>
+<value code="24">camera_trigger</value>
+<value code="25">camera_source_toggle</value>
+<value code="26">mount_pan_right</value>
+<value code="27">mount_pan_left</value>
+<value code="31">lights1_cycle</value>
+<value code="32">lights1_brighter</value>
+<value code="33">lights1_dimmer</value>
+<value code="34">lights2_cycle</value>
+<value code="35">lights2_brighter</value>
+<value code="36">lights2_dimmer</value>
+<value code="41">gain_toggle</value>
+<value code="42">gain_inc</value>
+<value code="43">gain_dec</value>
+<value code="44">trim_roll_inc</value>
+<value code="45">trim_roll_dec</value>
+<value code="46">trim_pitch_inc</value>
+<value code="47">trim_pitch_dec</value>
+<value code="48">input_hold_toggle</value>
+<value code="49">roll_pitch_toggle</value>
+<value code="51">relay_1_on</value>
+<value code="52">relay_1_off</value>
+<value code="53">relay_1_toggle</value>
+<value code="54">relay_2_on</value>
+<value code="55">relay_2_off</value>
+<value code="56">relay_2_toggle</value>
+<value code="61">servo_1_inc</value>
+<value code="62">servo_1_dec</value>
+<value code="63">servo_1_min</value>
+<value code="64">servo_1_max</value>
+<value code="65">servo_1_center</value>
+<value code="66">servo_2_inc</value>
+<value code="67">servo_2_dec</value>
+<value code="68">servo_2_min</value>
+<value code="69">servo_2_max</value>
+<value code="70">servo_2_center</value>
+<value code="71">servo_3_inc</value>
+<value code="72">servo_3_dec</value>
+<value code="73">servo_3_min</value>
+<value code="74">servo_3_max</value>
+<value code="75">servo_3_center</value>
+<value code="91">custom_1</value>
+<value code="92">custom_2</value>
+<value code="93">custom_3</value>
+<value code="94">custom_4</value>
+<value code="95">custom_5</value>
+<value code="96">custom_6</value>
+</values>
+</param>
+</parameters>
+<parameters name="BTN7_">
+<param humanName="Function for button" name="BTN7_FUNCTION" documentation="Set to 0 to disable or choose a function" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">shift</value>
+<value code="2">arm_toggle</value>
+<value code="3">arm</value>
+<value code="4">disarm</value>
+<value code="5">mode_manual</value>
+<value code="6">mode_stabilize</value>
+<value code="7">mode_depth_hold</value>
+<value code="8">mode_poshold</value>
+<value code="9">mode_auto</value>
+<value code="10">mode_circle</value>
+<value code="11">mode_guided</value>
+<value code="12">mode_acro</value>
+<value code="21">mount_center</value>
+<value code="22">mount_tilt_up</value>
+<value code="23">mount_tilt_down</value>
+<value code="24">camera_trigger</value>
+<value code="25">camera_source_toggle</value>
+<value code="26">mount_pan_right</value>
+<value code="27">mount_pan_left</value>
+<value code="31">lights1_cycle</value>
+<value code="32">lights1_brighter</value>
+<value code="33">lights1_dimmer</value>
+<value code="34">lights2_cycle</value>
+<value code="35">lights2_brighter</value>
+<value code="36">lights2_dimmer</value>
+<value code="41">gain_toggle</value>
+<value code="42">gain_inc</value>
+<value code="43">gain_dec</value>
+<value code="44">trim_roll_inc</value>
+<value code="45">trim_roll_dec</value>
+<value code="46">trim_pitch_inc</value>
+<value code="47">trim_pitch_dec</value>
+<value code="48">input_hold_toggle</value>
+<value code="49">roll_pitch_toggle</value>
+<value code="51">relay_1_on</value>
+<value code="52">relay_1_off</value>
+<value code="53">relay_1_toggle</value>
+<value code="54">relay_2_on</value>
+<value code="55">relay_2_off</value>
+<value code="56">relay_2_toggle</value>
+<value code="61">servo_1_inc</value>
+<value code="62">servo_1_dec</value>
+<value code="63">servo_1_min</value>
+<value code="64">servo_1_max</value>
+<value code="65">servo_1_center</value>
+<value code="66">servo_2_inc</value>
+<value code="67">servo_2_dec</value>
+<value code="68">servo_2_min</value>
+<value code="69">servo_2_max</value>
+<value code="70">servo_2_center</value>
+<value code="71">servo_3_inc</value>
+<value code="72">servo_3_dec</value>
+<value code="73">servo_3_min</value>
+<value code="74">servo_3_max</value>
+<value code="75">servo_3_center</value>
+<value code="91">custom_1</value>
+<value code="92">custom_2</value>
+<value code="93">custom_3</value>
+<value code="94">custom_4</value>
+<value code="95">custom_5</value>
+<value code="96">custom_6</value>
+</values>
+</param>
+<param humanName="Function for button when the shift mode is toggled on" name="BTN7_SFUNCTION" documentation="Set to 0 to disable or choose a function" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">shift</value>
+<value code="2">arm_toggle</value>
+<value code="3">arm</value>
+<value code="4">disarm</value>
+<value code="5">mode_manual</value>
+<value code="6">mode_stabilize</value>
+<value code="7">mode_depth_hold</value>
+<value code="8">mode_poshold</value>
+<value code="9">mode_auto</value>
+<value code="10">mode_circle</value>
+<value code="11">mode_guided</value>
+<value code="12">mode_acro</value>
+<value code="21">mount_center</value>
+<value code="22">mount_tilt_up</value>
+<value code="23">mount_tilt_down</value>
+<value code="24">camera_trigger</value>
+<value code="25">camera_source_toggle</value>
+<value code="26">mount_pan_right</value>
+<value code="27">mount_pan_left</value>
+<value code="31">lights1_cycle</value>
+<value code="32">lights1_brighter</value>
+<value code="33">lights1_dimmer</value>
+<value code="34">lights2_cycle</value>
+<value code="35">lights2_brighter</value>
+<value code="36">lights2_dimmer</value>
+<value code="41">gain_toggle</value>
+<value code="42">gain_inc</value>
+<value code="43">gain_dec</value>
+<value code="44">trim_roll_inc</value>
+<value code="45">trim_roll_dec</value>
+<value code="46">trim_pitch_inc</value>
+<value code="47">trim_pitch_dec</value>
+<value code="48">input_hold_toggle</value>
+<value code="49">roll_pitch_toggle</value>
+<value code="51">relay_1_on</value>
+<value code="52">relay_1_off</value>
+<value code="53">relay_1_toggle</value>
+<value code="54">relay_2_on</value>
+<value code="55">relay_2_off</value>
+<value code="56">relay_2_toggle</value>
+<value code="61">servo_1_inc</value>
+<value code="62">servo_1_dec</value>
+<value code="63">servo_1_min</value>
+<value code="64">servo_1_max</value>
+<value code="65">servo_1_center</value>
+<value code="66">servo_2_inc</value>
+<value code="67">servo_2_dec</value>
+<value code="68">servo_2_min</value>
+<value code="69">servo_2_max</value>
+<value code="70">servo_2_center</value>
+<value code="71">servo_3_inc</value>
+<value code="72">servo_3_dec</value>
+<value code="73">servo_3_min</value>
+<value code="74">servo_3_max</value>
+<value code="75">servo_3_center</value>
+<value code="91">custom_1</value>
+<value code="92">custom_2</value>
+<value code="93">custom_3</value>
+<value code="94">custom_4</value>
+<value code="95">custom_5</value>
+<value code="96">custom_6</value>
+</values>
+</param>
+</parameters>
+<parameters name="BTN8_">
+<param humanName="Function for button" name="BTN8_FUNCTION" documentation="Set to 0 to disable or choose a function" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">shift</value>
+<value code="2">arm_toggle</value>
+<value code="3">arm</value>
+<value code="4">disarm</value>
+<value code="5">mode_manual</value>
+<value code="6">mode_stabilize</value>
+<value code="7">mode_depth_hold</value>
+<value code="8">mode_poshold</value>
+<value code="9">mode_auto</value>
+<value code="10">mode_circle</value>
+<value code="11">mode_guided</value>
+<value code="12">mode_acro</value>
+<value code="21">mount_center</value>
+<value code="22">mount_tilt_up</value>
+<value code="23">mount_tilt_down</value>
+<value code="24">camera_trigger</value>
+<value code="25">camera_source_toggle</value>
+<value code="26">mount_pan_right</value>
+<value code="27">mount_pan_left</value>
+<value code="31">lights1_cycle</value>
+<value code="32">lights1_brighter</value>
+<value code="33">lights1_dimmer</value>
+<value code="34">lights2_cycle</value>
+<value code="35">lights2_brighter</value>
+<value code="36">lights2_dimmer</value>
+<value code="41">gain_toggle</value>
+<value code="42">gain_inc</value>
+<value code="43">gain_dec</value>
+<value code="44">trim_roll_inc</value>
+<value code="45">trim_roll_dec</value>
+<value code="46">trim_pitch_inc</value>
+<value code="47">trim_pitch_dec</value>
+<value code="48">input_hold_toggle</value>
+<value code="49">roll_pitch_toggle</value>
+<value code="51">relay_1_on</value>
+<value code="52">relay_1_off</value>
+<value code="53">relay_1_toggle</value>
+<value code="54">relay_2_on</value>
+<value code="55">relay_2_off</value>
+<value code="56">relay_2_toggle</value>
+<value code="61">servo_1_inc</value>
+<value code="62">servo_1_dec</value>
+<value code="63">servo_1_min</value>
+<value code="64">servo_1_max</value>
+<value code="65">servo_1_center</value>
+<value code="66">servo_2_inc</value>
+<value code="67">servo_2_dec</value>
+<value code="68">servo_2_min</value>
+<value code="69">servo_2_max</value>
+<value code="70">servo_2_center</value>
+<value code="71">servo_3_inc</value>
+<value code="72">servo_3_dec</value>
+<value code="73">servo_3_min</value>
+<value code="74">servo_3_max</value>
+<value code="75">servo_3_center</value>
+<value code="91">custom_1</value>
+<value code="92">custom_2</value>
+<value code="93">custom_3</value>
+<value code="94">custom_4</value>
+<value code="95">custom_5</value>
+<value code="96">custom_6</value>
+</values>
+</param>
+<param humanName="Function for button when the shift mode is toggled on" name="BTN8_SFUNCTION" documentation="Set to 0 to disable or choose a function" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">shift</value>
+<value code="2">arm_toggle</value>
+<value code="3">arm</value>
+<value code="4">disarm</value>
+<value code="5">mode_manual</value>
+<value code="6">mode_stabilize</value>
+<value code="7">mode_depth_hold</value>
+<value code="8">mode_poshold</value>
+<value code="9">mode_auto</value>
+<value code="10">mode_circle</value>
+<value code="11">mode_guided</value>
+<value code="12">mode_acro</value>
+<value code="21">mount_center</value>
+<value code="22">mount_tilt_up</value>
+<value code="23">mount_tilt_down</value>
+<value code="24">camera_trigger</value>
+<value code="25">camera_source_toggle</value>
+<value code="26">mount_pan_right</value>
+<value code="27">mount_pan_left</value>
+<value code="31">lights1_cycle</value>
+<value code="32">lights1_brighter</value>
+<value code="33">lights1_dimmer</value>
+<value code="34">lights2_cycle</value>
+<value code="35">lights2_brighter</value>
+<value code="36">lights2_dimmer</value>
+<value code="41">gain_toggle</value>
+<value code="42">gain_inc</value>
+<value code="43">gain_dec</value>
+<value code="44">trim_roll_inc</value>
+<value code="45">trim_roll_dec</value>
+<value code="46">trim_pitch_inc</value>
+<value code="47">trim_pitch_dec</value>
+<value code="48">input_hold_toggle</value>
+<value code="49">roll_pitch_toggle</value>
+<value code="51">relay_1_on</value>
+<value code="52">relay_1_off</value>
+<value code="53">relay_1_toggle</value>
+<value code="54">relay_2_on</value>
+<value code="55">relay_2_off</value>
+<value code="56">relay_2_toggle</value>
+<value code="61">servo_1_inc</value>
+<value code="62">servo_1_dec</value>
+<value code="63">servo_1_min</value>
+<value code="64">servo_1_max</value>
+<value code="65">servo_1_center</value>
+<value code="66">servo_2_inc</value>
+<value code="67">servo_2_dec</value>
+<value code="68">servo_2_min</value>
+<value code="69">servo_2_max</value>
+<value code="70">servo_2_center</value>
+<value code="71">servo_3_inc</value>
+<value code="72">servo_3_dec</value>
+<value code="73">servo_3_min</value>
+<value code="74">servo_3_max</value>
+<value code="75">servo_3_center</value>
+<value code="91">custom_1</value>
