diff --git a/src/FirmwarePlugin/PX4/PX4ParameterFactMetaData.xml b/src/FirmwarePlugin/PX4/PX4ParameterFactMetaData.xml
index c40ad86641d2575e06cf4fe09b8fd4b22c4ed985..572952cd23994ca082fc2254ece2a91e7525b495 100644
--- a/src/FirmwarePlugin/PX4/PX4ParameterFactMetaData.xml
+++ b/src/FirmwarePlugin/PX4/PX4ParameterFactMetaData.xml
@@ -8380,7 +8380,7 @@ is less than 50% of this value</short_desc>
     </parameter>
     <parameter default="30.0" name="IMU_ACCEL_CUTOFF" type="FLOAT">
       <short_desc>Driver level cutoff frequency for accel</short_desc>
-      <long_desc>The cutoff frequency for the 2nd order butterworth filter on the accel driver. This features is currently supported by the mpu6000 and mpu9250. This only affects the signal sent to the controllers, not the estimators. 0 disables the filter.</long_desc>
+      <long_desc>The cutoff frequency for the 2nd order butterworth filter on the accel driver. This only affects the signal sent to the controllers, not the estimators. 0 disables the filter.</long_desc>
       <min>0</min>
       <max>1000</max>
       <unit>Hz</unit>
@@ -8388,12 +8388,20 @@ is less than 50% of this value</short_desc>
     </parameter>
     <parameter default="30.0" name="IMU_GYRO_CUTOFF" type="FLOAT">
       <short_desc>Driver level cutoff frequency for gyro</short_desc>
-      <long_desc>The cutoff frequency for the 2nd order butterworth filter on the gyro driver. This features is currently supported by the mpu6000 and mpu9250. This only affects the signal sent to the controllers, not the estimators. 0 disables the filter.</long_desc>
+      <long_desc>The cutoff frequency for the 2nd order butterworth filter on the gyro driver. This only affects the signal sent to the controllers, not the estimators. 0 disables the filter.</long_desc>
       <min>0</min>
       <max>1000</max>
       <unit>Hz</unit>
       <reboot_required>true</reboot_required>
     </parameter>
+    <parameter default="0" name="IMU_GYRO_RATEMAX" type="INT32">
+      <short_desc>Gyro control data maximum publication rate</short_desc>
+      <long_desc>This is the maximum rate the gyro control data (sensor_gyro_control) will be allowed to publish at. Set to 0 to disable and publish at the native sensor sample rate.</long_desc>
+      <min>0</min>
+      <max>2000</max>
+      <unit>Hz</unit>
+      <reboot_required>true</reboot_required>
+    </parameter>
     <parameter default="18139" name="INA226_CONFIG" type="INT32">
       <short_desc>INA226 Power Monitor Config</short_desc>
       <min>0</min>