diff --git a/Tools/Frame_params/Sub/bluerov2-4_0_2.params b/Tools/Frame_params/Sub/bluerov2-4_0_2.params
new file mode 100644
index 0000000000..9ba2db7297
--- /dev/null
+++ b/Tools/Frame_params/Sub/bluerov2-4_0_2.params
@@ -0,0 +1,831 @@
+ACRO_BAL_PITCH,1.0
+ACRO_BAL_ROLL,1.0
+ACRO_EXPO,0.30000001192092896
+ACRO_RP_P,4.5
+ACRO_TRAINER,2.0
+ACRO_YAW_P,3.375
+AHRS_COMP_BETA,0.10000000149011612
+AHRS_CUSTOM_PIT,0.0
+AHRS_CUSTOM_ROLL,0.0
+AHRS_CUSTOM_YAW,0.0
+AHRS_EKF_TYPE,2.0
+AHRS_GPS_GAIN,1.0
+AHRS_GPS_MINSATS,6.0
+AHRS_GPS_USE,1.0
+AHRS_ORIENTATION,16.0
+AHRS_RP_P,0.20000000298023224
+AHRS_WIND_MAX,0.0
+AHRS_YAW_P,0.20000000298023224
+ANGLE_MAX,4500.0
+ARMING_ACCTHRESH,0.75
+ARMING_CHECK,448.0
+ARMING_MIS_ITEMS,0.0
+ATC_ACCEL_P_MAX,110000.0
+ATC_ACCEL_R_MAX,110000.0
+ATC_ACCEL_Y_MAX,110000.0
+ATC_ANGLE_BOOST,1.0
+ATC_ANG_LIM_TC,1.0
+ATC_ANG_PIT_P,6.0
+ATC_ANG_RLL_P,0.0
+ATC_ANG_YAW_P,6.0
+ATC_INPUT_TC,0.15000000596046448
+ATC_RATE_FF_ENAB,1.0
+ATC_RATE_P_MAX,0.0
+ATC_RATE_R_MAX,0.0
+ATC_RATE_Y_MAX,0.0
+ATC_RAT_PIT_D,0.003599999938160181
+ATC_RAT_PIT_FF,0.0
+ATC_RAT_PIT_FLTD,30.0
+ATC_RAT_PIT_FLTE,0.0
+ATC_RAT_PIT_FLTT,30.0
+ATC_RAT_PIT_I,0.09000000357627869
+ATC_RAT_PIT_IMAX,0.4440000057220459
+ATC_RAT_PIT_P,0.13500000536441803
+ATC_RAT_RLL_D,0.003599999938160181
+ATC_RAT_RLL_FF,0.0
+ATC_RAT_RLL_FLTD,30.0
+ATC_RAT_RLL_FLTE,0.0
+ATC_RAT_RLL_FLTT,30.0
+ATC_RAT_RLL_I,0.09000000357627869
+ATC_RAT_RLL_IMAX,0.4440000057220459
+ATC_RAT_RLL_P,0.13500000536441803
+ATC_RAT_YAW_D,0.0
+ATC_RAT_YAW_FF,0.0
+ATC_RAT_YAW_FLTD,5.0
+ATC_RAT_YAW_FLTE,0.0
+ATC_RAT_YAW_FLTT,5.0
+ATC_RAT_YAW_I,0.017999999225139618
+ATC_RAT_YAW_IMAX,0.22200000286102295
+ATC_RAT_YAW_P,0.18000000715255737
+ATC_SLEW_YAW,6000.0
+ATC_THR_MIX_MAN,0.10000000149011612
+ATC_THR_MIX_MAX,0.5
+ATC_THR_MIX_MIN,0.10000000149011612
+BATT2_MONITOR,0.0
+BATT3_MONITOR,0.0
+BATT4_MONITOR,0.0
+BATT5_MONITOR,0.0
+BATT6_MONITOR,0.0
+BATT7_MONITOR,0.0
+BATT8_MONITOR,0.0
+BATT9_MONITOR,0.0
+BATT_ARM_MAH,0.0
+BATT_ARM_VOLT,0.0
+BATT_CRT_MAH,0.0
+BATT_CRT_VOLT,0.0
+BATT_CURR_PIN,3.0
+BATT_FS_CRT_ACT,0.0
+BATT_FS_LOW_ACT,0.0
+BATT_FS_VOLTSRC,0.0
+BATT_LOW_MAH,0.0
+BATT_LOW_TIMER,10.0
+BATT_LOW_VOLT,0.0
+BATT_SERIAL_NUM,-1.0
+BATT_VOLT_PIN,2.0
+BRD_BOOT_DELAY,0.0
+BRD_IMU_TARGTEMP,-1.0
+BRD_IO_ENABLE,1.0
+BRD_OPTIONS,1.0
+BRD_PWM_COUNT,4.0
+BRD_RTC_TYPES,3.0
+BRD_SAFETYENABLE,0.0
+BRD_SAFETYOPTION,3.0
+BRD_SAFETY_MASK,0.0
+BRD_SBUS_OUT,0.0
+BRD_SD_SLOWDOWN,0.0
+BRD_SER1_RTSCTS,2.0
+BRD_SER2_RTSCTS,2.0
+BRD_SERIAL_NUM,0.0
+BRD_TYPE,2.0
+BRD_VBUS_MIN,4.300000190734863
+BRD_VSERVO_MIN,0.0
+BTN0_FUNCTION,0.0
+BTN0_SFUNCTION,0.0
+BTN10_FUNCTION,22.0
+BTN10_SFUNCTION,26.0
+BTN11_FUNCTION,42.0
+BTN11_SFUNCTION,47.0
+BTN12_FUNCTION,43.0
+BTN12_SFUNCTION,46.0
+BTN13_FUNCTION,33.0
+BTN13_SFUNCTION,45.0
+BTN14_FUNCTION,32.0
+BTN14_SFUNCTION,44.0
+BTN15_FUNCTION,0.0
+BTN15_SFUNCTION,0.0
+BTN1_FUNCTION,5.0
+BTN1_SFUNCTION,0.0
+BTN2_FUNCTION,7.0
+BTN2_SFUNCTION,0.0