+<value code="92">custom_2</value>
+<value code="93">custom_3</value>
+<value code="94">custom_4</value>
+<value code="95">custom_5</value>
+<value code="96">custom_6</value>
+</values>
+</param>
+</parameters>
+<parameters name="BTN9_">
+<param humanName="Function for button" name="BTN9_FUNCTION" documentation="Set to 0 to disable or choose a function" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">shift</value>
+<value code="2">arm_toggle</value>
+<value code="3">arm</value>
+<value code="4">disarm</value>
+<value code="5">mode_manual</value>
+<value code="6">mode_stabilize</value>
+<value code="7">mode_depth_hold</value>
+<value code="8">mode_poshold</value>
+<value code="9">mode_auto</value>
+<value code="10">mode_circle</value>
+<value code="11">mode_guided</value>
+<value code="12">mode_acro</value>
+<value code="21">mount_center</value>
+<value code="22">mount_tilt_up</value>
+<value code="23">mount_tilt_down</value>
+<value code="24">camera_trigger</value>
+<value code="25">camera_source_toggle</value>
+<value code="26">mount_pan_right</value>
+<value code="27">mount_pan_left</value>
+<value code="31">lights1_cycle</value>
+<value code="32">lights1_brighter</value>
+<value code="33">lights1_dimmer</value>
+<value code="34">lights2_cycle</value>
+<value code="35">lights2_brighter</value>
+<value code="36">lights2_dimmer</value>
+<value code="41">gain_toggle</value>
+<value code="42">gain_inc</value>
+<value code="43">gain_dec</value>
+<value code="44">trim_roll_inc</value>
+<value code="45">trim_roll_dec</value>
+<value code="46">trim_pitch_inc</value>
+<value code="47">trim_pitch_dec</value>
+<value code="48">input_hold_toggle</value>
+<value code="49">roll_pitch_toggle</value>
+<value code="51">relay_1_on</value>
+<value code="52">relay_1_off</value>
+<value code="53">relay_1_toggle</value>
+<value code="54">relay_2_on</value>
+<value code="55">relay_2_off</value>
+<value code="56">relay_2_toggle</value>
+<value code="61">servo_1_inc</value>
+<value code="62">servo_1_dec</value>
+<value code="63">servo_1_min</value>
+<value code="64">servo_1_max</value>
+<value code="65">servo_1_center</value>
+<value code="66">servo_2_inc</value>
+<value code="67">servo_2_dec</value>
+<value code="68">servo_2_min</value>
+<value code="69">servo_2_max</value>
+<value code="70">servo_2_center</value>
+<value code="71">servo_3_inc</value>
+<value code="72">servo_3_dec</value>
+<value code="73">servo_3_min</value>
+<value code="74">servo_3_max</value>
+<value code="75">servo_3_center</value>
+<value code="91">custom_1</value>
+<value code="92">custom_2</value>
+<value code="93">custom_3</value>
+<value code="94">custom_4</value>
+<value code="95">custom_5</value>
+<value code="96">custom_6</value>
+</values>
+</param>
+<param humanName="Function for button when the shift mode is toggled on" name="BTN9_SFUNCTION" documentation="Set to 0 to disable or choose a function" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">shift</value>
+<value code="2">arm_toggle</value>
+<value code="3">arm</value>
+<value code="4">disarm</value>
+<value code="5">mode_manual</value>
+<value code="6">mode_stabilize</value>
+<value code="7">mode_depth_hold</value>
+<value code="8">mode_poshold</value>
+<value code="9">mode_auto</value>
+<value code="10">mode_circle</value>
+<value code="11">mode_guided</value>
+<value code="12">mode_acro</value>
+<value code="21">mount_center</value>
+<value code="22">mount_tilt_up</value>
+<value code="23">mount_tilt_down</value>
+<value code="24">camera_trigger</value>
+<value code="25">camera_source_toggle</value>
+<value code="26">mount_pan_right</value>
+<value code="27">mount_pan_left</value>
+<value code="31">lights1_cycle</value>
+<value code="32">lights1_brighter</value>
+<value code="33">lights1_dimmer</value>
+<value code="34">lights2_cycle</value>
+<value code="35">lights2_brighter</value>
+<value code="36">lights2_dimmer</value>
+<value code="41">gain_toggle</value>
+<value code="42">gain_inc</value>
+<value code="43">gain_dec</value>
+<value code="44">trim_roll_inc</value>
+<value code="45">trim_roll_dec</value>
+<value code="46">trim_pitch_inc</value>
+<value code="47">trim_pitch_dec</value>
+<value code="48">input_hold_toggle</value>
+<value code="49">roll_pitch_toggle</value>
+<value code="51">relay_1_on</value>
+<value code="52">relay_1_off</value>
+<value code="53">relay_1_toggle</value>
+<value code="54">relay_2_on</value>
+<value code="55">relay_2_off</value>
+<value code="56">relay_2_toggle</value>
+<value code="61">servo_1_inc</value>
+<value code="62">servo_1_dec</value>
+<value code="63">servo_1_min</value>
+<value code="64">servo_1_max</value>
+<value code="65">servo_1_center</value>
+<value code="66">servo_2_inc</value>
+<value code="67">servo_2_dec</value>
+<value code="68">servo_2_min</value>
+<value code="69">servo_2_max</value>
+<value code="70">servo_2_center</value>
+<value code="71">servo_3_inc</value>
+<value code="72">servo_3_dec</value>
+<value code="73">servo_3_min</value>
+<value code="74">servo_3_max</value>
+<value code="75">servo_3_center</value>
+<value code="91">custom_1</value>
+<value code="92">custom_2</value>
+<value code="93">custom_3</value>
+<value code="94">custom_4</value>
+<value code="95">custom_5</value>
+<value code="96">custom_6</value>
+</values>
+</param>
 </parameters>
 <parameters name="BTN_">
 <param humanName="Enable button reporting" name="BTN_ENABLE" documentation="This enables the button checking module. When this is disabled the parameters for setting button inputs are not visible" user="Advanced">
@@ -3447,6 +5917,10 @@
 </values>
 <field name="Increment">0.1</field>
 </param>
+<param humanName="Compass maximum offset" name="COMPASS_OFFS_MAX" documentation="This sets the maximum allowed compass offset in calibration and arming checks" user="Advanced">
+<field name="Range">500 3000</field>
+<field name="Increment">1</field>
+</param>
 </parameters>
 <parameters name="EK2_">
 <param humanName="Enable EKF2" name="EK2_ENABLE" documentation="This enables EKF2. Enabling EKF2 only makes the maths run, it does not mean it will be used for flight control. To use it for flight control set AHRS_EKF_TYPE=2. A reboot or restart will need to be performed after changing the value of EK2_ENABLE for it to take effect." user="Advanced">
@@ -3523,7 +5997,7 @@
 <field name="Increment">0.01</field>
 <field name="Units">gauss</field>
 </param>
-<param humanName="Magnetometer calibration mode" name="EK2_MAG_CAL" documentation="EKF_MAG_CAL = 0 enables calibration when airborne and is the default setting for Plane users. EKF_MAG_CAL = 1 enables calibration when manoeuvreing. EKF_MAG_CAL = 2 prevents magnetometer calibration regardless of flight condition, is recommended if the external magnetic field is varying and is the default for rovers. EKF_MAG_CAL = 3 enables calibration when the first in-air field and yaw reset has completed and is the default for copters. EKF_MAG_CAL = 4 enables calibration all the time. This determines when the filter will use the 3-axis magnetometer fusion model that estimates both earth and body fixed magnetic field states. This model is only suitable for use when the external magnetic field environment is stable." user="Advanced">
+<param humanName="Magnetometer default fusion mode" name="EK2_MAG_CAL" documentation="This determines when the filter will use the 3-axis magnetometer fusion model that estimates both earth and body fixed magnetic field states and when it will use a simpler magnetic heading fusion model that does not use magnetic field states. The 3-axis magnetometer fusion is only suitable for use when the external magnetic field environment is stable. EK2_MAG_CAL = 0 uses heading fusion on ground, 3-axis fusion in-flight, and is the default setting for Plane users. EK2_MAG_CAL = 1 uses 3-axis fusion only when manoeuvring. EK2_MAG_CAL = 2 uses heading fusion at all times, is recommended if the external magnetic field is varying and is the default for rovers. EK2_MAG_CAL = 3 uses heading fusion on the ground and 3-axis fusion after the first in-air field and yaw reset has completed, and is the default for copters. EK2_MAG_CAL = 4 uses 3-axis fusion at all times. NOTE : Use of simple heading magnetometer fusion makes vehicle compass calibration and alignment errors harder for the EKF to detect which reduces the sensitivity of the Copter EKF failsafe algorithm. NOTE: The fusion mode can be forced to 2 for specific EKF cores using the EK2_MAG_MASK parameter." user="Advanced">
 <values>
 <value code="0">When flying</value>
 <value code="1">When manoeuvring</value>
@@ -3569,7 +6043,7 @@
 <field name="Increment">25</field>
 </param>
 <param humanName="Optical Flow measurement delay (msec)" name="EK2_FLOW_DELAY" documentation="This is the number of msec that the optical flow measurements lag behind the inertial measurements. It is the time from the end of the optical flow averaging period and does not include the time delay due to the 100msec of averaging within the flow sensor." user="Advanced">
-<field name="Range">0 250</field>
+<field name="Range">0 127</field>
 <field name="Increment">10</field>
 <field name="Units">milliseconds</field>
 </param>
@@ -3605,7 +6079,7 @@
 <field name="Increment">0.1</field>
 </param>
 <param humanName="GPS preflight check" name="EK2_GPS_CHECK" documentation="This is a 1 byte bitmap controlling which GPS preflight checks are performed. Set to 0 to bypass all checks. Set to 255 perform all checks. Set to 3 to check just the number of satellites and HDoP. Set to 31 for the most rigorous checks that will still allow checks to pass when the copter is moving, eg launch from a boat." user="Advanced">
-<field name="Bitmask">0:NSats,1:HDoP,2:speed error,3:horiz pos error,4:yaw error,5:pos drift,6:vert speed,7:horiz speed</field>
+<field name="Bitmask">0:NSats,1:HDoP,2:speed error,3:position error,4:yaw error,5:pos drift,6:vert speed,7:horiz speed</field>
 </param>
 <param humanName="Bitmask of active IMUs" name="EK2_IMU_MASK" documentation="1 byte bitmap of IMUs to use in EKF2. A separate instance of EKF2 will be started for each IMU selected. Set to 1 to use the first IMU only (default), set to 2 to use the second IMU only, set to 3 to use the first and second IMU. Additional IMU's can be used up to a maximum of 6 if memory and processing resources permit. There may be insufficient memory and processing resources to run multiple instances. If this occurs EKF2 will fail to start." user="Advanced">
 <field name="Bitmask">0:FirstIMU,1:SecondIMU,2:ThirdIMU,3:FourthIMU,4:FifthIMU,5:SixthIMU</field>
@@ -3662,7 +6136,7 @@
 <field name="Increment">25</field>
 </param>
 <param humanName="Range beacon measurement delay (msec)" name="EK2_BCN_DELAY" documentation="This is the number of msec that the range beacon measurements lag behind the inertial measurements. It is the time from the end of the optical flow averaging period and does not include the time delay due to the 100msec of averaging within the flow sensor." user="Advanced">
-<field name="Range">0 250</field>
+<field name="Range">0 127</field>
 <field name="Increment">10</field>
 <field name="Units">milliseconds</field>
 </param>
@@ -3671,9 +6145,12 @@
 <field name="Increment">0.5</field>
 <field name="Units">m/s</field>
 </param>
+<param humanName="Bitmask of active EKF cores that will always use heading fusion" name="EK2_MAG_MASK" documentation="1 byte bitmap of EKF cores that will disable magnetic field states and use simple magnetic heading fusion at all times. This parameter enables specified cores to be used as a backup for flight into an environment with high levels of external magnetic interference which may degrade the EKF attitude estimate when using 3-axis magnetometer fusion. NOTE : Use of a different magnetometer fusion algorithm on different cores makes unwanted EKF core switches due to magnetometer errors more likely." user="Advanced">
