diff --git a/src/AutoPilotPlugins/Common/RadioComponent.qml b/src/AutoPilotPlugins/Common/RadioComponent.qml
index 70dc08f0cfd94f115090793c35194bfa273506d7..291484f0a13953577b6a09d1e3d8d3c7988ffd84 100644
--- a/src/AutoPilotPlugins/Common/RadioComponent.qml
+++ b/src/AutoPilotPlugins/Common/RadioComponent.qml
@@ -469,7 +469,7 @@ QGCView {
                 }
 
                 Repeater {
-                    model: QGroundControl.multiVehicleManager.activeVehicle.px4Firmware ? [ "RC_MAP_FLAPS", "RC_MAP_AUX1", "RC_MAP_AUX2", "RC_MAP_AUX3" ] : 0
+                    model: QGroundControl.multiVehicleManager.activeVehicle.px4Firmware ? [ "RC_MAP_FLAPS", "RC_MAP_AUX1", "RC_MAP_AUX2", "RC_MAP_PARAM1", "RC_MAP_PARAM2", "RC_MAP_PARAM3"] : 0
 
                     Row {
                         spacing: ScreenTools.defaultFontPixelWidth
diff --git a/src/AutoPilotPlugins/PX4/CameraComponentSummary.qml b/src/AutoPilotPlugins/PX4/CameraComponentSummary.qml
index 79aa77724d626f4d2c5332ce7b6d9418aa0639ac..c0fcbdf6000497ed3b858d803d4be2008f5f20cb 100644
--- a/src/AutoPilotPlugins/PX4/CameraComponentSummary.qml
+++ b/src/AutoPilotPlugins/PX4/CameraComponentSummary.qml
@@ -14,7 +14,7 @@ FactPanel {
     QGCPalette { id: qgcPal; colorGroupEnabled: enabled }
     FactPanelController { id: controller; factPanel: panel }
 
-    property Fact _camTriggerMode:  controller.getParameterFact(-1, "TRIG_MODE")
+    property Fact _camTriggerMode:  controller.getParameterFact(-1, "TRIG_MODE", false)
     property Fact _camTriggerPol:   controller.getParameterFact(-1, "TRIG_POLARITY", false) // Don't bitch about missing as these only exist if trigger mode is enabled
     property Fact _auxPins:         controller.getParameterFact(-1, "TRIG_PINS",     false) // Ditto
     property Fact _timeInterval:    controller.getParameterFact(-1, "TRIG_INTERVAL", false) // Ditto
diff --git a/src/AutoPilotPlugins/PX4/PowerComponent.qml b/src/AutoPilotPlugins/PX4/PowerComponent.qml
index 6bd86cfbeee3798b92428ab901827b92f8e7f3ba..27e2a8abee153200417b4ad3ca4a0457cdcd7828 100644
--- a/src/AutoPilotPlugins/PX4/PowerComponent.qml
+++ b/src/AutoPilotPlugins/PX4/PowerComponent.qml
@@ -46,6 +46,7 @@ QGCView {
     property Fact battHighVolt:     controller.getParameterFact(-1, "BAT_V_CHARGED")
     property Fact battLowVolt:      controller.getParameterFact(-1, "BAT_V_EMPTY")
     property Fact battVoltLoadDrop: controller.getParameterFact(-1, "BAT_V_LOAD_DROP")
+    property Fact uavcanEnable:   controller.getParameterFact(-1, "UAVCAN_ENABLE", false)
 
     readonly property string highlightPrefix:   "<font color=\"" + qgcPal.warningText + "\">"
     readonly property string highlightSuffix:   "</font>"
@@ -270,6 +271,7 @@ QGCView {
                 QGCCheckBox {
                     id:     showUAVCAN
                     text:   qsTr("Show UAVCAN Settings")
+                    visible:    uavcanEnable !== -1
                 }
 
                 QGCLabel {
@@ -294,7 +296,7 @@ QGCView {
                         FactCheckBox {
                             id:                 uavcanEnabledCheckBox
                             width:              ScreenTools.defaultFontPixelWidth * 20
-                            fact:               controller.getParameterFact(-1, "UAVCAN_ENABLE")
+                            fact:               _uavcanEnabled
                             checkedValue:       3
                             uncheckedValue:     0
                             text:               qsTr("Enable UAVCAN as the default MAIN output bus (requires autopilot restart)")
diff --git a/src/AutoPilotPlugins/PX4/SafetyComponent.qml b/src/AutoPilotPlugins/PX4/SafetyComponent.qml
index cd27c1939cc74d27e468aa47103706778a5565f7..0c08fff5dd1916e866e85d56bf381e3fa4c77aa5 100644
--- a/src/AutoPilotPlugins/PX4/SafetyComponent.qml
+++ b/src/AutoPilotPlugins/PX4/SafetyComponent.qml
@@ -55,6 +55,7 @@ QGCView {
     property Fact _rcLossAction:    controller.getParameterFact(-1, "NAV_RCL_ACT")
     property Fact _dlLossAction:    controller.getParameterFact(-1, "NAV_DLL_ACT")
     property Fact _disarmLandDelay: controller.getParameterFact(-1, "COM_DISARM_LAND")
+    property Fact _landSpeedMC: controller.getParameterFact(-1, "MPC_LAND_SPEED", false)
 
