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 @@
Quadrotor x
https://docs.px4.io/en/frames_multicopter/holybro_qav250_pixhawk4_mini.html
+
+ Copter
+ Beat Kueng <beat@px4.io>
+ Quadrotor x
+
Copter
James Goppert <james.goppert@gmail.com>
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
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).
1.0
10.0
+ m
Gate size used for innovation consistency checks for range aid fusion
@@ -1821,6 +1822,7 @@ This is the ratio of static pressure error to dynamic pressure generated by a wi
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).
0.1
2
+ m/s
Range finder measurement delay relative to IMU measurements