+<field name="Bitmask">0:FirstEKF,1:SecondEKF,2:ThirdEKF,3:FourthEKF,4:FifthEKF,5:SixthEKF</field>
+</param>
 </parameters>
 <parameters name="EK3_">
-<param humanName="Enable EKF3" name="EK3_ENABLE" documentation="This enables EKF3. Enabling EKF3 only makes the maths run, it does not mean it will be used for flight control. To use it for flight control set AHRS_EKF_TYPE=3. A reboot or restart will need to be performed after changing the value of EK2_ENABLE for it to take effect." user="Advanced">
+<param humanName="Enable EKF3" name="EK3_ENABLE" documentation="This enables EKF3. Enabling EKF3 only makes the maths run, it does not mean it will be used for flight control. To use it for flight control set AHRS_EKF_TYPE=3. A reboot or restart will need to be performed after changing the value of EK3_ENABLE for it to take effect." user="Advanced">
 <values>
 <value code="0">Disabled</value>
 <value code=" 1">Enabled</value>
@@ -3715,7 +6192,7 @@
 <field name="Increment">5</field>
 <field name="Units">m</field>
 </param>
-<param humanName="Primary altitude sensor source" name="EK3_ALT_SOURCE" documentation="This parameter controls the primary height sensor used by the EKF. If the selected option cannot be used, it will default to Baro as the primary height source. Setting 0 will use the baro altitude at all times. Setting 1 uses the range finder and is only available in combination with optical flow navigation (EK2_GPS_TYPE = 3). Setting 2 uses GPS. Setting 3 uses the range beacon data. NOTE - the EK2_RNG_USE_HGT parameter can be used to switch to range-finder when close to the ground." user="Advanced">
+<param humanName="Primary altitude sensor source" name="EK3_ALT_SOURCE" documentation="This parameter controls the primary height sensor used by the EKF. If the selected option cannot be used, it will default to Baro as the primary height source. Setting 0 will use the baro altitude at all times. Setting 1 uses the range finder and is only available in combination with optical flow navigation (EK3_GPS_TYPE = 3). Setting 2 uses GPS. Setting 3 uses the range beacon data. NOTE - the EK3_RNG_USE_HGT parameter can be used to switch to range-finder when close to the ground." user="Advanced">
 <values>
 <value code="0">Use Baro</value>
 <value code=" 1">Use Range Finder</value>
@@ -3743,7 +6220,7 @@
 <field name="Increment">0.01</field>
 <field name="Units">gauss</field>
 </param>
-<param humanName="Magnetometer calibration mode" name="EK3_MAG_CAL" documentation="EKF_MAG_CAL = 0 enables calibration when airborne and is the default setting for Plane users. EKF_MAG_CAL = 1 enables calibration when manoeuvreing. EKF_MAG_CAL = 2 prevents magnetometer calibration regardless of flight condition, is recommended if the external magnetic field is varying and is the default for rovers. EKF_MAG_CAL = 3 enables calibration when the first in-air field and yaw reset has completed and is the default for copters. EKF_MAG_CAL = 4 enables calibration all the time. This determines when the filter will use the 3-axis magnetometer fusion model that estimates both earth and body fixed magnetic field states. This model is only suitable for use when the external magnetic field environment is stable." user="Advanced">
+<param humanName="Magnetometer default fusion mode" name="EK3_MAG_CAL" documentation="This determines when the filter will use the 3-axis magnetometer fusion model that estimates both earth and body fixed magnetic field states and when it will use a simpler magnetic heading fusion model that does not use magnetic field states. The 3-axis magnetometer fusion is only suitable for use when the external magnetic field environment is stable. EK3_MAG_CAL = 0 uses heading fusion on ground, 3-axis fusion in-flight, and is the default setting for Plane users. EK3_MAG_CAL = 1 uses 3-axis fusion only when manoeuvring. EK3_MAG_CAL = 2 uses heading fusion at all times, is recommended if the external magnetic field is varying and is the default for rovers. EK3_MAG_CAL = 3 uses heading fusion on the ground and 3-axis fusion after the first in-air field and yaw reset has completed, and is the default for copters. EK3_MAG_CAL = 4 uses 3-axis fusion at all times. NOTE : Use of simple heading magnetometer fusion makes vehicle compass calibration and alignment errors harder for the EKF to detect which reduces the sensitivity of the Copter EKF failsafe algorithm. NOTE: The fusion mode can be forced to 2 for specific EKF cores using the EK3_MAG_MASK parameter." user="Advanced">
 <values>
 <value code="0">When flying</value>
 <value code="1">When manoeuvring</value>
@@ -3822,7 +6299,7 @@
 <field name="Increment">0.1</field>
 </param>
 <param humanName="GPS preflight check" name="EK3_GPS_CHECK" documentation="This is a 1 byte bitmap controlling which GPS preflight checks are performed. Set to 0 to bypass all checks. Set to 255 perform all checks. Set to 3 to check just the number of satellites and HDoP. Set to 31 for the most rigorous checks that will still allow checks to pass when the copter is moving, eg launch from a boat." user="Advanced">
-<field name="Bitmask">0:NSats,1:HDoP,2:speed error,3:horiz pos error,4:yaw error,5:pos drift,6:vert speed,7:horiz speed</field>
+<field name="Bitmask">0:NSats,1:HDoP,2:speed error,3:position error,4:yaw error,5:pos drift,6:vert speed,7:horiz speed</field>
 </param>
 <param humanName="Bitmask of active IMUs" name="EK3_IMU_MASK" documentation="1 byte bitmap of IMUs to use in EKF3. A separate instance of EKF3 will be started for each IMU selected. Set to 1 to use the first IMU only (default), set to 2 to use the second IMU only, set to 3 to use the first and second IMU. Additional IMU's can be used up to a maximum of 6 if memory and processing resources permit. There may be insufficient memory and processing resources to run multiple instances. If this occurs EKF3 will fail to start." user="Advanced">
 <field name="Bitmask">0:FirstIMU,1:SecondIMU,2:ThirdIMU,3:FourthIMU,4:FifthIMU,5:SixthIMU</field>
@@ -3894,6 +6371,9 @@
 <field name="Increment">0.1</field>
 <field name="Units">m/s/s</field>
 </param>
+<param humanName="Bitmask of active EKF cores that will always use heading fusion" name="EK3_MAG_MASK" documentation="1 byte bitmap of EKF cores that will disable magnetic field states and use simple magnetic heading fusion at all times. This parameter enables specified cores to be used as a backup for flight into an environment with high levels of external magnetic interference which may degrade the EKF attitude estimate when using 3-axis magnetometer fusion. NOTE : Use of a different magnetometer fusion algorithm on different cores makes unwanted EKF core switches due to magnetometer errors more likely." user="Advanced">
+<field name="Bitmask">0:FirstEKF,1:SecondEKF,2:ThirdEKF,3:FourthEKF,4:FifthEKF,5:SixthEKF</field>
+</param>
 </parameters>
 <parameters name="FENCE_">
 <param humanName="Fence enable/disable" name="FENCE_ENABLE" documentation="Allows you to enable (1) or disable (0) the fence functionality" user="Standard">
@@ -3937,6 +6417,11 @@
 <param humanName="Fence polygon point total" name="FENCE_TOTAL" documentation="Number of polygon points saved in eeprom (do not update manually)" user="Standard">
 <field name="Range">1 20</field>
 </param>
+<param humanName="Fence Minimum Altitude" name="FENCE_ALT_MIN" documentation="Minimum altitude allowed before geofence triggers" user="Standard">
+<field name="Range">-100 100</field>
+<field name="Increment">1</field>
+<field name="Units">Meters</field>
+</param>
 </parameters>
 <parameters name="FLOW">
 <param humanName="Optical flow enable/disable" name="FLOW_ENABLE" documentation="Setting this to Enabled(1) will enable optical flow. Setting this to Disabled(0) will disable optical flow" user="Standard">
@@ -3967,7 +6452,7 @@
 <field name="Units">m</field>
 </param>
 <param humanName="ID on the bus" name="FLOW_BUS_ID" documentation="This is used to select between multiple possible bus IDs for some sensor types. For PX4Flow you can choose 0 to 7 for the 8 possible addresses on the I2C bus." user="Advanced">
-<field name="Range">0 255</field>
+<field name="Range">0 127</field>
 </param>
 </parameters>
 <parameters name="GND_">
@@ -3998,8 +6483,24 @@
 <values>
 <value code="-1">Disabled</value>
 <value code="0">Bus0</value>
+<value code="1">Bus1</value>
 </values>
 </param>
+<param humanName="Specific Gravity (For water depth measurement)" name="GND_SPEC_GRAV" documentation="This sets the specific gravity of the fluid when flying an underwater ROV.">
+<field name="Values">1.0:Freshwater,1.024:Saltwater</field>
+</param>
+<param humanName="Absolute Pressure" name="GND_ABS_PRESS2" documentation="calibrated ground pressure in Pascals" user="Advanced">
+<field name="ReadOnly">True</field>
+<field name="Volatile">True</field>
+<field name="Increment">1</field>
+<field name="Units">pascals</field>
+</param>
+<param humanName="Absolute Pressure" name="GND_ABS_PRESS3" documentation="calibrated ground pressure in Pascals" user="Advanced">
+<field name="ReadOnly">True</field>
+<field name="Volatile">True</field>
+<field name="Increment">1</field>
+<field name="Units">pascals</field>
+</param>
 </parameters>
 <parameters name="GPS_">
 <param humanName="GPS type" name="GPS_TYPE" documentation="GPS type" user="Advanced">
@@ -4013,7 +6514,7 @@
 <value code="6">SiRF</value>
 <value code="7">HIL</value>
 <value code="8">SwiftNav</value>
-<value code="9">PX4-UAVCAN</value>
+<value code="9">UAVCAN</value>
 <value code="10">SBF</value>
 <value code="11">GSOF</value>
 <value code="12">QURT</value>
@@ -4034,7 +6535,7 @@
 <value code="6">SiRF</value>
 <value code="7">HIL</value>
 <value code="8">SwiftNav</value>
-<value code="9">PX4-UAVCAN</value>
+<value code="9">UAVCAN</value>
 <value code="10">SBF</value>
 <value code="11">GSOF</value>
 <value code="12">QURT</value>
@@ -4059,7 +6560,8 @@
 <param humanName="Automatic Switchover Setting" name="GPS_AUTO_SWITCH" documentation="Automatic switchover to GPS reporting best lock" user="Advanced">
 <values>
 <value code="0">Disabled</value>
-<value code="1">Enabled</value>
+<value code="1">UseBest</value>
+<value code="2">Blend</value>
 </values>
 </param>
 <param humanName="Minimum Lock Type Accepted for DGPS" name="GPS_MIN_DGPS" documentation="Sets the minimum type of differential GPS corrections required before allowing to switch into DGPS mode." user="Advanced">
@@ -4090,9 +6592,9 @@
 </param>
 <param humanName="Swift Binary Protocol Logging Mask" name="GPS_SBP_LOGMASK" documentation="Masked with the SBP msg_type field to determine whether SBR1/SBR2 data is logged" user="Advanced">
 <values>
-<value code="0x0000">None</value>
-<value code=" 0xFFFF">All</value>
-<value code=" 0xFF00">External only</value>
+<value code="0">None (0x0000)</value>
+<value code="-1">All (0xFFFF)</value>
+<value code="-256">External only (0xFF00)</value>
 </values>
 </param>
 <param humanName="Raw data logging" name="GPS_RAW_DATA" documentation="Enable logging of RXM raw data from uBlox which includes carrier phase and pseudo range information. This allows for post processing of dataflash logs for more precise positioning. Note that this requires a raw capable uBlox such as the 6P or 6T." user="Advanced">
@@ -4147,6 +6649,7 @@
 </values>
 </param>
 <param humanName="GPS update rate in milliseconds" name="GPS_RATE_MS" documentation="Controls how often the GPS should provide a position update. Lowering below 5Hz is not allowed" user="Advanced">
+<field name="Range">50 200</field>
 <values>
 <value code="100">10Hz</value>
 <value code="125">8Hz</value>
@@ -4155,6 +6658,7 @@
 <field name="Units">milliseconds</field>
 </param>
 <param humanName="GPS 2 update rate in milliseconds" name="GPS_RATE_MS2" documentation="Controls how often the GPS should provide a position update. Lowering below 5Hz is not allowed" user="Advanced">
