diff --git a/src/FirmwarePlugin/PX4/PX4ParameterFactMetaData.xml b/src/FirmwarePlugin/PX4/PX4ParameterFactMetaData.xml
index 9958fa141dbb49a4400862ea7b587e4670f74f27..ddde85f545c5058616d5afaa4575f53d8886678c 100644
--- a/src/FirmwarePlugin/PX4/PX4ParameterFactMetaData.xml
+++ b/src/FirmwarePlugin/PX4/PX4ParameterFactMetaData.xml
@@ -3281,6 +3281,20 @@ but also ignore less noise
Radio Controller
+
+ Protocol for Main GPS
+ Select the GPS protocol over serial. Auto-detection will probe all protocols, and thus is a bit slower.
+ 0
+ 4
+ true
+
+ Auto detect
+ u-blox
+ MTK
+ Ashtech / Trimble
+ Emlid Reach
+
+
Serial Configuration for Secondary GPS
Configure on which serial port to run Secondary GPS.
@@ -3298,6 +3312,20 @@ but also ignore less noise
Radio Controller
+
+ Protocol for Secondary GPS
+ Select the GPS protocol over serial. Auto-detection will probe all protocols, and thus is a bit slower.
+ 0
+ 4
+ true
+
+ Auto detect
+ u-blox
+ MTK
+ Ashtech / Trimble
+ Emlid Reach
+
+
Dump GPS communication to a file
If this is set to 1, all GPS communication data will be published via uORB, and written to the log file as gps_dump message.
@@ -3322,6 +3350,17 @@ but also ignore less noise
airborne with <4g acceleration
+
+ u-blox GPS Mode
+ Select the u-blox configuration setup. Most setups will use the default, including RTK and dual GPS without heading. The Heading mode requires 2 F9P devices to be attached. The main GPS will act as rover and output heading information, whereas the secondary will act as moving base, sending RTCM on UART2 to the rover GPS. RTK is still possible with this setup.
+ 0
+ 1
+ true
+
+ Default
+ Heading
+
+
Heading/Yaw offset for dual antenna GPS
Heading offset angle for dual antenna GPS setups that support heading estimation. (currently only for the Trimble MB-Two). Set this to 0 if the antennas are parallel to the forward-facing direction of the vehicle and the first antenna is in front. The offset angle increases counterclockwise. Set this to 90 if the first antenna is placed on the right side and the second on the left side of the vehicle.