diff --git a/src/AutoPilotPlugins/PX4/AirframeFactMetaData.xml b/src/AutoPilotPlugins/PX4/AirframeFactMetaData.xml
index 48dfbc68a4d72e6ee0b86c110aa7062f2fef763c..ebb4ea5d2ca48fb99da00b45940795b91b9807b5 100644
--- a/src/AutoPilotPlugins/PX4/AirframeFactMetaData.xml
+++ b/src/AutoPilotPlugins/PX4/AirframeFactMetaData.xml
@@ -374,6 +374,11 @@
       <type>Quadrotor x</type>
       <url>https://docs.px4.io/en/frames_multicopter/holybro_qav250_pixhawk4_mini.html</url>
     </airframe>
+    <airframe id="4053" maintainer="Beat Kueng &lt;beat@px4.io&gt;" name="Holybro Kopis 2">
+      <class>Copter</class>
+      <maintainer>Beat Kueng &lt;beat@px4.io&gt;</maintainer>
+      <type>Quadrotor x</type>
+    </airframe>
     <airframe id="4060" maintainer="James Goppert &lt;james.goppert@gmail.com&gt;" name="DJI Matrice 100">
       <class>Copter</class>
       <maintainer>James Goppert &lt;james.goppert@gmail.com&gt;</maintainer>
diff --git a/src/FirmwarePlugin/PX4/PX4ParameterFactMetaData.xml b/src/FirmwarePlugin/PX4/PX4ParameterFactMetaData.xml
index b61b5ee00c75f48bb68dc9796bf536974992b5b8..7f8cf47cf4d9008004cbd4f172eb83f532eb3697 100644
--- a/src/FirmwarePlugin/PX4/PX4ParameterFactMetaData.xml
+++ b/src/FirmwarePlugin/PX4/PX4ParameterFactMetaData.xml
@@ -1808,6 +1808,7 @@ This is the ratio of static pressure error to dynamic pressure generated by a wi
       <long_desc>If the vehicle absolute altitude exceeds this value then the estimator will not fuse range measurements to estimate it's height. This only applies when range aid mode is activated (EKF2_RNG_AID = enabled).</long_desc>
       <min>1.0</min>
       <max>10.0</max>
+      <unit>m</unit>
     </parameter>
     <parameter default="1.0" name="EKF2_RNG_A_IGATE" type="FLOAT">
       <short_desc>Gate size used for innovation consistency checks for range aid fusion</short_desc>
@@ -1821,6 +1822,7 @@ This is the ratio of static pressure error to dynamic pressure generated by a wi
       <long_desc>If the vehicle horizontal speed exceeds this value then the estimator will not fuse range measurements to estimate it's height. This only applies when range aid mode is activated (EKF2_RNG_AID = enabled).</long_desc>
       <min>0.1</min>
       <max>2</max>
+      <unit>m/s</unit>
     </parameter>
     <parameter default="5" name="EKF2_RNG_DELAY" type="FLOAT">
       <short_desc>Range finder measurement delay relative to IMU measurements</short_desc>