+<field name="Range">50 200</field>
 <values>
 <value code="100">10Hz</value>
 <value code="125">8Hz</value>
@@ -4188,6 +6692,13 @@
 <field name="Range">0 250</field>
 <field name="Units">milliseconds</field>
 </param>
+<param humanName="Multi GPS Blending Mask" name="GPS_BLEND_MASK" documentation="Determines which of the accuracy measures Horizontal position, Vertical Position and Speed are used to calculate the weighting on each GPS receiver when soft switching has been selected by setting GPS_AUTO_SWITCH to 2" user="Advanced">
+<field name="Bitmask">0:Horiz Pos,1:Vert Pos,2:Speed</field>
+</param>
+<param humanName="Blending time constant" name="GPS_BLEND_TC" documentation="Controls the slowest time constant applied to the calculation of GPS position and height offsets used to adjust different GPS receivers for steady state position differences." user="Advanced">
+<field name="Range">5.0 30.0</field>
+<field name="Units">seconds</field>
+</param>
 </parameters>
 <parameters name="GRIP_">
 <param humanName="Gripper Enable/Disable" name="GRIP_ENABLE" documentation="Gripper enable/disable" user="Standard">
@@ -4222,8 +6733,79 @@
 <param humanName="EPM UAVCAN Hardpoint ID" name="GRIP_UAVCAN_ID" documentation="Refer to https://docs.zubax.com/opengrab_epm_v3#UAVCAN_interface" user="Standard">
 <field name="Range">0 255</field>
 </param>
-</parameters>
-<parameters name="H_">
+</parameters>
+<parameters name="H_">
+<param humanName="Servo 1 Position" name="H_SV1_POS" documentation="Angular location of swash servo #1" user="Standard">
+<field name="Range">-180 180</field>
+<field name="Increment">1</field>
+<field name="Units">Degrees</field>
+</param>
+<param humanName="Servo 2 Position" name="H_SV2_POS" documentation="Angular location of swash servo #2" user="Standard">
+<field name="Range">-180 180</field>
+<field name="Increment">1</field>
+<field name="Units">Degrees</field>
+</param>
+<param humanName="Servo 3 Position" name="H_SV3_POS" documentation="Angular location of swash servo #3" user="Standard">
+<field name="Range">-180 180</field>
+<field name="Increment">1</field>
+<field name="Units">Degrees</field>
+</param>
+<param humanName="Tail Type" name="H_TAIL_TYPE" documentation="Tail type selection.  Simpler yaw controller used if external gyro is selected" user="Standard">
+<values>
+<value code="0">Servo only</value>
+<value code="1">Servo with ExtGyro</value>
+<value code="2">DirectDrive VarPitch</value>
+<value code="3">DirectDrive FixedPitch</value>
+</values>
+</param>
+<param humanName="Swash Type" name="H_SWASH_TYPE" documentation="Swash Type Setting - either 3-servo CCPM or H1 Mechanical Mixing" user="Standard">
+<values>
+<value code="0">3-Servo CCPM</value>
+<value code=" 1">H1 Mechanical Mixing</value>
+</values>
+</param>
+<param humanName="External Gyro Gain" name="H_GYR_GAIN" documentation="PWM sent to external gyro on ch7 when tail type is Servo w/ ExtGyro" user="Standard">
+<field name="Range">0 1000</field>
+<field name="Increment">1</field>
+<field name="Units">PWM</field>
+</param>
+<param humanName="Swashplate Phase Angle Compensation" name="H_PHANG" documentation="Phase angle correction for rotor head.  If pitching the swash forward induces a roll, this can be correct the problem" user="Advanced">
+<field name="Range">-90 90</field>
+<field name="Increment">1</field>
+<field name="Units">Degrees</field>
+</param>
+<param humanName="Collective-Yaw Mixing" name="H_COLYAW" documentation="Feed-forward compensation to automatically add rudder input when collective pitch is increased. Can be positive or negative depending on mechanics." user="Advanced">
+<field name="Range">-10 10</field>
+<field name="Increment">0.1</field>
+</param>
+<param humanName="Flybar Mode Selector" name="H_FLYBAR_MODE" documentation="Flybar present or not.  Affects attitude controller used during ACRO flight mode" user="Standard">
+<values>
+<value code="0">NoFlybar</value>
+<value code="1">Flybar</value>
+</values>
+</param>
+<param humanName="Direct Drive VarPitch Tail ESC speed" name="H_TAIL_SPEED" documentation="Direct Drive VarPitch Tail ESC speed.  Only used when TailType is DirectDrive VarPitch" user="Standard">
+<field name="Range">0 1000</field>
+<field name="Increment">1</field>
+<field name="Units">PWM</field>
+</param>
+<param humanName="External Gyro Gain for ACRO" name="H_GYR_GAIN_ACRO" documentation="PWM sent to external gyro on ch7 when tail type is Servo w/ ExtGyro. A value of zero means to use H_GYR_GAIN" user="Standard">
+<field name="Range">0 1000</field>
+<field name="Increment">1</field>
+<field name="Units">PWM</field>
+</param>
+<param humanName="RSC PWM output miniumum" name="H_RSC_PWM_MIN" documentation="This sets the PWM output on RSC channel for maximum rotor speed" user="Standard">
+<field name="Range">0 2000</field>
+</param>
+<param humanName="RSC PWM output maxiumum" name="H_RSC_PWM_MAX" documentation="This sets the PWM output on RSC channel for miniumum rotor speed" user="Standard">
+<field name="Range">0 2000</field>
+</param>
+<param humanName="RSC PWM reversal" name="H_RSC_PWM_REV" documentation="This controls reversal of the RSC channel output" user="Standard">
+<values>
+<value code="-1">Reversed</value>
+<value code="1">Normal</value>
+</values>
+</param>
 <param humanName="Servo 1 Position" name="H_SV1_POS" documentation="Angular location of swash servo #1" user="Standard">
 <field name="Range">-180 180</field>
 <field name="Increment">1</field>
@@ -4239,49 +6821,47 @@
 <field name="Increment">1</field>
 <field name="Units">Degrees</field>
 </param>
-<param humanName="Tail Type" name="H_TAIL_TYPE" documentation="Tail type selection.  Simpler yaw controller used if external gyro is selected" user="Standard">
-<values>
-<value code="0">Servo only</value>
-<value code="1">Servo with ExtGyro</value>
-<value code="2">DirectDrive VarPitch</value>
-<value code="3">DirectDrive FixedPitch</value>
-</values>
+<param humanName="Servo 4 Position" name="H_SV4_POS" documentation="Angular location of swash servo #4" user="Standard">
+<field name="Range">-180 180</field>
+<field name="Increment">1</field>
+<field name="Units">Degrees</field>
 </param>
-<param humanName="Swash Type" name="H_SWASH_TYPE" documentation="Swash Type Setting - either 3-servo CCPM or H1 Mechanical Mixing" user="Standard">
-<values>
-<value code="0">3-Servo CCPM</value>
-<value code=" 1">H1 Mechanical Mixing</value>
-</values>
+<param humanName="Servo 5 Position" name="H_SV5_POS" documentation="Angular location of swash servo #5" user="Standard">
+<field name="Range">-180 180</field>
+<field name="Increment">1</field>
+<field name="Units">Degrees</field>
 </param>
-<param humanName="External Gyro Gain" name="H_GYR_GAIN" documentation="PWM sent to external gyro on ch7 when tail type is Servo w/ ExtGyro" user="Standard">
-<field name="Range">0 1000</field>
+<param humanName="Servo 6 Position" name="H_SV6_POS" documentation="Angular location of swash servo #6" user="Standard">
+<field name="Range">-180 180</field>
 <field name="Increment">1</field>
-<field name="Units">PWM</field>
+<field name="Units">Degrees</field>
 </param>
-<param humanName="Swashplate Phase Angle Compensation" name="H_PHANG" documentation="Phase angle correction for rotor head.  If pitching the swash forward induces a roll, this can be correct the problem" user="Advanced">
+<param humanName="Swashplate 1 Phase Angle Compensation" name="H_PHANG1" documentation="Phase angle correction for rotor head.  If pitching the swash forward induces a roll, this can be correct the problem" user="Advanced">
 <field name="Range">-90 90</field>
 <field name="Increment">1</field>
 <field name="Units">Degrees</field>
 </param>
-<param humanName="Collective-Yaw Mixing" name="H_COLYAW" documentation="Feed-forward compensation to automatically add rudder input when collective pitch is increased. Can be positive or negative depending on mechanics." user="Advanced">
-<field name="Range">-10 10</field>
-<field name="Increment">0.1</field>
+<param humanName="Swashplate 2 Phase Angle Compensation" name="H_PHANG2" documentation="Phase angle correction for rotor head.  If pitching the swash forward induces a roll, this can be correct the problem" user="Advanced">
+<field name="Range">-90 90</field>
+<field name="Increment">1</field>
+<field name="Units">Degrees</field>
 </param>
-<param humanName="Flybar Mode Selector" name="H_FLYBAR_MODE" documentation="Flybar present or not.  Affects attitude controller used during ACRO flight mode" user="Standard">
+<param humanName="Dual Mode" name="H_DUAL_MODE" documentation="Sets the dual mode of the heli, either as tandem or as transverse." user="Standard">
 <values>
-<value code="0">NoFlybar</value>
-<value code="1">Flybar</value>
+<value code="0">Longitudinal</value>
+<value code=" 1">Transverse</value>
 </values>
 </param>
-<param humanName="Direct Drive VarPitch Tail ESC speed" name="H_TAIL_SPEED" documentation="Direct Drive VarPitch Tail ESC speed.  Only used when TailType is DirectDrive VarPitch" user="Standard">
-<field name="Range">0 1000</field>
-<field name="Increment">1</field>
-<field name="Units">PWM</field>
+<param humanName="Differential-Collective-Pitch Scaler" name="H_DCP_SCALER" documentation="Scaling factor applied to the differential-collective-pitch" user="Standard">
+<field name="Range">0 1</field>
 </param>
-<param humanName="External Gyro Gain for ACRO" name="H_GYR_GAIN_ACRO" documentation="PWM sent to external gyro on ch7 when tail type is Servo w/ ExtGyro. A value of zero means to use H_GYR_GAIN" user="Standard">
-<field name="Range">0 1000</field>
-<field name="Increment">1</field>
-<field name="Units">PWM</field>
+<param humanName="Differential-Collective-Pitch Yaw Mixing" name="H_DCP_YAW" documentation="Feed-forward compensation to automatically add yaw input when differential collective pitch is applied.">
+<field name="Range">-10 10</field>
+<field name="Increment">0.1</field>
+</param>
+<param humanName="Scaler for yaw mixing" name="H_YAW_SCALER" documentation="Scaler for mixing yaw into roll or pitch.">
+<field name="Range">-10 10</field>
+<field name="Increment">0.1</field>
 </param>
 <param humanName="RSC PWM output miniumum" name="H_RSC_PWM_MIN" documentation="This sets the PWM output on RSC channel for maximum rotor speed" user="Standard">
 <field name="Range">0 2000</field>
@@ -4295,6 +6875,21 @@
 <value code="1">Normal</value>
 </values>
 </param>
+<param humanName="Collective Pitch Minimum for rear swashplate" name="H_COL2_MIN" documentation="Lowest possible servo position for the rear swashplate" user="Standard">
+<field name="Range">1000 2000</field>
+<field name="Increment">1</field>
+<field name="Units">PWM</field>
+</param>
+<param humanName="Collective Pitch Maximum for rear swashplate" name="H_COL2_MAX" documentation="Highest possible servo position for the rear swashplate" user="Standard">
+<field name="Range">1000 2000</field>
+<field name="Increment">1</field>
+<field name="Units">PWM</field>
+</param>
+<param humanName="Collective Pitch Mid-Point for rear swashplate" name="H_COL2_MID" documentation="Swash servo position corresponding to zero collective pitch for the rear swashplate (or zero lift for Asymmetrical blades)" user="Standard">
+<field name="Range">1000 2000</field>
+<field name="Increment">1</field>
+<field name="Units">PWM</field>
+</param>
 <param humanName="Collective Pitch Minimum" name="H_COL_MIN" documentation="Lowest possible servo position for the swashplate" user="Standard">
 <field name="Range">1000 2000</field>
 <field name="Increment">1</field>
@@ -4732,6 +7327,119 @@
 </values>
 </param>
 </parameters>
+<parameters name="LAND_DS_">
+<param humanName="Deepstall forward velocity" name="LAND_DS_V_FWD" documentation="The forward velocity of the aircraft while stalled" user="Advanced">