+BTN3_FUNCTION,6.0
+BTN3_SFUNCTION,0.0
+BTN4_FUNCTION,4.0
+BTN4_SFUNCTION,0.0
+BTN5_FUNCTION,1.0
+BTN5_SFUNCTION,0.0
+BTN6_FUNCTION,3.0
+BTN6_SFUNCTION,0.0
+BTN7_FUNCTION,21.0
+BTN7_SFUNCTION,0.0
+BTN8_FUNCTION,48.0
+BTN8_SFUNCTION,0.0
+BTN9_FUNCTION,23.0
+BTN9_SFUNCTION,27.0
+CAN_D1_PROTOCOL,1.0
+CAN_D2_PROTOCOL,1.0
+CAN_P1_DRIVER,0.0
+CAN_P2_DRIVER,0.0
+CAN_SLCAN_CPORT,0.0
+CAN_SLCAN_SERNUM,-1.0
+CAN_SLCAN_TIMOUT,0.0
+CIRCLE_RADIUS,1000.0
+CIRCLE_RATE,2.0
+COMPASS_AUTODEC,1.0
+COMPASS_AUTO_ROT,2.0
+COMPASS_CAL_FIT,16.0
+COMPASS_DEC,0.0
+COMPASS_ENABLE,1.0
+COMPASS_EXP_DID,-1.0
+COMPASS_EXP_DID2,-1.0
+COMPASS_EXP_DID3,-1.0
+COMPASS_EXTERN2,0.0
+COMPASS_EXTERN3,0.0
+COMPASS_EXTERNAL,0.0
+COMPASS_FLTR_RNG,0.0
+COMPASS_LEARN,0.0
+COMPASS_MOT2_X,0.0
+COMPASS_MOT2_Y,0.0
+COMPASS_MOT2_Z,0.0
+COMPASS_MOT3_X,0.0
+COMPASS_MOT3_Y,0.0
+COMPASS_MOT3_Z,0.0
+COMPASS_MOTCT,0.0
+COMPASS_MOT_X,0.0
+COMPASS_MOT_Y,0.0
+COMPASS_MOT_Z,0.0
+COMPASS_OFFS_MAX,1000.0
+COMPASS_ORIENT,0.0
+COMPASS_ORIENT2,0.0
+COMPASS_ORIENT3,0.0
+COMPASS_PMOT_EN,0.0
+COMPASS_PRIMARY,0.0
+COMPASS_TYPEMASK,0.0
+COMPASS_USE,1.0
+COMPASS_USE2,1.0
+COMPASS_USE3,1.0
+EK2_ABIAS_P_NSE,0.004999999888241291
+EK2_ACC_P_NSE,0.6000000238418579
+EK2_ALT_M_NSE,10.0
+EK2_ALT_SOURCE,0.0
+EK2_BCN_DELAY,50.0
+EK2_BCN_I_GTE,500.0
+EK2_BCN_M_NSE,1.0
+EK2_CHECK_SCALE,100.0
+EK2_EAS_I_GATE,400.0
+EK2_EAS_M_NSE,1.399999976158142
+EK2_ENABLE,1.0
+EK2_EXTNAV_DELAY,10.0
+EK2_FLOW_DELAY,10.0
+EK2_FLOW_I_GATE,300.0
+EK2_FLOW_M_NSE,0.25
+EK2_FLOW_USE,1.0
+EK2_GBIAS_P_NSE,9.999999747378752e-05
+EK2_GLITCH_RAD,25.0
+EK2_GPS_CHECK,31.0
+EK2_GPS_TYPE,0.0
+EK2_GSCL_P_NSE,0.0005000000237487257
+EK2_GYRO_P_NSE,0.029999999329447746
+EK2_HGT_DELAY,60.0
+EK2_HGT_I_GATE,500.0
+EK2_IMU_MASK,3.0
+EK2_LOG_MASK,1.0
+EK2_MAGB_P_NSE,9.999999747378752e-05
+EK2_MAGE_P_NSE,0.0010000000474974513
+EK2_MAG_CAL,3.0
+EK2_MAG_EF_LIM,50.0
+EK2_MAG_I_GATE,300.0
+EK2_MAG_MASK,0.0
+EK2_MAG_M_NSE,0.05000000074505806
+EK2_MAX_FLOW,2.5
+EK2_NOAID_M_NSE,10.0
+EK2_OGN_HGT_MASK,0.0
+EK2_POSNE_M_NSE,1.0
+EK2_POS_I_GATE,500.0
+EK2_RNG_I_GATE,500.0
+EK2_RNG_M_NSE,0.5
+EK2_RNG_USE_HGT,-1.0
+EK2_RNG_USE_SPD,2.0
+EK2_TAU_OUTPUT,25.0
+EK2_TERR_GRAD,0.10000000149011612
+EK2_VELD_M_NSE,0.699999988079071
+EK2_VELNE_M_NSE,0.5
+EK2_VEL_I_GATE,500.0
+EK2_WIND_PSCALE,0.5
+EK2_WIND_P_NSE,0.10000000149011612
+EK2_YAW_I_GATE,300.0
+EK2_YAW_M_NSE,0.5
+EK3_ENABLE,0.0
+FENCE_ACTION,1.0
+FENCE_ALT_MAX,100.0
+FENCE_ALT_MIN,-10.0
+FENCE_ENABLE,0.0
+FENCE_MARGIN,2.0
+FENCE_RADIUS,300.0
+FENCE_TOTAL,0.0
+FENCE_TYPE,7.0
+FRAME_CONFIG,1.0
+FS_CRASH_CHECK,0.0
+FS_EKF_ACTION,0.0
+FS_EKF_THRESH,0.800000011920929
+FS_GCS_ENABLE,2.0
+FS_LEAK_ENABLE,1.0
+FS_PILOT_INPUT,2.0
+FS_PILOT_TIMEOUT,3.0
+FS_PRESS_ENABLE,0.0
+FS_PRESS_MAX,105000.0
+FS_TEMP_ENABLE,0.0
+FS_TEMP_MAX,62.0
+FS_TERRAIN_ENAB,0.0
+GCS_PID_MASK,0.0
+GND_ALT_OFFSET,0.0
+GND_EXT_BUS,1.0
+GND_FLTR_RNG,0.0
+GND_PRIMARY,0.0
+GND_PROBE_EXT,0.0
+GND_SPEC_GRAV,1.0
+GND_TEMP,0.0
