diff --git a/src/FirmwarePlugin/PX4/PX4ParameterFactMetaData.xml b/src/FirmwarePlugin/PX4/PX4ParameterFactMetaData.xml
index f91e70e2982417cb2aa482dee68a39436f4012dc..5c901cf019b264cd3f6b7e6359751c08954a3efd 100644
--- a/src/FirmwarePlugin/PX4/PX4ParameterFactMetaData.xml
+++ b/src/FirmwarePlugin/PX4/PX4ParameterFactMetaData.xml
@@ -6,9 +6,9 @@
     <parameter default="75" name="ctl_bw" type="INT32">
       <short_desc>Speed controller bandwidth</short_desc>
       <long_desc>Speed controller bandwidth, in Hz. Higher values result in faster speed and current rise times, but may result in overshoot and higher current consumption. For fixed-wing aircraft, this value should be less than 50 Hz; for multirotors, values up to 100 Hz may provide improvements in responsiveness.</long_desc>
-      <unit>Hertz</unit>
       <min>10</min>
       <max>250</max>
+      <unit>Hertz</unit>
     </parameter>
     <parameter default="1" name="ctl_dir" type="INT32">
       <short_desc>Reverse direction</short_desc>
@@ -25,32 +25,32 @@
             decreased. Higher values result in faster response, but may result
             in oscillation and excessive overshoot. Lower values result in a
             slower, smoother response.</long_desc>
-      <unit>amp-seconds per radian</unit>
-      <decimal>3</decimal>
       <min>0.00</min>
       <max>1.00</max>
+      <unit>amp-seconds per radian</unit>
+      <decimal>3</decimal>
     </parameter>
     <parameter default="3.5" name="ctl_hz_idle" type="FLOAT">
       <short_desc>Idle speed (e Hz)</short_desc>
       <long_desc>Idle speed (e Hz)</long_desc>
-      <unit>Hertz</unit>
-      <decimal>3</decimal>
       <min>0.0</min>
       <max>100.0</max>
+      <unit>Hertz</unit>
+      <decimal>3</decimal>
     </parameter>
     <parameter default="25" name="ctl_start_rate" type="INT32">
       <short_desc>Spin-up rate (e Hz/s)</short_desc>
       <long_desc>Spin-up rate (e Hz/s)</long_desc>
-      <unit>Hz/s</unit>
       <min>5</min>
       <max>1000</max>
+      <unit>Hz/s</unit>
     </parameter>
     <parameter default="0" name="esc_index" type="INT32">
       <short_desc>Index of this ESC in throttle command messages.</short_desc>
       <long_desc>Index of this ESC in throttle command messages.</long_desc>
-      <unit>Index</unit>
       <min>0</min>
       <max>15</max>
+      <unit>Index</unit>
     </parameter>
     <parameter default="20034" name="id_ext_status" type="INT32">
       <short_desc>Extended status ID</short_desc>
@@ -61,15 +61,15 @@
     <parameter default="50000" name="int_ext_status" type="INT32">
       <short_desc>Extended status interval (µs)</short_desc>
       <long_desc>Extended status interval (µs)</long_desc>
-      <unit>µs</unit>
       <min>0</min>
       <max>1000000</max>
+      <unit>µs</unit>
     </parameter>
     <parameter default="50000" name="int_status" type="INT32">
       <short_desc>ESC status interval (µs)</short_desc>
       <long_desc>ESC status interval (µs)</long_desc>
-      <unit>µs</unit>
       <max>1000000</max>
+      <unit>µs</unit>
     </parameter>
     <parameter default="12" name="mot_i_max" type="FLOAT">
       <short_desc>Motor current limit in amps</short_desc>
@@ -79,19 +79,19 @@
             the continuous current rating listed in the motor’s specification
             sheet, or set equal to the motor’s specified continuous power
             divided by the motor voltage limit.</long_desc>
-      <unit>Amps</unit>
-      <decimal>3</decimal>
       <min>1</min>
       <max>80</max>
+      <unit>Amps</unit>
+      <decimal>3</decimal>
     </parameter>
     <parameter default="2300" name="mot_kv" type="INT32">
       <short_desc>Motor Kv in RPM per volt</short_desc>
       <long_desc>Motor Kv in RPM per volt. This can be taken from the motor’s
             specification sheet; accuracy will help control performance but
             some deviation from the specified value is acceptable.</long_desc>
-      <unit>RPM/v</unit>
       <min>0</min>
       <max>4000</max>
+      <unit>RPM/v</unit>
     </parameter>
     <parameter default="0.0" name="mot_ls" type="FLOAT">