+<field name="Range">0 20</field>
+<field name="Units">m/s</field>
+</param>
+<param humanName="Deepstall slope a" name="LAND_DS_SLOPE_A" documentation="The a component of distance = a*wind + b" user="Advanced">
+</param>
+<param humanName="Deepstall slope b" name="LAND_DS_SLOPE_B" documentation="The a component of distance = a*wind + b" user="Advanced">
+</param>
+<param humanName="Deepstall approach extension" name="LAND_DS_APP_EXT" documentation="The forward velocity of the aircraft while stalled" user="Advanced">
+<field name="Range">10 200</field>
+<field name="Units">meters</field>
+</param>
+<param humanName="Deepstall veloicty down" name="LAND_DS_V_DWN" documentation="The downward velocity of the aircraft while stalled" user="Advanced">
+<field name="Range">0 20</field>
+<field name="Units">m/s</field>
+</param>
+<param humanName="Deepstall slew speed" name="LAND_DS_SLEW_SPD" documentation="The speed at which the elevator slews to deepstall" user="Advanced">
+<field name="Range">0 2</field>
+<field name="Units">seconds</field>
+</param>
+<param humanName="Deepstall elevator PWM" name="LAND_DS_ELEV_PWM" documentation="The PWM value for the elevator at full deflection in deepstall" user="Advanced">
+<field name="Range">900 2100</field>
+<field name="Units">PWM</field>
+</param>
+<param humanName="Deepstall enabled airspeed" name="LAND_DS_ARSP_MAX" documentation="The maximum aispeed where the deepstall steering controller is allowed to have control" user="Advanced">
+<field name="Range">5 20</field>
+<field name="Units">m/s</field>
+</param>
+<param humanName="Deepstall minimum derating airspeed" name="LAND_DS_ARSP_MIN" documentation="Deepstall lowest airspeed where the deepstall controller isn't allowed full control" user="Advanced">
+<field name="Range">5 20</field>
+<field name="Units">m/s</field>
+</param>
+<param humanName="Deepstall L1 period" name="LAND_DS_L1" documentation="Deepstall L1 navigational controller period" user="Advanced">
+<field name="Range">5 50</field>
+<field name="Units">meters</field>
+</param>
+<param humanName="Deepstall L1 I gain" name="LAND_DS_L1_I" documentation="Deepstall L1 integratior gain" user="Advanced">
+<field name="Range">0 1</field>
+</param>
+</parameters>
+<parameters name="LAND_DS_DS_">
+<param humanName="PID Proportional Gain" name="LAND_DS_DS_P" documentation="P Gain which produces an output value that is proportional to the current error value">
+</param>
+<param humanName="PID Integral Gain" name="LAND_DS_DS_I" documentation="I Gain which produces an output that is proportional to both the magnitude and the duration of the error">
+</param>
+<param humanName="PID Derivative Gain" name="LAND_DS_DS_D" documentation="D Gain which produces an output that is proportional to the rate of change of the error">
+</param>
+<param humanName="PID Integral Maximum" name="LAND_DS_DS_IMAX" documentation="The maximum/minimum value that the I term can output">
+</param>
+</parameters>
+<parameters name="LEAK">
+<param humanName="Pin that leak detector is connected to" name="LEAK1_PIN" documentation="Pin that the leak detector is connected to" user="Standard">
+<values>
+<value code="-1">Disabled</value>
+<value code="50">Pixhawk Aux1</value>
+<value code="51">Pixhawk Aux2</value>
+<value code="52">Pixhawk Aux3</value>
+<value code="53">Pixhawk Aux4</value>
+<value code="54">Pixhawk Aux5</value>
+<value code="55">Pixhawk Aux6</value>
+<value code="13">Pixhawk 3.3ADC1</value>
+<value code="14">Pixhawk 3.3ADC2</value>
+<value code="15">Pixhawk 6.6ADC</value>
+</values>
+</param>
+<param humanName="Default reading of leak detector when dry" name="LEAK1_LOGIC" documentation="Default reading of leak detector when dry" user="Standard">
+<values>
+<value code="0">Low</value>
+<value code="1">High</value>
+</values>
+</param>
+<param humanName="Pin that leak detector is connected to" name="LEAK2_PIN" documentation="Pin that the leak detector is connected to" user="Standard">
+<values>
+<value code="-1">Disabled</value>
+<value code="50">Pixhawk Aux1</value>
+<value code="51">Pixhawk Aux2</value>
+<value code="52">Pixhawk Aux3</value>
+<value code="53">Pixhawk Aux4</value>
+<value code="54">Pixhawk Aux5</value>
+<value code="55">Pixhawk Aux6</value>
+<value code="13">Pixhawk 3.3ADC1</value>
+<value code="14">Pixhawk 3.3ADC2</value>
+<value code="15">Pixhawk 6.6ADC</value>
+</values>
+</param>
+<param humanName="Default reading of leak detector when dry" name="LEAK2_LOGIC" documentation="Default reading of leak detector when dry" user="Standard">
+<values>
+<value code="0">Low</value>
+<value code="1">High</value>
+</values>
+</param>
+<param humanName="Pin that leak detector is connected to" name="LEAK3_PIN" documentation="Pin that the leak detector is connected to" user="Standard">
+<values>
+<value code="-1">Disabled</value>
+<value code="50">Pixhawk Aux1</value>
+<value code="51">Pixhawk Aux2</value>
+<value code="52">Pixhawk Aux3</value>
+<value code="53">Pixhawk Aux4</value>
+<value code="54">Pixhawk Aux5</value>
+<value code="55">Pixhawk Aux6</value>
+<value code="13">Pixhawk 3.3ADC1</value>
+<value code="14">Pixhawk 3.3ADC2</value>
+<value code="15">Pixhawk 6.6ADC</value>
+</values>
+</param>
+<param humanName="Default reading of leak detector when dry" name="LEAK3_LOGIC" documentation="Default reading of leak detector when dry" user="Standard">
+<values>
+<value code="0">Low</value>
+<value code="1">High</value>
+</values>
+</param>
+</parameters>
 <parameters name="LGR_">
 <param humanName="Landing Gear Servo Retracted PWM Value" name="LGR_SERVO_RTRACT" documentation="Servo PWM value when landing gear is retracted" user="Standard">
 <field name="Range">1000 2000</field>
@@ -5086,6 +7794,58 @@
 </param>
 </parameters>
 <parameters name="MOT_">
+<param humanName="Motor normal or reverse" name="MOT_1_DIRECTION" documentation="Used to change motor rotation directions without changing wires" user="Standard">
+<values>
+<value code="1">normal</value>
+<value code="-1">reverse</value>
+</values>
+</param>
+<param humanName="Motor normal or reverse" name="MOT_2_DIRECTION" documentation="Used to change motor rotation directions without changing wires" user="Standard">
+<values>
+<value code="1">normal</value>
+<value code="-1">reverse</value>
+</values>
+</param>
+<param humanName="Motor normal or reverse" name="MOT_3_DIRECTION" documentation="Used to change motor rotation directions without changing wires" user="Standard">
+<values>
+<value code="1">normal</value>
+<value code="-1">reverse</value>
+</values>
+</param>
+<param humanName="Motor normal or reverse" name="MOT_4_DIRECTION" documentation="Used to change motor rotation directions without changing wires" user="Standard">
+<values>
+<value code="1">normal</value>
+<value code="-1">reverse</value>
+</values>
+</param>
+<param humanName="Motor normal or reverse" name="MOT_5_DIRECTION" documentation="Used to change motor rotation directions without changing wires" user="Standard">
+<values>
+<value code="1">normal</value>
+<value code="-1">reverse</value>
+</values>
+</param>
+<param humanName="Motor normal or reverse" name="MOT_6_DIRECTION" documentation="Used to change motor rotation directions without changing wires" user="Standard">
+<values>
+<value code="1">normal</value>
+<value code="-1">reverse</value>
+</values>
+</param>
+<param humanName="Motor normal or reverse" name="MOT_7_DIRECTION" documentation="Used to change motor rotation directions without changing wires" user="Standard">
+<values>
+<value code="1">normal</value>
+<value code="-1">reverse</value>
+</values>
+</param>
+<param humanName="Motor normal or reverse" name="MOT_8_DIRECTION" documentation="Used to change motor rotation directions without changing wires" user="Standard">
+<values>
+<value code="1">normal</value>
+<value code="-1">reverse</value>
+</values>
+</param>
+<param humanName="Forward/vertical to pitch decoupling factor" name="MOT_FV_CPLNG_K" documentation="Used to decouple pitch from forward/vertical motion. 0 to disable, 1.2 normal" user="Standard">
+<field name="Range">0.0 1.5</field>
+<field name="Increment">0.1</field>
+</param>
 <param humanName="Matrix Yaw Min" name="MOT_YAW_HEADROOM" documentation="Yaw control is given at least this pwm range" user="Advanced">
 <field name="Range">0 500</field>
 <field name="Units">pwm</field>
@@ -5174,6 +7934,10 @@
 <field name="Range">0 0.1</field>
 <field name="Increment">0.01</field>
 </param>
+<param humanName="Loiter Radius Bank Angle Limit" name="NAVL1_LIM_BANK" documentation="The sealevel bank angle limit for a continous loiter. (Used to calculate airframe loading limits at higher altitudes). Setting to 0, will instead just scale the loiter radius directly" user="Advanced">
+<field name="Range">0 89</field>
+<field name="Units">degrees</field>
+</param>
 </parameters>
 <parameters name="NTF_">
 <param humanName="LED Brightness" name="NTF_LED_BRIGHT" documentation="Select the RGB LED brightness level. When USB is connected brightness will never be higher than low regardless of the setting." user="Advanced">
@@ -5236,12 +8000,30 @@
 <field name="Increment">1</field>
 <field name="Units">Centimeters</field>
 </param>
-</parameters>
-<parameters name="POSCON_">
-<param humanName="XY Acceleration filter cutoff frequency" name="POSCON__ACC_XY_FILT" documentation="Lower values will slow the response of the navigation controller and reduce twitchiness" user="Advanced">
+<param humanName="Precision Land Estimator Type" name="PLND_EST_TYPE" documentation="Specifies the estimation method to be used" user="Advanced">
+<values>
+<value code="0">RawSensor</value>
+<value code=" 1">KalmanFilter</value>
+</values>
+</param>
+<param humanName="Kalman Filter Accelerometer Noise" name="PLND_ACC_P_NSE" documentation="Kalman Filter Accelerometer Noise, higher values weight the input from the camera more, accels less" user="Advanceds">
 <field name="Range">0.5 5</field>
-<field name="Increment">0.1</field>
-<field name="Units">Hz</field>
+</param>
+<param humanName="Camera X position offset" name="PLND_CAM_POS_X" documentation="X position of the camera in body frame. Positive X is forward of the origin." user="Advanced">
+<field name="Units">m</field>
+</param>
+<param humanName="Camera Y position offset" name="PLND_CAM_POS_Y" documentation="Y position of the camera in body frame. Positive Y is to the right of the origin." user="Advanced">
+<field name="Units">m</field>
+</param>
+<param humanName="Camera Z position offset" name="PLND_CAM_POS_Z" documentation="Z position of the camera in body frame. Positive Z is down from the origin." user="Advanced">
+<field name="Units">m</field>
+</param>
+<param humanName="Sensor Bus" name="PLND_BUS" documentation="Precland sensor bus for I2C sensors." user="Advanced">
+<values>
+<value code="-1">DefaultBus</value>
+<value code="0">InternalI2C</value>
+<value code="1">ExternalI2C</value>
+</values>
 </param>
 </parameters>
 <parameters name="PRX">
@@ -5251,6 +8033,7 @@
 <value code="1">LightWareSF40C</value>
 <value code="2">MAVLink</value>
 <value code="3">TeraRangerTower</value>
+<value code="4">RangeFinder</value>
 </values>
 </param>
 <param humanName="Proximity sensor orientation" name="PRX_ORIENT" documentation="Proximity sensor orientation" user="Standard">
@@ -5275,7 +8058,7 @@
 <field name="Range">0 360</field>
 <field name="Units">degrees</field>
 </param>
-<param humanName="Proximity sensor ignore width 2" name="PRX_IGN_WID1" documentation="Proximity sensor ignore width 2" user="Standard">
+<param humanName="Proximity sensor ignore width 2" name="PRX_IGN_WID2" documentation="Proximity sensor ignore width 2" user="Standard">
 <field name="Range">0 45</field>
 <field name="Units">degrees</field>
 </param>
@@ -5316,6 +8099,8 @@
 <value code="0">None</value>