+GPS_AUTO_CONFIG,1.0
+GPS_AUTO_SWITCH,1.0
+GPS_BLEND_MASK,5.0
+GPS_BLEND_TC,10.0
+GPS_DELAY_MS,0.0
+GPS_DELAY_MS2,0.0
+GPS_GNSS_MODE,0.0
+GPS_GNSS_MODE2,0.0
+GPS_INJECT_TO,127.0
+GPS_MIN_DGPS,100.0
+GPS_MIN_ELEV,-100.0
+GPS_NAVFILTER,8.0
+GPS_POS1_X,0.0
+GPS_POS1_Y,0.0
+GPS_POS1_Z,0.0
+GPS_POS2_X,0.0
+GPS_POS2_Y,0.0
+GPS_POS2_Z,0.0
+GPS_RATE_MS,200.0
+GPS_RATE_MS2,200.0
+GPS_RAW_DATA,0.0
+GPS_SAVE_CFG,2.0
+GPS_SBAS_MODE,2.0
+GPS_SBP_LOGMASK,-256.0
+GPS_TYPE,1.0
+GPS_TYPE2,0.0
+INS_ACCEL_FILTER,20.0
+INS_ACC_BODYFIX,2.0
+INS_ENABLE_MASK,127.0
+INS_FAST_SAMPLE,0.0
+INS_GYRO_FILTER,20.0
+INS_GYR_CAL,0.0
+INS_HNTCH_ENABLE,0.0
+INS_LOG_BAT_CNT,1024.0
+INS_LOG_BAT_LGCT,32.0
+INS_LOG_BAT_LGIN,20.0
+INS_LOG_BAT_MASK,0.0
+INS_LOG_BAT_OPT,0.0
+INS_NOTCH_ENABLE,0.0
+INS_POS1_X,0.0
+INS_POS1_Y,0.0
+INS_POS1_Z,0.0
+INS_POS2_X,0.0
+INS_POS2_Y,0.0
+INS_POS2_Z,0.0
+INS_POS3_X,0.0
+INS_POS3_Y,0.0
+INS_POS3_Z,0.0
+INS_STILL_THRESH,0.10000000149011612
+INS_TRIM_OPTION,1.0
+INS_USE,1.0
+INS_USE2,1.0
+INS_USE3,1.0
+JS_GAIN_DEFAULT,0.5
+JS_GAIN_MAX,1.0
+JS_GAIN_MIN,0.25
+JS_GAIN_STEPS,4.0
+JS_LIGHTS_STEPS,8.0
+JS_THR_GAIN,1.0
+LEAK1_LOGIC,0.0
+LEAK1_PIN,55.0
+LEAK2_LOGIC,0.0
+LEAK2_PIN,-1.0
+LEAK3_LOGIC,0.0
+LEAK3_PIN,-1.0
+LOG_BACKEND_TYPE,1.0
+LOG_BITMASK,176126.0
+LOG_DISARMED,0.0
+LOG_FILE_BUFSIZE,16.0
+LOG_FILE_DSRMROT,0.0
+LOG_FILE_TIMEOUT,5.0
+LOG_MAV_BUFSIZE,8.0
+LOG_REPLAY,0.0
+LOIT_ACC_MAX,500.0
+LOIT_ANG_MAX,0.0
+LOIT_BRK_ACCEL,250.0
+LOIT_BRK_DELAY,1.0
+LOIT_BRK_JERK,500.0
+LOIT_SPEED,1250.0
+MIS_OPTIONS,0.0
+MIS_RESTART,0.0
+MIS_TOTAL,0.0
+MNT_ANGMAX_PAN,4500.0
+MNT_ANGMAX_ROL,4500.0
+MNT_ANGMAX_TIL,4500.0
+MNT_ANGMIN_PAN,-4500.0
+MNT_ANGMIN_ROL,-4500.0
+MNT_ANGMIN_TIL,-4500.0
+MNT_DEFLT_MODE,3.0
+MNT_JSTICK_SPD,100.0
+MNT_LEAD_PTCH,0.0
+MNT_LEAD_RLL,0.0
+MNT_NEUTRAL_X,0.0
+MNT_NEUTRAL_Y,0.0
+MNT_NEUTRAL_Z,0.0
+MNT_RC_IN_PAN,7.0
+MNT_RC_IN_ROLL,0.0
+MNT_RC_IN_TILT,8.0
+MNT_RETRACT_X,0.0
+MNT_RETRACT_Y,0.0
+MNT_RETRACT_Z,0.0
+MNT_STAB_PAN,0.0
+MNT_STAB_ROLL,0.0
+MNT_STAB_TILT,0.0
+MNT_TYPE,1.0
+MOT_10_DIRECTION,1.0
+MOT_11_DIRECTION,1.0
+MOT_12_DIRECTION,1.0
+MOT_9_DIRECTION,1.0
+MOT_BAT_CURR_MAX,0.0
+MOT_BAT_CURR_TC,5.0
+MOT_BAT_IDX,0.0
+MOT_BAT_VOLT_MAX,0.0
+MOT_BAT_VOLT_MIN,0.0
+MOT_BOOST_SCALE,0.0
+MOT_FV_CPLNG_K,1.0
+MOT_HOVER_LEARN,2.0
+MOT_PWM_MAX,0.0
+MOT_PWM_MIN,0.0
+MOT_PWM_TYPE,0.0
+MOT_SAFE_DISARM,0.0
+MOT_SLEW_DN_TIME,0.0
+MOT_SLEW_UP_TIME,0.0
+MOT_SPIN_ARM,0.10000000149011612
+MOT_SPIN_MAX,0.949999988079071
+MOT_SPIN_MIN,0.15000000596046448
+MOT_SPOOL_TIME,0.5
+MOT_THST_EXPO,0.6499999761581421
+MOT_THST_HOVER,0.3499999940395355
+MOT_YAW_HEADROOM,200.0
+NTF_BUZZ_ENABLE,1.0
+NTF_BUZZ_ON_LVL,1.0
+NTF_BUZZ_PIN,0.0
+NTF_BUZZ_VOLUME,100.0
+NTF_DISPLAY_TYPE,0.0
+NTF_LED_BRIGHT,3.0
+NTF_LED_OVERRIDE,0.0
+NTF_LED_TYPES,199.0
+NTF_OREO_THEME,0.0
+PILOT_ACCEL_Z,100.0
+PILOT_SPEED_DN,0.0
+PILOT_SPEED_UP,500.0
+PILOT_THR_FILT,0.0
+PSC_ACCZ_D,0.0
+PSC_ACCZ_FF,0.0
+PSC_ACCZ_FLTD,0.0
+PSC_ACCZ_FLTE,20.0
