diff --git a/src/AutoPilotPlugins/PX4/AirframeFactMetaData.xml b/src/AutoPilotPlugins/PX4/AirframeFactMetaData.xml
index 79f3c050f562b723892edf33233e5511b50ad489..a51fa522ca4ea376e4bf98fc5c4f1219ad8a12cf 100644
--- a/src/AutoPilotPlugins/PX4/AirframeFactMetaData.xml
+++ b/src/AutoPilotPlugins/PX4/AirframeFactMetaData.xml
@@ -727,6 +727,18 @@
       <output name="MAIN1">Speed of right wheels</output>
     </airframe>
   </airframe_group>
+  <airframe_group image="AirframeUnknown" name="Underwater Robot">
+    <airframe id="60000" maintainer="" name="Generic Underwater Robot">
+      <class>Underwater Robot</class>
+      <maintainer />
+      <type>Underwater Robot</type>
+    </airframe>
+    <airframe id="60001" maintainer="Daniel Duecker &lt;daniel.duecker@tuhh.de&gt;" name="HippoCampus UUV (Unmanned Underwater Vehicle)">
+      <class>Underwater Robot</class>
+      <maintainer>Daniel Duecker &lt;daniel.duecker@tuhh.de&gt;</maintainer>
+      <type>Underwater Robot</type>
+    </airframe>
+  </airframe_group>
   <airframe_group image="VTOLPlane" name="Standard VTOL">
     <airframe id="1002" maintainer="Roman Bapst &lt;roman@auterion.com&gt;" name="HIL Standard VTOL QuadPlane">
       <class>VTOL</class>
diff --git a/src/FirmwarePlugin/PX4/PX4ParameterFactMetaData.xml b/src/FirmwarePlugin/PX4/PX4ParameterFactMetaData.xml
index 2d0ca8971847d62c7977101c9c89a77c9d9e581a..fe1179ba34e1bec421d50f557ac6e84362f3df09 100644
--- a/src/FirmwarePlugin/PX4/PX4ParameterFactMetaData.xml
+++ b/src/FirmwarePlugin/PX4/PX4ParameterFactMetaData.xml
@@ -10605,6 +10605,45 @@ is less than 50% of this value</short_desc>
       <reboot_required>true</reboot_required>
     </parameter>
   </group>
+  <group name="UUV Attitude Control">
+    <parameter default="0.0" name="UUV_DIRCT_PITCH" type="FLOAT">
+      <short_desc>Direct pitch input</short_desc>
+    </parameter>
+    <parameter default="0.0" name="UUV_DIRCT_ROLL" type="FLOAT">
+      <short_desc>Direct roll input</short_desc>
+    </parameter>
+    <parameter default="0.0" name="UUV_DIRCT_THRUST" type="FLOAT">
+      <short_desc>Direct thrust input</short_desc>
+    </parameter>
+    <parameter default="0.0" name="UUV_DIRCT_YAW" type="FLOAT">
+      <short_desc>Direct yaw input</short_desc>
+    </parameter>
+    <parameter default="0" name="UUV_INPUT_MODE" type="INT32">
+      <short_desc>Select Input Mode</short_desc>
+      <values>
+        <value code="0">use Attitude Setpoints</value>
+        <value code="1">Direct Feedthrough</value>
+      </values>
+    </parameter>
+    <parameter default="2.0" name="UUV_PITCH_D" type="FLOAT">
+      <short_desc>Pitch differential gain</short_desc>
+    </parameter>
+    <parameter default="4.0" name="UUV_PITCH_P" type="FLOAT">
+      <short_desc>Pitch proportional gain</short_desc>
+    </parameter>
+    <parameter default="1.5" name="UUV_ROLL_D" type="FLOAT">
+      <short_desc>Roll differential gain</short_desc>
+    </parameter>
+    <parameter default="4.0" name="UUV_ROLL_P" type="FLOAT">
+      <short_desc>Roll proportional gain</short_desc>
+    </parameter>
+    <parameter default="2.0" name="UUV_YAW_D" type="FLOAT">
+      <short_desc>Yaw differential gain</short_desc>
+    </parameter>
+    <parameter default="4.0" name="UUV_YAW_P" type="FLOAT">
+      <short_desc>Yawh proportional gain</short_desc>
+    </parameter>
+  </group>
   <group name="VTOL Attitude Control">
     <parameter default="8.0" name="VT_ARSP_BLEND" type="FLOAT">
       <short_desc>Transition blending airspeed</short_desc>