 <value code="1">LightWareSF40C</value>
 <value code="2">MAVLink</value>
+<value code="3">TeraRangerTower</value>
+<value code="4">RangeFinder</value>
 </values>
 </param>
 <param humanName="Second Proximity sensor orientation" name="PRX2_ORIENT" documentation="Second Proximity sensor orientation" user="Standard">
@@ -5329,6 +8114,13 @@
 <field name="Units">degrees</field>
 </param>
 </parameters>
+<parameters name="PSC">
+<param humanName="XY Acceleration filter cutoff frequency" name="PSC_ACC_XY_FILT" documentation="Lower values will slow the response of the navigation controller and reduce twitchiness" user="Advanced">
+<field name="Range">0.5 5</field>
+<field name="Increment">0.1</field>
+<field name="Units">Hz</field>
+</param>
+</parameters>
 <parameters name="PTCH2SRV_">
 <param humanName="Pitch Time Constant" name="PTCH2SRV_TCONST" documentation="This controls the time constant in seconds from demanded to achieved pitch angle. A value of 0.5 is a good default and will work with nearly all models. Advanced users may want to reduce this time to obtain a faster response but there is no point setting a time less than the aircraft can achieve." user="Advanced">
 <field name="Range">0.4 1.0</field>
@@ -5388,6 +8180,10 @@
 <field name="Range">0.0 0.02</field>
 <field name="Increment">0.001</field>
 </param>
+<param humanName="Roll axis rate controller feed forward" name="Q_A_RAT_RLL_FF" documentation="Roll axis rate controller feed forward" user="Standard">
+<field name="Range">0 0.5</field>
+<field name="Increment">0.001</field>
+</param>
 <param humanName="Roll axis rate controller input frequency in Hz" name="Q_A_RAT_RLL_FILT" documentation="Roll axis rate controller input frequency in Hz" user="Standard">
 <field name="Range">1 100</field>
 <field name="Increment">1</field>
@@ -5410,6 +8206,10 @@
 <field name="Range">0.0 0.02</field>
 <field name="Increment">0.001</field>
 </param>
+<param humanName="Pitch axis rate controller feed forward" name="Q_A_RAT_PIT_FF" documentation="Pitch axis rate controller feed forward" user="Standard">
+<field name="Range">0 0.5</field>
+<field name="Increment">0.001</field>
+</param>
 <param humanName="Pitch axis rate controller input frequency in Hz" name="Q_A_RAT_PIT_FILT" documentation="Pitch axis rate controller input frequency in Hz" user="Standard">
 <field name="Range">1 100</field>
 <field name="Increment">1</field>
@@ -5432,6 +8232,10 @@
 <field name="Range">0.000 0.02</field>
 <field name="Increment">0.001</field>
 </param>
+<param humanName="Yaw axis rate controller feed forward" name="Q_A_RAT_YAW_FF" documentation="Yaw axis rate controller feed forward" user="Standard">
+<field name="Range">0 0.5</field>
+<field name="Increment">0.001</field>
+</param>
 <param humanName="Yaw axis rate controller input frequency in Hz" name="Q_A_RAT_YAW_FILT" documentation="Yaw axis rate controller input frequency in Hz" user="Standard">
 <field name="Range">1 100</field>
 <field name="Increment">1</field>
@@ -5914,6 +8718,16 @@
 <field name="Increment">1</field>
 <field name="RebootRequired">True</field>
 </param>
+<param humanName="Forward channel" name="RCMAP_FORWARD" documentation="Forward channel number. This is useful when you have a RC transmitter that can't change the channel order easily. Forward is normally on channel 5, but you can move it to any channel with this parameter. Reboot is required for changes to take effect." user="Advanced">
+<field name="Range">1 8</field>
+<field name="Increment">1</field>
+<field name="RebootRequired">True</field>
+</param>
+<param humanName="Lateral channel" name="RCMAP_LATERAL" documentation="Lateral channel number. This is useful when you have a RC transmitter that can't change the channel order easily. Lateral is normally on channel 6, but you can move it to any channel with this parameter. Reboot is required for changes to take effect." user="Advanced">
+<field name="Range">1 8</field>
+<field name="Increment">1</field>
+<field name="RebootRequired">True</field>
+</param>
 </parameters>
 <parameters name="RELAY_">
 <param humanName="First Relay Pin" name="RELAY_PIN" documentation="Digital pin number for first relay control. This is the pin used for camera control." user="Standard">
@@ -6038,7 +8852,7 @@
 <value code="0">None</value>
 <value code="1">Analog</value>
 <value code="2">MaxbotixI2C</value>
-<value code="3">PulsedLightI2C</value>
+<value code="3">LidarLiteV2-I2C</value>
 <value code="5">PX4-PWM</value>
 <value code="6">BBB-PRU</value>
 <value code="7">LightWareI2C</value>
@@ -6049,6 +8863,7 @@
 <value code="12">LeddarOne</value>
 <value code="13">MaxbotixSerial</value>
 <value code="14">TrOneI2C</value>
+<value code="15">LidarLiteV3-I2C</value>
 </values>
 </param>
 <param humanName="Rangefinder pin" name="RNGFND_PIN" documentation="Analog pin that rangefinder is connected to. Set this to 0..9 for the APM2 analog pins. Set to 64 on an APM1 for the dedicated 'airspeed' port on the end of the board. Set to 11 on PX4 for the analog 'airspeed' port. Set to 15 on the Pixhawk for the analog 'airspeed' port." user="Standard">
@@ -6141,12 +8956,26 @@
 <param humanName="Z position offset" name="RNGFND_POS_Z" documentation="Z position of the first rangefinder in body frame. Positive Z is down from the origin. Use the zero range datum point if supplied." user="Advanced">
 <field name="Units">m</field>
 </param>
+<param humanName="Rangefinder orientation" name="RNGFND_ORIENT" documentation="Orientation of rangefinder" user="Advanced">
+<values>
+<value code="0">Forward</value>
+<value code=" 1">Forward-Right</value>
+<value code=" 2">Right</value>
+<value code=" 3">Back-Right</value>
+<value code=" 4">Back</value>
+<value code=" 5">Back-Left</value>
+<value code=" 6">Left</value>
+<value code=" 7">Forward-Left</value>
+<value code=" 24">Up</value>
+<value code=" 25">Down</value>
+</values>
+</param>
 <param humanName="Second Rangefinder type" name="RNGFND2_TYPE" documentation="What type of rangefinder device that is connected" user="Advanced">
 <values>
 <value code="0">None</value>
 <value code="1">Analog</value>
 <value code="2">MaxbotixI2C</value>
-<value code="3">PulsedLightI2C</value>
+<value code="3">LidarLiteV2-I2C</value>
 <value code="5">PX4-PWM</value>
 <value code="6">BBB-PRU</value>
 <value code="7">LightWareI2C</value>
@@ -6157,6 +8986,7 @@
 <value code="12">LeddarOne</value>
 <value code="13">MaxbotixSerial</value>
 <value code="14">TrOneI2C</value>
+<value code="15">LidarLiteV3-I2C</value>
 </values>
 </param>
 <param humanName="Rangefinder pin" name="RNGFND2_PIN" documentation="Analog pin that rangefinder is connected to. Set this to 0..9 for the APM2 analog pins. Set to 64 on an APM1 for the dedicated 'airspeed' port on the end of the board. Set to 11 on PX4 for the analog 'airspeed' port. Set to 15 on the Pixhawk for the analog 'airspeed' port." user="Advanced">
@@ -6245,12 +9075,26 @@
 <param humanName="Z position offset" name="RNGFND2_POS_Z" documentation="Z position of the second rangefinder in body frame. Positive Z is down from the origin. Use the zero range datum point if supplied." user="Advanced">
 <field name="Units">m</field>
 </param>
+<param humanName="Rangefinder 2 orientation" name="RNGFND2_ORIENT" documentation="Orientation of 2nd rangefinder" user="Advanced">
+<values>
+<value code="0">Forward</value>
+<value code=" 1">Forward-Right</value>
+<value code=" 2">Right</value>
+<value code=" 3">Back-Right</value>
+<value code=" 4">Back</value>
+<value code=" 5">Back-Left</value>
+<value code=" 6">Left</value>
+<value code=" 7">Forward-Left</value>
+<value code=" 24">Up</value>
+<value code=" 25">Down</value>
+</values>
+</param>
 <param humanName="Third Rangefinder type" name="RNGFND3_TYPE" documentation="What type of rangefinder device that is connected" user="Advanced">
 <values>
 <value code="0">None</value>
 <value code="1">Analog</value>
-<value code="2">APM2-MaxbotixI2C</value>
-<value code="3">APM2-PulsedLightI2C</value>
+<value code="2">MaxbotixI2C</value>
+<value code="3">LidarLiteV2-I2C</value>
 <value code="5">PX4-PWM</value>
 <value code="6">BBB-PRU</value>
 <value code="7">LightWareI2C</value>
@@ -6260,6 +9104,8 @@
 <value code="11">uLanding</value>
 <value code="12">LeddarOne</value>
 <value code="13">MaxbotixSerial</value>
+<value code="14">TrOneI2C</value>
+<value code="15">LidarLiteV3-I2C</value>
 </values>
 </param>
 <param humanName="Rangefinder pin" name="RNGFND3_PIN" documentation="Analog pin that rangefinder is connected to. Set this to 0..9 for the APM2 analog pins. Set to 64 on an APM1 for the dedicated 'airspeed' port on the end of the board. Set to 11 on PX4 for the analog 'airspeed' port. Set to 15 on the Pixhawk for the analog 'airspeed' port." user="Advanced">
@@ -6348,12 +9194,26 @@
 <param humanName="Z position offset" name="RNGFND3_POS_Z" documentation="Z position of the third rangefinder in body frame. Positive Z is down from the origin. Use the zero range datum point if supplied." user="Advanced">
 <field name="Units">m</field>
 </param>
+<param humanName="Rangefinder 3 orientation" name="RNGFND3_ORIENT" documentation="Orientation of 3rd rangefinder" user="Advanced">
+<values>
+<value code="0">Forward</value>
+<value code=" 1">Forward-Right</value>
+<value code=" 2">Right</value>
+<value code=" 3">Back-Right</value>
+<value code=" 4">Back</value>
+<value code=" 5">Back-Left</value>
+<value code=" 6">Left</value>
+<value code=" 7">Forward-Left</value>
+<value code=" 24">Up</value>
+<value code=" 25">Down</value>
+</values>
+</param>
 <param humanName="Fourth Rangefinder type" name="RNGFND4_TYPE" documentation="What type of rangefinder device that is connected" user="Advanced">
 <values>
 <value code="0">None</value>
 <value code="1">Analog</value>
-<value code="2">APM2-MaxbotixI2C</value>
-<value code="3">APM2-PulsedLightI2C</value>
+<value code="2">MaxbotixI2C</value>
+<value code="3">LidarLiteV2-I2C</value>
 <value code="5">PX4-PWM</value>
 <value code="6">BBB-PRU</value>
 <value code="7">LightWareI2C</value>
@@ -6363,6 +9223,8 @@
 <value code="11">uLanding</value>
 <value code="12">LeddarOne</value>
 <value code="13">MaxbotixSerial</value>
+<value code="14">TrOneI2C</value>
+<value code="15">LidarLiteV3-I2C</value>
 </values>
 </param>
 <param humanName="Rangefinder pin" name="RNGFND4_PIN" documentation="Analog pin that rangefinder is connected to. Set this to 0..9 for the APM2 analog pins. Set to 64 on an APM1 for the dedicated 'airspeed' port on the end of the board. Set to 11 on PX4 for the analog 'airspeed' port. Set to 15 on the Pixhawk for the analog 'airspeed' port." user="Advanced">
@@ -6451,12 +9313,27 @@
 <param humanName="Z position offset" name="RNGFND4_POS_Z" documentation="Z position of the fourth rangefinder in body frame. Use the zero range datum point if supplied." user="Advanced">
 <field name="Units">m</field>
 </param>
+<param humanName="Rangefinder 4 orientation" name="RNGFND4_ORIENT" documentation="Orientation of 4th range finder" user="Advanced">
+<values>
+<value code="0">Forward</value>
+<value code=" 1">Forward-Right</value>
+<value code=" 2">Right</value>
+<value code=" 3">Back-Right</value>
+<value code=" 4">Back</value>
+<value code=" 5">Back-Left</value>
+<value code=" 6">Left</value>
+<value code=" 7">Forward-Left</value>
+<value code=" 24">Up</value>
+<value code=" 25">Down</value>
+</values>
+</param>
 </parameters>
 <parameters name="RPM">
 <param humanName="RPM type" name="RPM_TYPE" documentation="What type of RPM sensor is connected" user="Standard">
 <values>
 <value code="0">None</value>
 <value code="1">PX4-PWM</value>
+<value code="2">AUXPIN</value>
 </values>
 </param>
 <param humanName="RPM scaling" name="RPM_SCALING" documentation="Scaling factor between sensor reading and RPM." user="Standard">
@@ -6471,15 +9348,38 @@
 <param humanName="Minimum Quality" name="RPM_MIN_QUAL" documentation="Minimum data quality to be used" user="Advanced">