+PSC_ACCZ_FLTT,0.0
+PSC_ACCZ_I,0.10000000149011612
+PSC_ACCZ_IMAX,100.0
+PSC_ACCZ_P,0.5
+PSC_ACC_XY_FILT,2.0
+PSC_ANGLE_MAX,0.0
+PSC_POSXY_P,1.0
+PSC_POSZ_P,3.0
+PSC_VELXY_D,0.0
+PSC_VELXY_D_FILT,5.0
+PSC_VELXY_FILT,5.0
+PSC_VELXY_I,0.5
+PSC_VELXY_IMAX,1000.0
+PSC_VELXY_P,1.0
+PSC_VELZ_P,8.0
+RC10_DZ,0.0
+RC10_MAX,1900.0
+RC10_MIN,1100.0
+RC10_REVERSED,0.0
+RC10_TRIM,1500.0
+RC11_DZ,0.0
+RC11_MAX,1900.0
+RC11_MIN,1100.0
+RC11_REVERSED,0.0
+RC11_TRIM,1500.0
+RC12_DZ,0.0
+RC12_MAX,1900.0
+RC12_MIN,1100.0
+RC12_REVERSED,0.0
+RC12_TRIM,1500.0
+RC13_DZ,0.0
+RC13_MAX,1900.0
+RC13_MIN,1100.0
+RC13_REVERSED,0.0
+RC13_TRIM,1500.0
+RC14_DZ,0.0
+RC14_MAX,1900.0
+RC14_MIN,1100.0
+RC14_REVERSED,0.0
+RC14_TRIM,1500.0
+RC15_DZ,0.0
+RC15_MAX,1900.0
+RC15_MIN,1100.0
+RC15_REVERSED,0.0
+RC15_TRIM,1500.0
+RC16_DZ,0.0
+RC16_MAX,1900.0
+RC16_MIN,1100.0
+RC16_REVERSED,0.0
+RC16_TRIM,1500.0
+RC1_DZ,30.0
+RC1_MAX,1900.0
+RC1_MIN,1100.0
+RC1_REVERSED,0.0
+RC1_TRIM,1500.0
+RC2_DZ,30.0
+RC2_MAX,1900.0
+RC2_MIN,1100.0
+RC2_REVERSED,0.0
+RC2_TRIM,1500.0
+RC3_DZ,30.0
+RC3_MAX,1900.0
+RC3_MIN,1100.0
+RC3_REVERSED,0.0
+RC3_TRIM,1100.0
+RC4_DZ,40.0
+RC4_MAX,1900.0
+RC4_MIN,1100.0
+RC4_REVERSED,0.0
+RC4_TRIM,1500.0
+RC5_DZ,30.0
+RC5_MAX,1900.0
+RC5_MIN,1100.0
+RC5_REVERSED,0.0
+RC5_TRIM,1500.0
+RC6_DZ,30.0
+RC6_MAX,1900.0
+RC6_MIN,1100.0
+RC6_REVERSED,0.0
+RC6_TRIM,1500.0
+RC7_DZ,0.0
+RC7_MAX,1900.0
+RC7_MIN,1100.0
+RC7_REVERSED,0.0
+RC7_TRIM,1500.0
+RC8_DZ,0.0
+RC8_MAX,1900.0
+RC8_MIN,1100.0
+RC8_REVERSED,0.0
+RC8_TRIM,1500.0
+RC9_DZ,0.0
+RC9_MAX,1900.0
+RC9_MIN,1100.0
+RC9_REVERSED,0.0
+RC9_TRIM,1500.0
+RC_OPTIONS,0.0
+RC_OVERRIDE_TIME,3.0
+RC_SPEED,200.0
+RELAY_DEFAULT,0.0
+RELAY_PIN,54.0
+RELAY_PIN2,55.0
+RELAY_PIN3,-1.0
+RELAY_PIN4,-1.0
+RELAY_PIN5,-1.0
+RELAY_PIN6,-1.0
+RNGFND1_ADDR,0.0
+RNGFND1_FUNCTION,0.0
+RNGFND1_GNDCLEAR,10.0
+RNGFND1_MAX_CM,700.0
+RNGFND1_MIN_CM,20.0
+RNGFND1_OFFSET,0.0
+RNGFND1_ORIENT,25.0
+RNGFND1_PIN,-1.0
+RNGFND1_POS_X,0.0
+RNGFND1_POS_Y,0.0
+RNGFND1_POS_Z,0.0
+RNGFND1_PWRRNG,0.0
+RNGFND1_RMETRIC,1.0
+RNGFND1_SCALING,3.0
+RNGFND1_STOP_PIN,-1.0
+RNGFND1_TYPE,10.0
+RNGFND2_ADDR,0.0
+RNGFND2_FUNCTION,0.0
+RNGFND2_GNDCLEAR,10.0
+RNGFND2_MAX_CM,700.0
+RNGFND2_MIN_CM,20.0
+RNGFND2_OFFSET,0.0
+RNGFND2_ORIENT,25.0
+RNGFND2_PIN,-1.0
+RNGFND2_POS_X,0.0
+RNGFND2_POS_Y,0.0
+RNGFND2_POS_Z,0.0
+RNGFND2_PWRRNG,0.0
+RNGFND2_RMETRIC,1.0
+RNGFND2_SCALING,3.0
+RNGFND2_STOP_PIN,-1.0
+RNGFND2_TYPE,0.0
+RNGFND3_ADDR,0.0
+RNGFND3_FUNCTION,0.0
+RNGFND3_GNDCLEAR,10.0
+RNGFND3_MAX_CM,700.0
+RNGFND3_MIN_CM,20.0
+RNGFND3_OFFSET,0.0
+RNGFND3_ORIENT,25.0
+RNGFND3_PIN,-1.0
+RNGFND3_POS_X,0.0
+RNGFND3_POS_Y,0.0
+RNGFND3_POS_Z,0.0
+RNGFND3_PWRRNG,0.0
+RNGFND3_RMETRIC,1.0
+RNGFND3_SCALING,3.0
+RNGFND3_STOP_PIN,-1.0
+RNGFND3_TYPE,0.0
+RNGFND4_ADDR,0.0
+RNGFND4_FUNCTION,0.0
+RNGFND4_GNDCLEAR,10.0
+RNGFND4_MAX_CM,700.0
+RNGFND4_MIN_CM,20.0
+RNGFND4_OFFSET,0.0
+RNGFND4_ORIENT,25.0
+RNGFND4_PIN,-1.0
+RNGFND4_POS_X,0.0
