diff --git a/Tools/Frame_params/Holybro-S500.param b/Tools/Frame_params/Holybro-S500.param
new file mode 100644
index 0000000000..f831688cf8
--- /dev/null
+++ b/Tools/Frame_params/Holybro-S500.param
@@ -0,0 +1,33 @@
+#Note: Holybro S500 param for ArduPilot Copter 4.1
+ACRO_YAW_P,1.5
+ANGLE_MAX,3500
+ATC_ACCEL_P_MAX,70000
+ATC_ACCEL_R_MAX,70000
+ATC_ACCEL_Y_MAX,12000
+ATC_ANG_PIT_P,11
+ATC_ANG_RLL_P,11
+ATC_ANG_YAW_P,7.2
+ATC_RAT_PIT_D,0.006
+ATC_RAT_PIT_I,0.110
+ATC_RAT_PIT_P,0.110
+ATC_RAT_RLL_D,0.006
+ATC_RAT_RLL_I,0.110
+ATC_RAT_RLL_P,0.110
+ATC_RAT_YAW_FLTE,1
+ATC_RAT_YAW_I,0.031
+ATC_RAT_YAW_P,0.31
+BATT_AMP_PERVLT,39.877
+BATT_CURR_PIN,1
+BATT_LOW_VOLT,14
+BATT_MONITOR,4
+BATT_VOLT_MULT,18.182
+BATT_VOLT_PIN,0
+BRD_SAFETYENABLE,0
+FRAME_CLASS,1
+FRAME_TYPE,1
+INS_GYRO_FILTER,40
+MOT_BAT_VOLT_MAX,16.8
+MOT_BAT_VOLT_MIN,13.2
+MOT_SPIN_ARM,0.07
+MOT_SPIN_MIN,0.09
+MOT_THST_HOVER,0.25