 <field name="Increment">0.1</field>
 </param>
+<param humanName="Input pin number" name="RPM_PIN" documentation="Which pin to use" user="Standard">
+<values>
+<value code="-1">Disabled</value>
+<value code="50">PixhawkAUX1</value>
+<value code="51">PixhawkAUX2</value>
+<value code="52">PixhawkAUX3</value>
+<value code="53">PixhawkAUX4</value>
+<value code="54">PixhawkAUX5</value>
+<value code="55">PixhawkAUX6</value>
+</values>
+</param>
 <param humanName="Second RPM type" name="RPM2_TYPE" documentation="What type of RPM sensor is connected" user="Advanced">
 <values>
 <value code="0">None</value>
 <value code="1">PX4-PWM</value>
+<value code="2">AUXPIN</value>
 </values>
 </param>
 <param humanName="RPM scaling" name="RPM2_SCALING" documentation="Scaling factor between sensor reading and RPM." user="Advanced">
 <field name="Increment">0.001</field>
 </param>
+<param humanName="RPM2 input pin number" name="RPM2_PIN" documentation="Which pin to use" user="Standard">
+<values>
+<value code="-1">Disabled</value>
+<value code="50">PixhawkAUX1</value>
+<value code="51">PixhawkAUX2</value>
+<value code="52">PixhawkAUX3</value>
+<value code="53">PixhawkAUX4</value>
+<value code="54">PixhawkAUX5</value>
+<value code="55">PixhawkAUX6</value>
+</values>
+</param>
 </parameters>
 <parameters name="RSSI_">
 <param humanName="RSSI Type" name="RSSI_TYPE" documentation="Radio Receiver RSSI type. If your radio receiver supports RSSI of some kind, set it here, then set its associated RSSI_XXXXX parameters, if any." user="Standard">
@@ -6555,6 +9455,7 @@
 <value code="57">57600</value>
 <value code="111">111100</value>
 <value code="115">115200</value>
+<value code="460">460800</value>
 <value code="500">500000</value>
 <value code="921">921600</value>
 <value code="1500">1500000</value>
@@ -6580,7 +9481,7 @@
 <value code=" 10">FrSky SPort Passthrough (OpenTX)</value>
 <value code=" 11">Lidar360</value>
 <value code=" 12">Aerotenna uLanding</value>
-<value code=" 13">Pozyx Beacon</value>
+<value code=" 13">Beacon</value>
 </values>
 </param>
 <param humanName="Telem1 Baud Rate" name="SERIAL1_BAUD" documentation="The baud rate used on the Telem1 port. The APM2 can support all baudrates up to 115, and also can support 500. The PX4 can support rates of up to 1500. If you setup a rate you cannot support on APM2 and then can't connect to your board you should load a firmware from a different vehicle type. That will reset all your parameters to defaults." user="Standard">
@@ -6613,7 +9514,7 @@
 <value code=" 10">FrSky SPort Passthrough (OpenTX)</value>
 <value code=" 11">Lidar360</value>
 <value code=" 12">Aerotenna uLanding</value>
-<value code=" 13">Pozyx Beacon</value>
+<value code=" 13">Beacon</value>
 </values>
 </param>
 <param humanName="Telemetry 2 Baud Rate" name="SERIAL2_BAUD" documentation="The baud rate of the Telem2 port. The APM2 can support all baudrates up to 115, and also can support 500. The PX4 can support rates of up to 1500. If you setup a rate you cannot support on APM2 and then can't connect to your board you should load a firmware from a different vehicle type. That will reset all your parameters to defaults." user="Standard">
@@ -6646,7 +9547,7 @@
 <value code=" 10">FrSky SPort Passthrough (OpenTX)</value>
 <value code=" 11">Lidar360</value>
 <value code=" 12">Aerotenna uLanding</value>
-<value code=" 13">Pozyx Beacon</value>
+<value code=" 13">Beacon</value>
 </values>
 </param>
 <param humanName="Serial 3 (GPS) Baud Rate" name="SERIAL3_BAUD" documentation="The baud rate used for the Serial 3 (GPS). The APM2 can support all baudrates up to 115, and also can support 500. The PX4 can support rates of up to 1500. If you setup a rate you cannot support on APM2 and then can't connect to your board you should load a firmware from a different vehicle type. That will reset all your parameters to defaults." user="Standard">
@@ -6679,7 +9580,7 @@
 <value code=" 10">FrSky SPort Passthrough (OpenTX)</value>
 <value code=" 11">Lidar360</value>
 <value code=" 12">Aerotenna uLanding</value>
-<value code=" 13">Pozyx Beacon</value>
+<value code=" 13">Beacon</value>
 </values>
 </param>
 <param humanName="Serial 4 Baud Rate" name="SERIAL4_BAUD" documentation="The baud rate used for Serial4. The APM2 can support all baudrates up to 115, and also can support 500. The PX4 can support rates of up to 1500. If you setup a rate you cannot support on APM2 and then can't connect to your board you should load a firmware from a different vehicle type. That will reset all your parameters to defaults." user="Standard">
@@ -6712,7 +9613,7 @@
 <value code=" 10">FrSky SPort Passthrough (OpenTX)</value>
 <value code=" 11">Lidar360</value>
 <value code=" 12">Aerotenna uLanding</value>
-<value code=" 13">Pozyx Beacon</value>
+<value code=" 13">Beacon</value>
 </values>
 </param>
 <param humanName="Serial 5 Baud Rate" name="SERIAL5_BAUD" documentation="The baud rate used for Serial5. The APM2 can support all baudrates up to 115, and also can support 500. The PX4 can support rates of up to 1500. If you setup a rate you cannot support on APM2 and then can't connect to your board you should load a firmware from a different vehicle type. That will reset all your parameters to defaults." user="Standard">
@@ -6739,6 +9640,12 @@
 <value code="1">Enable</value>
 </values>
 </param>
+<param humanName="RC Out channels to be transmitted as servo over CAN bus" name="SERVO_CANSRV_BM" documentation="Bitmask with one set for channel to be transmitted as a servo command over CAN bus" user="Standard">
+<field name="Bitmask">0: Servo 1, 1: Servo 2, 2: Servo 3, 3: Servo 4, 4: Servo 5, 5: Servo 6, 6: Servo 7, 7: Servo 8, 8: Servo 9, 9: Servo 10, 10: Servo 11, 11: Servo 12, 12: Servo 13, 13: Servo 14, 14: Servo 15</field>
+</param>
+<param humanName="RC Out channels to be transmitted as ESC over CAN bus" name="SERVO_CANESC_BM" documentation="Bitmask with one set for channel to be transmitted as a ESC command over CAN bus" user="Standard">
+<field name="Bitmask">0: ESC 1, 1: ESC 2, 2: ESC 3, 3: ESC 4, 4: ESC 5, 5: ESC 6, 6: ESC 7, 7: ESC 8, 8: ESC 9, 9: ESC 10, 10: ESC 11, 11: ESC 12, 12: ESC 13, 13: ESC 14, 14: ESC 15, 15: ESC 16</field>
+</param>
 </parameters>
 <parameters name="SERVO10_">
 <param humanName="Minimum PWM" name="SERVO10_MIN" documentation="minimum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
@@ -6802,6 +9709,7 @@
 <value code="38">Motor6</value>
 <value code="39">Motor7</value>
 <value code="40">Motor8</value>
+<value code="41">MotorTilt</value>
 <value code="51">RCIN1</value>
 <value code="52">RCIN2</value>
 <value code="53">RCIN3</value>
@@ -6824,6 +9732,14 @@
 <value code="70">Throttle</value>
 <value code="71">TrackerYaw</value>
 <value code="72">TrackerPitch</value>
+<value code="73">ThrottleLeft</value>
+<value code="74">ThrottleRight</value>
+<value code="75">tiltMotorLeft</value>
+<value code="76">tiltMotorRight</value>
+<value code="77">ElevonLeft</value>
+<value code="78">ElevonRight</value>
+<value code="79">VTailLeft</value>
+<value code="80">VTailRight</value>
 </values>
 </param>
 </parameters>
@@ -6889,6 +9805,7 @@
 <value code="38">Motor6</value>
 <value code="39">Motor7</value>
 <value code="40">Motor8</value>
+<value code="41">MotorTilt</value>
 <value code="51">RCIN1</value>
 <value code="52">RCIN2</value>
 <value code="53">RCIN3</value>
@@ -6911,6 +9828,14 @@
 <value code="70">Throttle</value>
 <value code="71">TrackerYaw</value>
 <value code="72">TrackerPitch</value>
+<value code="73">ThrottleLeft</value>
+<value code="74">ThrottleRight</value>
+<value code="75">tiltMotorLeft</value>
+<value code="76">tiltMotorRight</value>
+<value code="77">ElevonLeft</value>
+<value code="78">ElevonRight</value>
+<value code="79">VTailLeft</value>
+<value code="80">VTailRight</value>
 </values>
 </param>
 </parameters>
@@ -6976,6 +9901,7 @@
 <value code="38">Motor6</value>
 <value code="39">Motor7</value>
 <value code="40">Motor8</value>
+<value code="41">MotorTilt</value>
 <value code="51">RCIN1</value>
 <value code="52">RCIN2</value>
 <value code="53">RCIN3</value>
@@ -6998,6 +9924,14 @@
 <value code="70">Throttle</value>
 <value code="71">TrackerYaw</value>
 <value code="72">TrackerPitch</value>
+<value code="73">ThrottleLeft</value>
+<value code="74">ThrottleRight</value>
+<value code="75">tiltMotorLeft</value>
+<value code="76">tiltMotorRight</value>
+<value code="77">ElevonLeft</value>
+<value code="78">ElevonRight</value>
+<value code="79">VTailLeft</value>
+<value code="80">VTailRight</value>
 </values>
 </param>
 </parameters>
@@ -7063,6 +9997,7 @@
 <value code="38">Motor6</value>
 <value code="39">Motor7</value>
 <value code="40">Motor8</value>
+<value code="41">MotorTilt</value>
 <value code="51">RCIN1</value>
 <value code="52">RCIN2</value>
 <value code="53">RCIN3</value>
@@ -7085,6 +10020,14 @@
 <value code="70">Throttle</value>
 <value code="71">TrackerYaw</value>
 <value code="72">TrackerPitch</value>
+<value code="73">ThrottleLeft</value>
+<value code="74">ThrottleRight</value>
+<value code="75">tiltMotorLeft</value>
+<value code="76">tiltMotorRight</value>
+<value code="77">ElevonLeft</value>
+<value code="78">ElevonRight</value>
+<value code="79">VTailLeft</value>
+<value code="80">VTailRight</value>
 </values>
 </param>
 </parameters>
@@ -7150,6 +10093,7 @@
 <value code="38">Motor6</value>
 <value code="39">Motor7</value>
 <value code="40">Motor8</value>
+<value code="41">MotorTilt</value>
 <value code="51">RCIN1</value>
 <value code="52">RCIN2</value>
 <value code="53">RCIN3</value>
@@ -7172,6 +10116,14 @@
 <value code="70">Throttle</value>
 <value code="71">TrackerYaw</value>
 <value code="72">TrackerPitch</value>
+<value code="73">ThrottleLeft</value>
+<value code="74">ThrottleRight</value>
+<value code="75">tiltMotorLeft</value>
+<value code="76">tiltMotorRight</value>
+<value code="77">ElevonLeft</value>
+<value code="78">ElevonRight</value>
+<value code="79">VTailLeft</value>
+<value code="80">VTailRight</value>
 </values>
 </param>
 </parameters>
@@ -7237,6 +10189,7 @@
 <value code="38">Motor6</value>
 <value code="39">Motor7</value>
 <value code="40">Motor8</value>
+<value code="41">MotorTilt</value>
 <value code="51">RCIN1</value>
 <value code="52">RCIN2</value>
 <value code="53">RCIN3</value>
@@ -7259,6 +10212,14 @@
 <value code="70">Throttle</value>
 <value code="71">TrackerYaw</value>
 <value code="72">TrackerPitch</value>
+<value code="73">ThrottleLeft</value>
+<value code="74">ThrottleRight</value>
+<value code="75">tiltMotorLeft</value>
+<value code="76">tiltMotorRight</value>
+<value code="77">ElevonLeft</value>
+<value code="78">ElevonRight</value>
+<value code="79">VTailLeft</value>
+<value code="80">VTailRight</value>
 </values>
 </param>
 </parameters>
@@ -7324,6 +10285,7 @@
 <value code="38">Motor6</value>
 <value code="39">Motor7</value>
 <value code="40">Motor8</value>
+<value code="41">MotorTilt</value>
 <value code="51">RCIN1</value>
 <value code="52">RCIN2</value>
 <value code="53">RCIN3</value>
@@ -7346,6 +10308,14 @@
 <value code="70">Throttle</value>
 <value code="71">TrackerYaw</value>
 <value code="72">TrackerPitch</value>
+<value code="73">ThrottleLeft</value>
+<value code="74">ThrottleRight</value>
+<value code="75">tiltMotorLeft</value>
+<value code="76">tiltMotorRight</value>
+<value code="77">ElevonLeft</value>
+<value code="78">ElevonRight</value>
+<value code="79">VTailLeft</value>
+<value code="80">VTailRight</value>
 </values>
 </param>
 </parameters>
@@ -7411,6 +10381,7 @@
 <value code="38">Motor6</value>
 <value code="39">Motor7</value>
 <value code="40">Motor8</value>
+<value code="41">MotorTilt</value>
 <value code="51">RCIN1</value>
 <value code="52">RCIN2</value>
 <value code="53">RCIN3</value>
@@ -7433,6 +10404,14 @@
 <value code="70">Throttle</value>