+RNGFND4_POS_Y,0.0
+RNGFND4_POS_Z,0.0
+RNGFND4_PWRRNG,0.0
+RNGFND4_RMETRIC,1.0
+RNGFND4_SCALING,3.0
+RNGFND4_STOP_PIN,-1.0
+RNGFND4_TYPE,0.0
+RNGFND5_ADDR,0.0
+RNGFND5_FUNCTION,0.0
+RNGFND5_GNDCLEAR,10.0
+RNGFND5_MAX_CM,700.0
+RNGFND5_MIN_CM,20.0
+RNGFND5_OFFSET,0.0
+RNGFND5_ORIENT,25.0
+RNGFND5_PIN,-1.0
+RNGFND5_POS_X,0.0
+RNGFND5_POS_Y,0.0
+RNGFND5_POS_Z,0.0
+RNGFND5_PWRRNG,0.0
+RNGFND5_RMETRIC,1.0
+RNGFND5_SCALING,3.0
+RNGFND5_STOP_PIN,-1.0
+RNGFND5_TYPE,0.0
+RNGFND6_ADDR,0.0
+RNGFND6_FUNCTION,0.0
+RNGFND6_GNDCLEAR,10.0
+RNGFND6_MAX_CM,700.0
+RNGFND6_MIN_CM,20.0
+RNGFND6_OFFSET,0.0
+RNGFND6_ORIENT,25.0
+RNGFND6_PIN,-1.0
+RNGFND6_POS_X,0.0
+RNGFND6_POS_Y,0.0
+RNGFND6_POS_Z,0.0
+RNGFND6_PWRRNG,0.0
+RNGFND6_RMETRIC,1.0
+RNGFND6_SCALING,3.0
+RNGFND6_STOP_PIN,-1.0
+RNGFND6_TYPE,0.0
+RNGFND7_ADDR,0.0
+RNGFND7_FUNCTION,0.0
+RNGFND7_GNDCLEAR,10.0
+RNGFND7_MAX_CM,700.0
+RNGFND7_MIN_CM,20.0
+RNGFND7_OFFSET,0.0
+RNGFND7_ORIENT,25.0
+RNGFND7_PIN,-1.0
+RNGFND7_POS_X,0.0
+RNGFND7_POS_Y,0.0
+RNGFND7_POS_Z,0.0
+RNGFND7_PWRRNG,0.0
+RNGFND7_RMETRIC,1.0
+RNGFND7_SCALING,3.0
+RNGFND7_STOP_PIN,-1.0
+RNGFND7_TYPE,0.0
+RNGFND8_ADDR,0.0
+RNGFND8_FUNCTION,0.0
+RNGFND8_GNDCLEAR,10.0
+RNGFND8_MAX_CM,700.0
+RNGFND8_MIN_CM,20.0
+RNGFND8_OFFSET,0.0
+RNGFND8_ORIENT,25.0
+RNGFND8_PIN,-1.0
+RNGFND8_POS_X,0.0
+RNGFND8_POS_Y,0.0
+RNGFND8_POS_Z,0.0
+RNGFND8_PWRRNG,0.0
+RNGFND8_RMETRIC,1.0
+RNGFND8_SCALING,3.0
+RNGFND8_STOP_PIN,-1.0
+RNGFND8_TYPE,0.0
+RNGFND9_ADDR,0.0
+RNGFND9_FUNCTION,0.0
+RNGFND9_GNDCLEAR,10.0
+RNGFND9_MAX_CM,700.0
+RNGFND9_MIN_CM,20.0
+RNGFND9_OFFSET,0.0
+RNGFND9_ORIENT,25.0
+RNGFND9_PIN,-1.0
+RNGFND9_POS_X,0.0
+RNGFND9_POS_Y,0.0
+RNGFND9_POS_Z,0.0
+RNGFND9_PWRRNG,0.0
+RNGFND9_RMETRIC,1.0
+RNGFND9_SCALING,3.0
+RNGFND9_STOP_PIN,-1.0
+RNGFND9_TYPE,0.0
+RNGFNDA_ADDR,0.0
+RNGFNDA_FUNCTION,0.0
+RNGFNDA_GNDCLEAR,10.0
+RNGFNDA_MAX_CM,700.0
+RNGFNDA_MIN_CM,20.0
+RNGFNDA_OFFSET,0.0
+RNGFNDA_ORIENT,25.0
+RNGFNDA_PIN,-1.0
+RNGFNDA_POS_X,0.0
+RNGFNDA_POS_Y,0.0
+RNGFNDA_POS_Z,0.0
+RNGFNDA_PWRRNG,0.0
+RNGFNDA_RMETRIC,1.0
+RNGFNDA_SCALING,3.0
+RNGFNDA_STOP_PIN,-1.0
+RNGFNDA_TYPE,0.0
+RNGFND_GAIN,0.800000011920929
+SCHED_DEBUG,0.0
+SCHED_LOOP_RATE,400.0
+SCR_ENABLE,0.0
+SERIAL0_BAUD,115.0
+SERIAL0_PROTOCOL,2.0
+SERIAL1_BAUD,57.0
+SERIAL1_OPTIONS,0.0
+SERIAL1_PROTOCOL,1.0
+SERIAL2_BAUD,57.0
+SERIAL2_OPTIONS,0.0
+SERIAL2_PROTOCOL,1.0
+SERIAL3_BAUD,38.0
+SERIAL3_OPTIONS,0.0
+SERIAL3_PROTOCOL,5.0
+SERIAL4_BAUD,38.0
+SERIAL4_OPTIONS,0.0
+SERIAL4_PROTOCOL,5.0
+SERIAL5_BAUD,57.0
+SERIAL5_OPTIONS,0.0
+SERIAL5_PROTOCOL,-1.0
+SERIAL6_BAUD,57.0
+SERIAL6_OPTIONS,0.0
+SERIAL6_PROTOCOL,-1.0
+SERIAL7_BAUD,57.0
+SERIAL7_OPTIONS,0.0
+SERIAL7_PROTOCOL,-1.0
+SERIAL_PASS1,0.0
+SERIAL_PASS2,-1.0
+SERIAL_PASSTIMO,15.0
+SERVO10_FUNCTION,0.0
+SERVO10_MAX,1900.0
+SERVO10_MIN,1100.0
+SERVO10_REVERSED,0.0
+SERVO10_TRIM,1500.0
+SERVO11_FUNCTION,0.0
+SERVO11_MAX,1900.0
+SERVO11_MIN,1100.0
+SERVO11_REVERSED,0.0
+SERVO11_TRIM,1500.0
+SERVO12_FUNCTION,0.0
