diff --git a/src/FirmwarePlugin/PX4/PX4ParameterFactMetaData.xml b/src/FirmwarePlugin/PX4/PX4ParameterFactMetaData.xml
index 9ecff76ca0e1e374768c2aba67ece9fb8a65e132..17e699a6993d02b66ac3a48ec3e3fc98efe3e180 100644
--- a/src/FirmwarePlugin/PX4/PX4ParameterFactMetaData.xml
+++ b/src/FirmwarePlugin/PX4/PX4ParameterFactMetaData.xml
@@ -1858,13 +1858,6 @@ If no airspeed measurements are avalable, the EKF-GSF AHRS calculation will assu
         <value code="3">Vision</value>
       </values>
     </parameter>
-    <parameter name="EKF2_IMU_ID" default="0" type="INT32" category="Developer">
-      <short_desc>Device id of IMU</short_desc>
-      <long_desc>Set to 0 to use system selected (sensor_combined) IMU, otherwise set to the device id of the desired IMU (vehicle_imu).</long_desc>
-      <values>
-        <value code="0">System Primary</value>
-      </values>
-    </parameter>
     <parameter name="EKF2_IMU_POS_X" default="0.0" type="FLOAT">
       <short_desc>X position of IMU in body frame (forward axis with origin relative to vehicle centre of gravity)</short_desc>
       <unit>m</unit>
@@ -2021,6 +2014,20 @@ Baro and Magnetometer data will be averaged before downsampling, other data will
       <max>10.0</max>
       <decimal>1</decimal>
     </parameter>
+    <parameter name="EKF2_MULTI_IMU" default="0" type="INT32">
+      <short_desc>Multi-EKF IMUs</short_desc>
+      <long_desc>Maximum number of IMUs to use for Multi-EKF. Set 0 to disable. Requires SENS_IMU_MODE 0.</long_desc>
+      <min>0</min>
+      <max>3</max>
+      <reboot_required>true</reboot_required>
+    </parameter>
+    <parameter name="EKF2_MULTI_MAG" default="0" type="INT32">
+      <short_desc>Multi-EKF Magnetometers</short_desc>
+      <long_desc>Maximum number of magnetometers to use for Multi-EKF. Set 0 to disable. Requires SENS_MAG_MODE 0.</long_desc>
+      <min>0</min>
+      <max>4</max>
+      <reboot_required>true</reboot_required>
+    </parameter>
     <parameter name="EKF2_NOAID_NOISE" default="10.0" type="FLOAT">
       <short_desc>Measurement noise for non-aiding position hold</short_desc>
       <min>0.5</min>
@@ -2255,6 +2262,30 @@ This is the ratio of static pressure error to dynamic pressure generated by a wi
       <max>0.2</max>
       <unit>m/m</unit>
     </parameter>
+    <parameter name="EKF2_SEL_ERR_RED" default="0.2" type="FLOAT">
+      <short_desc>Selector error reduce threshold</short_desc>
+      <long_desc>EKF2 instances have to be better than the selected by at least this amount before their relative score can be reduced.</long_desc>
+    </parameter>
+    <parameter name="EKF2_SEL_IMU_ACC" default="1.0" type="FLOAT">
+      <short_desc>Selector acceleration threshold</short_desc>
+      <long_desc>EKF2 selector acceleration error threshold for comparing accelerometers. Acceleration vector differences larger than this will result in accumulated velocity error.</long_desc>
+      <unit>m/s^2</unit>
+    </parameter>
+    <parameter name="EKF2_SEL_IMU_ANG" default="15.0" type="FLOAT">
+      <short_desc>Selector angular threshold</short_desc>
+      <long_desc>EKF2 selector maximum accumulated angular error threshold for comparing gyros. Accumulated angular error larger than this will result in the sensor being declared faulty.</long_desc>
+      <unit>deg</unit>
+    </parameter>
+    <parameter name="EKF2_SEL_IMU_RAT" default="7.0" type="FLOAT">
+      <short_desc>Selector angular rate threshold</short_desc>
+      <long_desc>EKF2 selector angular rate error threshold for comparing gyros. Angular rate vector differences larger than this will result in accumulated angular error.</long_desc>
+      <unit>deg/s</unit>
+    </parameter>
+    <parameter name="EKF2_SEL_IMU_VEL" default="2.0" type="FLOAT">
+      <short_desc>Selector angular threshold</short_desc>
+      <long_desc>EKF2 selector maximum accumulated velocity threshold for comparing accelerometers. Accumulated velocity error larger than this will result in the sensor being declared faulty.</long_desc>
+      <unit>m/s</unit>
+    </parameter>
     <parameter name="EKF2_TAS_GATE" default="3.0" type="FLOAT">
       <short_desc>Gate size for TAS fusion</short_desc>
       <long_desc>Sets the number of standard deviations used by the innovation consistency test.</long_desc>
@@ -3405,7 +3436,7 @@ but also ignore less noise</short_desc>
       <unit>normalized_thrust</unit>
       <decimal>3</decimal>
     </parameter>
-    <parameter name="HTE_HT_NOISE" default="0.0005" type="FLOAT">
+    <parameter name="HTE_HT_NOISE" default="0.0036" type="FLOAT">
       <short_desc>Hover thrust process noise</short_desc>
       <long_desc>Reduce to make the hover thrust estimate more stable, increase if the real hover thrust is expected to change quickly over time.</long_desc>
       <min>0.0001</min>