 <value code="71">TrackerYaw</value>
 <value code="72">TrackerPitch</value>
+<value code="73">ThrottleLeft</value>
+<value code="74">ThrottleRight</value>
+<value code="75">tiltMotorLeft</value>
+<value code="76">tiltMotorRight</value>
+<value code="77">ElevonLeft</value>
+<value code="78">ElevonRight</value>
+<value code="79">VTailLeft</value>
+<value code="80">VTailRight</value>
 </values>
 </param>
 </parameters>
@@ -7498,6 +10477,7 @@
 <value code="38">Motor6</value>
 <value code="39">Motor7</value>
 <value code="40">Motor8</value>
+<value code="41">MotorTilt</value>
 <value code="51">RCIN1</value>
 <value code="52">RCIN2</value>
 <value code="53">RCIN3</value>
@@ -7520,6 +10500,14 @@
 <value code="70">Throttle</value>
 <value code="71">TrackerYaw</value>
 <value code="72">TrackerPitch</value>
+<value code="73">ThrottleLeft</value>
+<value code="74">ThrottleRight</value>
+<value code="75">tiltMotorLeft</value>
+<value code="76">tiltMotorRight</value>
+<value code="77">ElevonLeft</value>
+<value code="78">ElevonRight</value>
+<value code="79">VTailLeft</value>
+<value code="80">VTailRight</value>
 </values>
 </param>
 </parameters>
@@ -7585,6 +10573,7 @@
 <value code="38">Motor6</value>
 <value code="39">Motor7</value>
 <value code="40">Motor8</value>
+<value code="41">MotorTilt</value>
 <value code="51">RCIN1</value>
 <value code="52">RCIN2</value>
 <value code="53">RCIN3</value>
@@ -7607,6 +10596,14 @@
 <value code="70">Throttle</value>
 <value code="71">TrackerYaw</value>
 <value code="72">TrackerPitch</value>
+<value code="73">ThrottleLeft</value>
+<value code="74">ThrottleRight</value>
+<value code="75">tiltMotorLeft</value>
+<value code="76">tiltMotorRight</value>
+<value code="77">ElevonLeft</value>
+<value code="78">ElevonRight</value>
+<value code="79">VTailLeft</value>
+<value code="80">VTailRight</value>
 </values>
 </param>
 </parameters>
@@ -7672,6 +10669,7 @@
 <value code="38">Motor6</value>
 <value code="39">Motor7</value>
 <value code="40">Motor8</value>
+<value code="41">MotorTilt</value>
 <value code="51">RCIN1</value>
 <value code="52">RCIN2</value>
 <value code="53">RCIN3</value>
@@ -7694,6 +10692,14 @@
 <value code="70">Throttle</value>
 <value code="71">TrackerYaw</value>
 <value code="72">TrackerPitch</value>
+<value code="73">ThrottleLeft</value>
+<value code="74">ThrottleRight</value>
+<value code="75">tiltMotorLeft</value>
+<value code="76">tiltMotorRight</value>
+<value code="77">ElevonLeft</value>
+<value code="78">ElevonRight</value>
+<value code="79">VTailLeft</value>
+<value code="80">VTailRight</value>
 </values>
 </param>
 </parameters>
@@ -7759,6 +10765,7 @@
 <value code="38">Motor6</value>
 <value code="39">Motor7</value>
 <value code="40">Motor8</value>
+<value code="41">MotorTilt</value>
 <value code="51">RCIN1</value>
 <value code="52">RCIN2</value>
 <value code="53">RCIN3</value>
@@ -7781,6 +10788,14 @@
 <value code="70">Throttle</value>
 <value code="71">TrackerYaw</value>
 <value code="72">TrackerPitch</value>
+<value code="73">ThrottleLeft</value>
+<value code="74">ThrottleRight</value>
+<value code="75">tiltMotorLeft</value>
+<value code="76">tiltMotorRight</value>
+<value code="77">ElevonLeft</value>
+<value code="78">ElevonRight</value>
+<value code="79">VTailLeft</value>
+<value code="80">VTailRight</value>
 </values>
 </param>
 </parameters>
@@ -7846,6 +10861,7 @@
 <value code="38">Motor6</value>
 <value code="39">Motor7</value>
 <value code="40">Motor8</value>
+<value code="41">MotorTilt</value>
 <value code="51">RCIN1</value>
 <value code="52">RCIN2</value>
 <value code="53">RCIN3</value>
@@ -7868,6 +10884,14 @@
 <value code="70">Throttle</value>
 <value code="71">TrackerYaw</value>
 <value code="72">TrackerPitch</value>
+<value code="73">ThrottleLeft</value>
+<value code="74">ThrottleRight</value>
+<value code="75">tiltMotorLeft</value>
+<value code="76">tiltMotorRight</value>
+<value code="77">ElevonLeft</value>
+<value code="78">ElevonRight</value>
+<value code="79">VTailLeft</value>
+<value code="80">VTailRight</value>
 </values>
 </param>
 </parameters>
@@ -7933,6 +10957,7 @@
 <value code="38">Motor6</value>
 <value code="39">Motor7</value>
 <value code="40">Motor8</value>
+<value code="41">MotorTilt</value>
 <value code="51">RCIN1</value>
 <value code="52">RCIN2</value>
 <value code="53">RCIN3</value>
@@ -7955,6 +10980,14 @@
 <value code="70">Throttle</value>
 <value code="71">TrackerYaw</value>
 <value code="72">TrackerPitch</value>
+<value code="73">ThrottleLeft</value>
+<value code="74">ThrottleRight</value>
+<value code="75">tiltMotorLeft</value>
+<value code="76">tiltMotorRight</value>
+<value code="77">ElevonLeft</value>
+<value code="78">ElevonRight</value>
+<value code="79">VTailLeft</value>
+<value code="80">VTailRight</value>
 </values>
 </param>
 </parameters>
@@ -8020,6 +11053,7 @@
 <value code="38">Motor6</value>
 <value code="39">Motor7</value>
 <value code="40">Motor8</value>
+<value code="41">MotorTilt</value>
 <value code="51">RCIN1</value>
 <value code="52">RCIN2</value>
 <value code="53">RCIN3</value>
@@ -8042,6 +11076,14 @@
 <value code="70">Throttle</value>
 <value code="71">TrackerYaw</value>
 <value code="72">TrackerPitch</value>
+<value code="73">ThrottleLeft</value>
+<value code="74">ThrottleRight</value>
+<value code="75">tiltMotorLeft</value>
+<value code="76">tiltMotorRight</value>
+<value code="77">ElevonLeft</value>
+<value code="78">ElevonRight</value>
+<value code="79">VTailLeft</value>
+<value code="80">VTailRight</value>
 </values>
 </param>
 </parameters>
@@ -8107,6 +11149,7 @@
 <value code="38">Motor6</value>
 <value code="39">Motor7</value>
 <value code="40">Motor8</value>
+<value code="41">MotorTilt</value>
 <value code="51">RCIN1</value>
 <value code="52">RCIN2</value>
 <value code="53">RCIN3</value>
@@ -8129,8 +11172,59 @@
 <value code="70">Throttle</value>
 <value code="71">TrackerYaw</value>
 <value code="72">TrackerPitch</value>
+<value code="73">ThrottleLeft</value>
+<value code="74">ThrottleRight</value>
+<value code="75">tiltMotorLeft</value>
+<value code="76">tiltMotorRight</value>
+<value code="77">ElevonLeft</value>
+<value code="78">ElevonRight</value>
+<value code="79">VTailLeft</value>
+<value code="80">VTailRight</value>
+</values>
+</param>
+</parameters>
+<parameters name="SOAR_">
+<param humanName="Is the soaring mode enabled or not" name="SOAR_ENABLE" documentation="Toggles the soaring mode on and off" user="Advanced">
+<values>
+<value code="0">Disable</value>
+<value code="1">Enable</value>
 </values>
 </param>
+<param humanName="Vertical v-speed" name="SOAR_VSPEED" documentation="Rate of climb to trigger themalling speed" user="Advanced">
+<field name="Range">0 10</field>
+<field name="Units">m/s</field>
+</param>
+<param humanName="Distance to thermal center" name="SOAR_DIST_AHEAD" documentation="Initial guess of the distance to the thermal center" user="Advanced">
+<field name="Range">0 100</field>
+<field name="Units">metres</field>
+</param>
+<param humanName="Minimum thermalling time" name="SOAR_MIN_THML_S" documentation="Minimum number of seconds to spend thermalling" user="Advanced">
+<field name="Range">0 32768</field>
+<field name="Units">seconds</field>
+</param>
+<param humanName="Minimum cruising time" name="SOAR_MIN_CRSE_S" documentation="Minimum number of seconds to spend cruising" user="Advanced">
+<field name="Range">0 32768</field>
+<field name="Units">seconds</field>
+</param>
+<param humanName="Cl factor" name="SOAR_POLAR_K" documentation="Cl factor 2*m*g/(rho*S)" user="Advanced">
+<field name="Range">0 0.5</field>
+<field name="Units">m*m/s/s</field>
+</param>
+<param humanName="Maximum soaring altitude, relative to the home location" name="SOAR_ALT_MAX" documentation="Don't thermal any higher than this." user="Advanced">
+<field name="Range">0 1000.0</field>
+<field name="Units">meters</field>
+</param>
+<param humanName="Minimum soaring altitude, relative to the home location" name="SOAR_ALT_MIN" documentation="Don't get any lower than this." user="Advanced">
+<field name="Range">0 1000.0</field>
+<field name="Units">meters</field>
+</param>
+<param humanName="Maximum power altitude, relative to the home location" name="SOAR_ALT_CUTOFF" documentation="Cut off throttle at this alt." user="Advanced">
+<field name="Range">0 1000.0</field>
+<field name="Units">meters</field>
+</param>
+<param humanName="(Optional) RC channel that toggles the soaring controller on and off" name="SOAR_ENABLE_CH" documentation="Toggles the soaring controller on and off. This parameter has any effect only if SOAR_ENABLE is set to 1 and this parameter is set to a valid non-zero channel number. When set, soaring will be activated when RC input to the specified channel is greater than or equal to 1700." user="Advanced">
+<field name="Range">0 16</field>
+</param>
 </parameters>
 <parameters name="SPEED2THR_">
 <param humanName="PID Proportional Gain" name="SPEED2THR_P" documentation="P Gain which produces an output value that is proportional to the current error value">
@@ -8413,6 +11507,33 @@
 <field name="Range">0 1</field>
 </param>
 </parameters>
+<parameters name="VISO">
+<param humanName="Visual odometry camera connection type" name="VISO_TYPE" documentation="Visual odometry camera connection type" user="Advanced">
+<values>
+<value code="0">None</value>
+<value code="1">MAV</value>
+</values>
+</param>
+<param humanName="Visual odometry camera X position offset" name="VISO_POS_X" documentation="X position of the camera in body frame. Positive X is forward of the origin." user="Advanced">
+<field name="Units">m</field>
+</param>
+<param humanName="Visual odometry camera Y position offset" name="VISO_POS_Y" documentation="Y position of the camera in body frame. Positive Y is to the right of the origin." user="Advanced">
+<field name="Units">m</field>
+</param>
+<param humanName="Visual odometry camera Z position offset" name="VISO_POS_Z" documentation="Z position of the camera in body frame. Positive Z is down from the origin." user="Advanced">
+<field name="Units">m</field>
+</param>
+<param humanName="Visual odometery camera orientation" name="VISO_ORIENT" documentation="Visual odometery camera orientation" user="Advanced">
+<values>
+<value code="0">Forward</value>
+<value code=" 2">Right</value>
+<value code=" 4">Back</value>
+<value code=" 6">Left</value>
+<value code=" 24">Up</value>
+<value code=" 25">Down</value>
+</values>
+</param>
+</parameters>
 <parameters name="WPNAV_">
 <param humanName="Waypoint Horizontal Speed Target" name="WPNAV_SPEED" documentation="Defines the speed in cm/s which the aircraft will attempt to maintain horizontally during a WP mission" user="Standard">
 <field name="Range">20 2000</field>
@@ -8425,17 +11546,17 @@
 <field name="Units">cm</field>
 </param>
 <param humanName="Waypoint Climb Speed Target" name="WPNAV_SPEED_UP" documentation="Defines the speed in cm/s which the aircraft will attempt to maintain while climbing during a WP mission" user="Standard">
-<field name="Range">0 1000</field>
+<field name="Range">10 1000</field>
 <field name="Increment">50</field>
 <field name="Units">cm/s</field>
 </param>
 <param humanName="Waypoint Descent Speed Target" name="WPNAV_SPEED_DN" documentation="Defines the speed in cm/s which the aircraft will attempt to maintain while descending during a WP mission" user="Standard">
-<field name="Range">0 500</field>
+<field name="Range">10 500</field>
 <field name="Increment">10</field>
 <field name="Units">cm/s</field>
 </param>
 <param humanName="Loiter Horizontal Maximum Speed" name="WPNAV_LOIT_SPEED" documentation="Defines the maximum speed in cm/s which the aircraft will travel horizontally while in loiter mode" user="Standard">
-<field name="Range">0 2000</field>
+<field name="Range">20 2000</field>
 <field name="Increment">50</field>
 <field name="Units">cm/s</field>
 </param>