+SERVO12_MAX,1900.0
+SERVO12_MIN,1100.0
+SERVO12_REVERSED,0.0
+SERVO12_TRIM,1500.0
+SERVO13_FUNCTION,0.0
+SERVO13_MAX,1900.0
+SERVO13_MIN,1100.0
+SERVO13_REVERSED,0.0
+SERVO13_TRIM,1500.0
+SERVO14_FUNCTION,0.0
+SERVO14_MAX,1900.0
+SERVO14_MIN,1100.0
+SERVO14_REVERSED,0.0
+SERVO14_TRIM,1500.0
+SERVO15_FUNCTION,0.0
+SERVO15_MAX,1900.0
+SERVO15_MIN,1100.0
+SERVO15_REVERSED,0.0
+SERVO15_TRIM,1500.0
+SERVO16_FUNCTION,0.0
+SERVO16_MAX,1900.0
+SERVO16_MIN,1100.0
+SERVO16_REVERSED,0.0
+SERVO16_TRIM,1500.0
+SERVO1_FUNCTION,33.0
+SERVO1_MAX,1900.0
+SERVO1_MIN,1100.0
+SERVO1_REVERSED,0.0
+SERVO1_TRIM,1500.0
+SERVO2_FUNCTION,34.0
+SERVO2_MAX,1900.0
+SERVO2_MIN,1100.0
+SERVO2_REVERSED,0.0
+SERVO2_TRIM,1500.0
+SERVO3_FUNCTION,35.0
+SERVO3_MAX,1900.0
+SERVO3_MIN,1100.0
+SERVO3_REVERSED,0.0
+SERVO3_TRIM,1500.0
+SERVO4_FUNCTION,36.0
+SERVO4_MAX,1900.0
+SERVO4_MIN,1100.0
+SERVO4_REVERSED,0.0
+SERVO4_TRIM,1500.0
+SERVO5_FUNCTION,37.0
+SERVO5_MAX,1900.0
+SERVO5_MIN,1100.0
+SERVO5_REVERSED,0.0
+SERVO5_TRIM,1500.0
+SERVO6_FUNCTION,38.0
+SERVO6_MAX,1900.0
+SERVO6_MIN,1100.0
+SERVO6_REVERSED,0.0
+SERVO6_TRIM,1500.0
+SERVO7_FUNCTION,59.0
+SERVO7_MAX,1900.0
+SERVO7_MIN,1100.0
+SERVO7_REVERSED,0.0
+SERVO7_TRIM,1500.0
+SERVO8_FUNCTION,7.0
+SERVO8_MAX,1900.0
+SERVO8_MIN,1100.0
+SERVO8_REVERSED,1.0
+SERVO8_TRIM,1500.0
+SERVO9_FUNCTION,0.0
+SERVO9_MAX,1900.0
+SERVO9_MIN,1100.0
+SERVO9_REVERSED,0.0
+SERVO9_TRIM,1500.0
+SERVO_BLH_DEBUG,0.0
+SERVO_BLH_MASK,0.0
+SERVO_BLH_OTYPE,0.0
+SERVO_BLH_POLES,14.0
+SERVO_BLH_PORT,0.0
+SERVO_BLH_REMASK,0.0
+SERVO_BLH_TEST,0.0
+SERVO_BLH_TMOUT,0.0
+SERVO_BLH_TRATE,10.0
+SERVO_RATE,50.0
+SERVO_ROB_POSMAX,4095.0
+SERVO_ROB_POSMIN,0.0
+SERVO_SBUS_RATE,50.0
+SERVO_VOLZ_MASK,0.0
+SR0_PARAMS,0.0
+SR1_EXTRA1,0.0
+SR1_EXTRA2,0.0
+SR1_EXTRA3,0.0
+SR1_EXT_STAT,0.0
+SR1_PARAMS,0.0
+SR1_POSITION,0.0
+SR1_RAW_SENS,0.0
+SR1_RC_CHAN,0.0
+SR2_EXTRA1,0.0
+SR2_EXTRA2,0.0
+SR2_EXTRA3,0.0
+SR2_EXT_STAT,0.0
+SR2_PARAMS,0.0
+SR2_POSITION,0.0
+SR2_RAW_SENS,0.0
+SR2_RC_CHAN,0.0
+SR3_EXTRA1,0.0
+SR3_EXTRA2,0.0
+SR3_EXTRA3,0.0
+SR3_EXT_STAT,0.0
+SR3_PARAMS,0.0
+SR3_POSITION,0.0
+SR3_RAW_SENS,0.0
+SR3_RC_CHAN,0.0
+SURFACE_DEPTH,-10.0
+SYSID_MYGCS,255.0
+SYSID_SW_MREV,1.0
+SYSID_THISMAV,1.0
+THR_DZ,100.0
+WPNAV_ACCEL,0.0
+WPNAV_ACCEL_Z,100.0
+WPNAV_RADIUS,200.0
+WPNAV_RFND_USE,1.0
+WPNAV_SPEED,500.0
+WPNAV_SPEED_DN,150.0
+WPNAV_SPEED_UP,250.0
+WP_YAW_BEHAVIOR,4.0
+XTRACK_ANG_LIM,45.0
diff --git a/Tools/Frame_params/Sub/bluerov2-heavy-4_0_2.params b/Tools/Frame_params/Sub/bluerov2-heavy-4_0_2.params
new file mode 100644
index 0000000000..37cee25bf2
--- /dev/null
+++ b/Tools/Frame_params/Sub/bluerov2-heavy-4_0_2.params
@@ -0,0 +1,831 @@
+ACRO_BAL_PITCH,1.0
+ACRO_BAL_ROLL,1.0
+ACRO_EXPO,0.30000001192092896
+ACRO_RP_P,4.5
+ACRO_TRAINER,2.0
+ACRO_YAW_P,3.375
+AHRS_COMP_BETA,0.10000000149011612
+AHRS_CUSTOM_PIT,0.0
+AHRS_CUSTOM_ROLL,0.0
+AHRS_CUSTOM_YAW,0.0
+AHRS_EKF_TYPE,2.0
+AHRS_GPS_GAIN,1.0
+AHRS_GPS_MINSATS,6.0