       <short_desc>READ ONLY: Motor inductance in henries.</short_desc>
@@ -104,9 +104,9 @@
       <long_desc>Number of motor poles. Used to convert mechanical speeds to
             electrical speeds. This number should be taken from the motor’s
             specification sheet.</long_desc>
-      <unit>Poles</unit>
       <min>2</min>
       <max>40</max>
+      <unit>Poles</unit>
     </parameter>
     <parameter default="0.0" name="mot_rs" type="FLOAT">
       <short_desc>READ ONLY: Motor resistance in ohms</short_desc>
@@ -119,10 +119,10 @@
     <parameter default="0.5" name="mot_v_accel" type="FLOAT">
       <short_desc>Acceleration limit (V)</short_desc>
       <long_desc>Acceleration limit (V)</long_desc>
-      <unit>Volts</unit>
-      <decimal>3</decimal>
       <min>0.01</min>
       <max>1.00</max>
+      <unit>Volts</unit>
+      <decimal>3</decimal>
     </parameter>
     <parameter default="14.8" name="mot_v_max" type="FLOAT">
       <short_desc>Motor voltage limit in volts</short_desc>
@@ -131,35 +131,12 @@
             safely be above the nominal voltage of the motor; to determine the
             actual motor voltage limit, divide the motor’s rated power by the
             motor current limit.</long_desc>
+      <min>0</min>
       <unit>Volts</unit>
       <decimal>3</decimal>
-      <min>0</min>
     </parameter>
   </group>
   <group name="UAVCAN GNSS" no_code_generation="true">
-    <parameter default="0" name="gnss.warn_dimens" type="INT32">
-      <short_desc>device health warning</short_desc>
-      <long_desc>Set the device health to Warning if the dimensionality of
-              the GNSS solution is less than this value. 3 for the full (3D)
-              solution, 2 for planar (2D) solution, 1 for time-only solution,
-              0 disables the feature.
-      </long_desc>
-      <min>0</min>
-      <max>3</max>
-      <values>
-        <value code="0">disables the feature</value>
-        <value code="1">time-only solution</value>
-        <value code="2">planar (2D) solution</value>
-        <value code="3">full (3D) solution</value>
-      </values>
-    </parameter>
-    <parameter default="0" name="gnss.warn_sats" type="INT32">
-      <short_desc />
-      <long_desc>Set the device health to Warning if the number of satellites
-        used in the GNSS solution is below this threshold. Zero
-        disables the feature
-      </long_desc>
-    </parameter>
     <parameter default="2" name="gnss.dyn_model" type="INT32">
       <short_desc>GNSS dynamic model</short_desc>
       <long_desc>Dynamic model used in the GNSS positioning engine. 0 –
@@ -187,15 +164,38 @@
         <value code="1">Fix and Fix2</value>
       </values>
     </parameter>
+    <parameter default="0" name="gnss.warn_dimens" type="INT32">
+      <short_desc>device health warning</short_desc>
+      <long_desc>Set the device health to Warning if the dimensionality of
+              the GNSS solution is less than this value. 3 for the full (3D)
+              solution, 2 for planar (2D) solution, 1 for time-only solution,
+              0 disables the feature.
+      </long_desc>
+      <min>0</min>
+      <max>3</max>
+      <values>
+        <value code="0">disables the feature</value>
+        <value code="1">time-only solution</value>
+        <value code="2">planar (2D) solution</value>
+        <value code="3">full (3D) solution</value>
+      </values>
+    </parameter>
+    <parameter default="0" name="gnss.warn_sats" type="INT32">
+      <short_desc />
+      <long_desc>Set the device health to Warning if the number of satellites
+        used in the GNSS solution is below this threshold. Zero
+        disables the feature
+      </long_desc>
+    </parameter>
     <parameter default="0" name="uavcan.pubp-pres" type="INT32">
       <short_desc />
       <long_desc>Set the device health to Warning if the number of satellites
         used in the GNSS solution is below this threshold. Zero
         disables the feature
       </long_desc>
-      <unit>microseconds</unit>
       <min>0</min>
       <max>1000000</max>
+      <unit>microseconds</unit>
     </parameter>
   </group>
   <group name="Airspeed Validator">