diff --git a/src/FirmwarePlugin/PX4/PX4ParameterFactMetaData.xml b/src/FirmwarePlugin/PX4/PX4ParameterFactMetaData.xml
index 004f0500daad85c7b44e8e9cda462b94b92eb4fd..db8a61d6d819affff3787b76704d468e52101380 100644
--- a/src/FirmwarePlugin/PX4/PX4ParameterFactMetaData.xml
+++ b/src/FirmwarePlugin/PX4/PX4ParameterFactMetaData.xml
@@ -4422,54 +4422,6 @@ default 1.5 turns per second</short_desc>
       <decimal>2</decimal>
       <increment>0.01</increment>
     </parameter>
-    <parameter default="1.0" name="MC_TPA_BREAK_D" type="FLOAT">
-      <short_desc>TPA D Breakpoint</short_desc>
-      <long_desc>Throttle PID Attenuation (TPA) Magnitude of throttle setpoint at which to begin attenuating roll/pitch D gain</long_desc>
-      <min>0.0</min>
-      <max>1.0</max>
-      <decimal>2</decimal>
-      <increment>0.1</increment>
-    </parameter>
-    <parameter default="1.0" name="MC_TPA_BREAK_I" type="FLOAT">
-      <short_desc>TPA I Breakpoint</short_desc>
-      <long_desc>Throttle PID Attenuation (TPA) Magnitude of throttle setpoint at which to begin attenuating roll/pitch I gain</long_desc>
-      <min>0.0</min>
-      <max>1.0</max>
-      <decimal>2</decimal>
-      <increment>0.1</increment>
-    </parameter>
-    <parameter default="1.0" name="MC_TPA_BREAK_P" type="FLOAT">
-      <short_desc>TPA P Breakpoint</short_desc>
-      <long_desc>Throttle PID Attenuation (TPA) Magnitude of throttle setpoint at which to begin attenuating roll/pitch P gain</long_desc>
-      <min>0.0</min>
-      <max>1.0</max>
-      <decimal>2</decimal>
-      <increment>0.1</increment>
-    </parameter>
-    <parameter default="0.0" name="MC_TPA_RATE_D" type="FLOAT">
-      <short_desc>TPA Rate D</short_desc>
-      <long_desc>Throttle PID Attenuation (TPA) Rate at which to attenuate roll/pitch D gain Attenuation factor is 1.0 when throttle magnitude is below the setpoint Above the setpoint, the attenuation factor is (1 - rate * (throttle - breakpoint) / (1.0 - breakpoint))</long_desc>
-      <min>0.0</min>
-      <max>1.0</max>
-      <decimal>2</decimal>
-      <increment>0.05</increment>
-    </parameter>
-    <parameter default="0.0" name="MC_TPA_RATE_I" type="FLOAT">
-      <short_desc>TPA Rate I</short_desc>
-      <long_desc>Throttle PID Attenuation (TPA) Rate at which to attenuate roll/pitch I gain Attenuation factor is 1.0 when throttle magnitude is below the setpoint Above the setpoint, the attenuation factor is (1 - rate * (throttle - breakpoint) / (1.0 - breakpoint))</long_desc>
-      <min>0.0</min>
-      <max>1.0</max>
-      <decimal>2</decimal>
-      <increment>0.05</increment>
-    </parameter>
-    <parameter default="0.0" name="MC_TPA_RATE_P" type="FLOAT">
-      <short_desc>TPA Rate P</short_desc>
-      <long_desc>Throttle PID Attenuation (TPA) Rate at which to attenuate roll/pitch P gain Attenuation factor is 1.0 when throttle magnitude is below the setpoint Above the setpoint, the attenuation factor is (1 - rate * (throttle - breakpoint) / (1.0 - breakpoint))</long_desc>
-      <min>0.0</min>
-      <max>1.0</max>
-      <decimal>2</decimal>
-      <increment>0.05</increment>
-    </parameter>
     <parameter default="0.0" name="MC_YAWRATE_D" type="FLOAT">
       <short_desc>Yaw rate D gain</short_desc>
       <long_desc>Yaw rate differential gain. Small values help reduce fast oscillations. If value is too big oscillations will appear again.</long_desc>