+AHRS_GPS_USE,1.0
+AHRS_ORIENTATION,16.0
+AHRS_RP_P,0.20000000298023224
+AHRS_WIND_MAX,0.0
+AHRS_YAW_P,0.20000000298023224
+ANGLE_MAX,4500.0
+ARMING_ACCTHRESH,0.75
+ARMING_CHECK,448.0
+ARMING_MIS_ITEMS,0.0
+ATC_ACCEL_P_MAX,110000.0
+ATC_ACCEL_R_MAX,110000.0
+ATC_ACCEL_Y_MAX,110000.0
+ATC_ANGLE_BOOST,1.0
+ATC_ANG_LIM_TC,1.0
+ATC_ANG_PIT_P,6.0
+ATC_ANG_RLL_P,6.0
+ATC_ANG_YAW_P,6.0
+ATC_INPUT_TC,0.15000000596046448
+ATC_RATE_FF_ENAB,1.0
+ATC_RATE_P_MAX,0.0
+ATC_RATE_R_MAX,0.0
+ATC_RATE_Y_MAX,0.0
+ATC_RAT_PIT_D,0.003599999938160181
+ATC_RAT_PIT_FF,0.0
+ATC_RAT_PIT_FLTD,30.0
+ATC_RAT_PIT_FLTE,0.0
+ATC_RAT_PIT_FLTT,30.0
+ATC_RAT_PIT_I,0.09000000357627869
+ATC_RAT_PIT_IMAX,0.4440000057220459
+ATC_RAT_PIT_P,0.13500000536441803
+ATC_RAT_RLL_D,0.003599999938160181
+ATC_RAT_RLL_FF,0.0
+ATC_RAT_RLL_FLTD,30.0
+ATC_RAT_RLL_FLTE,0.0
+ATC_RAT_RLL_FLTT,30.0
+ATC_RAT_RLL_I,0.09000000357627869
+ATC_RAT_RLL_IMAX,0.4440000057220459
+ATC_RAT_RLL_P,0.13500000536441803
+ATC_RAT_YAW_D,0.0
+ATC_RAT_YAW_FF,0.0
+ATC_RAT_YAW_FLTD,5.0
+ATC_RAT_YAW_FLTE,0.0
+ATC_RAT_YAW_FLTT,5.0
+ATC_RAT_YAW_I,0.017999999225139618
+ATC_RAT_YAW_IMAX,0.22200000286102295
+ATC_RAT_YAW_P,0.18000000715255737
+ATC_SLEW_YAW,6000.0
+ATC_THR_MIX_MAN,0.10000000149011612
+ATC_THR_MIX_MAX,0.5
+ATC_THR_MIX_MIN,0.10000000149011612
+BATT2_MONITOR,0.0
+BATT3_MONITOR,0.0
+BATT4_MONITOR,0.0
+BATT5_MONITOR,0.0
+BATT6_MONITOR,0.0
+BATT7_MONITOR,0.0
+BATT8_MONITOR,0.0
+BATT9_MONITOR,0.0
+BATT_ARM_MAH,0.0
+BATT_ARM_VOLT,0.0
+BATT_CRT_MAH,0.0
+BATT_CRT_VOLT,0.0
+BATT_CURR_PIN,3.0
+BATT_FS_CRT_ACT,0.0
+BATT_FS_LOW_ACT,0.0
+BATT_FS_VOLTSRC,0.0
+BATT_LOW_MAH,0.0
+BATT_LOW_TIMER,10.0
+BATT_LOW_VOLT,0.0
+BATT_SERIAL_NUM,-1.0
+BATT_VOLT_PIN,2.0
+BRD_BOOT_DELAY,0.0
+BRD_IMU_TARGTEMP,-1.0
+BRD_IO_ENABLE,1.0
+BRD_OPTIONS,1.0
+BRD_PWM_COUNT,4.0
+BRD_RTC_TYPES,3.0
+BRD_SAFETYENABLE,0.0
+BRD_SAFETYOPTION,3.0
+BRD_SAFETY_MASK,0.0
+BRD_SBUS_OUT,0.0
+BRD_SD_SLOWDOWN,0.0
+BRD_SER1_RTSCTS,2.0
+BRD_SER2_RTSCTS,2.0
+BRD_SERIAL_NUM,0.0
+BRD_TYPE,2.0
+BRD_VBUS_MIN,4.300000190734863
+BRD_VSERVO_MIN,0.0
+BTN0_FUNCTION,0.0
+BTN0_SFUNCTION,0.0
+BTN10_FUNCTION,22.0
+BTN10_SFUNCTION,26.0
+BTN11_FUNCTION,42.0
+BTN11_SFUNCTION,47.0
+BTN12_FUNCTION,43.0
+BTN12_SFUNCTION,46.0
+BTN13_FUNCTION,33.0
+BTN13_SFUNCTION,45.0
+BTN14_FUNCTION,32.0
+BTN14_SFUNCTION,44.0
+BTN15_FUNCTION,0.0
+BTN15_SFUNCTION,0.0
+BTN1_FUNCTION,5.0
+BTN1_SFUNCTION,0.0
+BTN2_FUNCTION,7.0
+BTN2_SFUNCTION,0.0
+BTN3_FUNCTION,6.0
+BTN3_SFUNCTION,0.0
+BTN4_FUNCTION,4.0
+BTN4_SFUNCTION,0.0
+BTN5_FUNCTION,1.0
+BTN5_SFUNCTION,0.0
+BTN6_FUNCTION,3.0
+BTN6_SFUNCTION,0.0
+BTN7_FUNCTION,21.0
+BTN7_SFUNCTION,0.0
+BTN8_FUNCTION,48.0
+BTN8_SFUNCTION,0.0
+BTN9_FUNCTION,23.0
+BTN9_SFUNCTION,27.0
+CAN_D1_PROTOCOL,1.0
+CAN_D2_PROTOCOL,1.0
+CAN_P1_DRIVER,0.0
+CAN_P2_DRIVER,0.0
+CAN_SLCAN_CPORT,0.0
+CAN_SLCAN_SERNUM,-1.0
+CAN_SLCAN_TIMOUT,0.0
+CIRCLE_RADIUS,1000.0
+CIRCLE_RATE,2.0
+COMPASS_AUTODEC,1.0
+COMPASS_AUTO_ROT,2.0
+COMPASS_CAL_FIT,16.0