     QGCViewPanel {
         id:             panel
@@ -483,7 +484,7 @@ QGCView {
                             spacing:                    _margins * 0.5
                             anchors.verticalCenter:     parent.verticalCenter
                             Row {
-                                visible:                !controller.fixedWing
+                                visible:                _landSpeedMC !== -1
                                 QGCLabel {
                                     anchors.baseline:   landVelField.baseline
                                     width:              _middleRowWidth
@@ -491,7 +492,7 @@ QGCView {
                                 }
                                 FactTextField {
                                     id:                 landVelField
-                                    fact:               controller.getParameterFact(-1, "MPC_LAND_SPEED")
+                                    fact:               _landSpeedMC
                                     showUnits:          true
                                     width:              _editFieldWidth
                                 }
diff --git a/src/ui/QGCMapRCToParamDialog.cpp b/src/ui/QGCMapRCToParamDialog.cpp
index e3a2dfff1c4560a64b775e8c6f53839ae6e317f3..7b8254fa5f2e7bd89a8bd8f5bbd8b9758a4300ac 100644
--- a/src/ui/QGCMapRCToParamDialog.cpp
+++ b/src/ui/QGCMapRCToParamDialog.cpp
@@ -41,17 +41,22 @@ QGCMapRCToParamDialog::QGCMapRCToParamDialog(QString param_id, UASInterface *mav
     , ui(new Ui::QGCMapRCToParamDialog)
 {
     ui->setupUi(this);
+
+    // refresh the parameter from onboard to make sure the current value is used
+    AutoPilotPlugin* autopilot = _multiVehicleManager->getVehicleById(mav->getUASID())->autopilotPlugin();
+    Q_ASSERT(autopilot);
+    Fact* paramFact = autopilot->getParameterFact(FactSystem::defaultComponentId, param_id);
     
+    ui->minValueDoubleSpinBox->setValue(paramFact->rawMin().toDouble());
+    ui->maxValueDoubleSpinBox->setValue(paramFact->rawMax().toDouble());
+
     // only enable ok button when param was refreshed
     QPushButton *okButton = ui->buttonBox->button(QDialogButtonBox::Ok);
     okButton->setEnabled(false);
 
     ui->paramIdLabel->setText(param_id);
 
-    // refresh the parameter from onboard to make sure the current value is used
-    AutoPilotPlugin* autopilot = _multiVehicleManager->getVehicleById(mav->getUASID())->autopilotPlugin();
-    Q_ASSERT(autopilot);
-    connect(autopilot->getParameterFact(FactSystem::defaultComponentId, param_id), &Fact::valueChanged, this, &QGCMapRCToParamDialog::_parameterUpdated);
+    connect(paramFact, &Fact::valueChanged, this, &QGCMapRCToParamDialog::_parameterUpdated);
     autopilot->refreshParameter(FactSystem::defaultComponentId, param_id);
 }
 
diff --git a/src/ui/QGCMapRCToParamDialog.ui b/src/ui/QGCMapRCToParamDialog.ui
index 8fde55314b79ea2913881056387b92e4fb62783d..f42c79ea2310d93b6a0457b3c68b549314e8ea23 100644
--- a/src/ui/QGCMapRCToParamDialog.ui
+++ b/src/ui/QGCMapRCToParamDialog.ui
@@ -35,7 +35,7 @@
      <x>9</x>
      <y>9</y>
      <width>381</width>
-     <height>271</height>
+     <height>296</height>
     </rect>
    </property>
    <layout class="QFormLayout" name="formLayout">
@@ -52,7 +52,7 @@
     <item row="1" column="0">
      <widget class="QLabel" name="rcParamChannelInfoLabel">
       <property name="text">
-       <string>RC-Parameter Channel (Knob No.)</string>
+       <string>Parameter Tuning ID</string>
       </property>
      </widget>
     </item>
@@ -81,13 +81,6 @@
       </item>
      </widget>
     </item>
-    <item row="2" column="0">
-     <widget class="QLabel" name="label2">
-      <property name="text">
-       <string>to</string>
-      </property>
-     </widget>
-    </item>
     <item row="3" column="0">
      <widget class="QLabel" name="paramIdInfoLabel">
       <property name="text">
@@ -112,7 +105,7 @@
     <item row="5" column="0">
      <widget class="QLabel" name="scaleInfoLabel">
       <property name="text">
-       <string>Scale</string>
+       <string>Scale (keep default)</string>
       </property>
      </widget>
     </item>
@@ -126,7 +119,7 @@
     <item row="6" column="0">
      <widget class="QLabel" name="value0InfoLabel">
       <property name="text">
-       <string>Initial Value</string>
+       <string>Center value</string>
       </property>
      </widget>
     </item>
@@ -212,6 +205,13 @@
       </property>
      </spacer>
     </item>
+    <item row="2" column="0" colspan="2">
+     <widget class="QLabel" name="label2">
+      <property name="text">
+       <string>Tuning IDs can be mapped to channels in the RC settings</string>
+      </property>
+     </widget>
+    </item>
    </layout>
   </widget>
  </widget>