+COMPASS_DEC,0.0
+COMPASS_ENABLE,1.0
+COMPASS_EXP_DID,-1.0
+COMPASS_EXP_DID2,-1.0
+COMPASS_EXP_DID3,-1.0
+COMPASS_EXTERN2,0.0
+COMPASS_EXTERN3,0.0
+COMPASS_EXTERNAL,0.0
+COMPASS_FLTR_RNG,0.0
+COMPASS_LEARN,0.0
+COMPASS_MOT2_X,0.0
+COMPASS_MOT2_Y,0.0
+COMPASS_MOT2_Z,0.0
+COMPASS_MOT3_X,0.0
+COMPASS_MOT3_Y,0.0
+COMPASS_MOT3_Z,0.0
+COMPASS_MOTCT,0.0
+COMPASS_MOT_X,0.0
+COMPASS_MOT_Y,0.0
+COMPASS_MOT_Z,0.0
+COMPASS_OFFS_MAX,1000.0
+COMPASS_ORIENT,0.0
+COMPASS_ORIENT2,0.0
+COMPASS_ORIENT3,0.0
+COMPASS_PMOT_EN,0.0
+COMPASS_PRIMARY,0.0
+COMPASS_TYPEMASK,0.0
+COMPASS_USE,1.0
+COMPASS_USE2,1.0
+COMPASS_USE3,1.0
+EK2_ABIAS_P_NSE,0.004999999888241291
+EK2_ACC_P_NSE,0.6000000238418579
+EK2_ALT_M_NSE,10.0
+EK2_ALT_SOURCE,0.0
+EK2_BCN_DELAY,50.0
+EK2_BCN_I_GTE,500.0
+EK2_BCN_M_NSE,1.0
+EK2_CHECK_SCALE,100.0
+EK2_EAS_I_GATE,400.0
+EK2_EAS_M_NSE,1.399999976158142
+EK2_ENABLE,1.0
+EK2_EXTNAV_DELAY,10.0
+EK2_FLOW_DELAY,10.0
+EK2_FLOW_I_GATE,300.0
+EK2_FLOW_M_NSE,0.25
+EK2_FLOW_USE,1.0
+EK2_GBIAS_P_NSE,9.999999747378752e-05
+EK2_GLITCH_RAD,25.0
+EK2_GPS_CHECK,31.0
+EK2_GPS_TYPE,0.0
+EK2_GSCL_P_NSE,0.0005000000237487257
+EK2_GYRO_P_NSE,0.029999999329447746
+EK2_HGT_DELAY,60.0
+EK2_HGT_I_GATE,500.0
+EK2_IMU_MASK,3.0
+EK2_LOG_MASK,1.0
+EK2_MAGB_P_NSE,9.999999747378752e-05
+EK2_MAGE_P_NSE,0.0010000000474974513
+EK2_MAG_CAL,3.0
+EK2_MAG_EF_LIM,50.0
+EK2_MAG_I_GATE,300.0
+EK2_MAG_MASK,0.0
+EK2_MAG_M_NSE,0.05000000074505806
+EK2_MAX_FLOW,2.5
+EK2_NOAID_M_NSE,10.0
+EK2_OGN_HGT_MASK,0.0
+EK2_POSNE_M_NSE,1.0
+EK2_POS_I_GATE,500.0
+EK2_RNG_I_GATE,500.0
+EK2_RNG_M_NSE,0.5
+EK2_RNG_USE_HGT,-1.0
+EK2_RNG_USE_SPD,2.0
+EK2_TAU_OUTPUT,25.0
+EK2_TERR_GRAD,0.10000000149011612
+EK2_VELD_M_NSE,0.699999988079071
+EK2_VELNE_M_NSE,0.5
+EK2_VEL_I_GATE,500.0
+EK2_WIND_PSCALE,0.5
+EK2_WIND_P_NSE,0.10000000149011612
+EK2_YAW_I_GATE,300.0
+EK2_YAW_M_NSE,0.5
+EK3_ENABLE,0.0
+FENCE_ACTION,1.0
+FENCE_ALT_MAX,100.0
+FENCE_ALT_MIN,-10.0
+FENCE_ENABLE,0.0
+FENCE_MARGIN,2.0
+FENCE_RADIUS,300.0
+FENCE_TOTAL,0.0
+FENCE_TYPE,7.0
+FRAME_CONFIG,2.0
+FS_CRASH_CHECK,0.0
+FS_EKF_ACTION,0.0
+FS_EKF_THRESH,0.800000011920929
+FS_GCS_ENABLE,2.0
+FS_LEAK_ENABLE,1.0
+FS_PILOT_INPUT,2.0
+FS_PILOT_TIMEOUT,3.0
+FS_PRESS_ENABLE,0.0
+FS_PRESS_MAX,105000.0
+FS_TEMP_ENABLE,0.0
+FS_TEMP_MAX,62.0
+FS_TERRAIN_ENAB,0.0
+GCS_PID_MASK,0.0
+GND_ALT_OFFSET,0.0
+GND_EXT_BUS,1.0
+GND_FLTR_RNG,0.0
+GND_PRIMARY,0.0
+GND_PROBE_EXT,0.0
+GND_SPEC_GRAV,1.0
+GND_TEMP,0.0
+GPS_AUTO_CONFIG,1.0
+GPS_AUTO_SWITCH,1.0
+GPS_BLEND_MASK,5.0
+GPS_BLEND_TC,10.0
+GPS_DELAY_MS,0.0
+GPS_DELAY_MS2,0.0
+GPS_GNSS_MODE,0.0
+GPS_GNSS_MODE2,0.0
+GPS_INJECT_TO,127.0
+GPS_MIN_DGPS,100.0
+GPS_MIN_ELEV,-100.0
+GPS_NAVFILTER,8.0
+GPS_POS1_X,0.0
+GPS_POS1_Y,0.0
+GPS_POS1_Z,0.0
+GPS_POS2_X,0.0
+GPS_POS2_Y,0.0
+GPS_POS2_Z,0.0
+GPS_RATE_MS,200.0
+GPS_RATE_MS2,200.0
+GPS_RAW_DATA,0.0
+GPS_SAVE_CFG,2.0
+GPS_SBAS_MODE,2.0
+GPS_SBP_LOGMASK,-256.0
+GPS_TYPE,1.0
+GPS_TYPE2,0.0
+INS_ACCEL_FILTER,20.0
+INS_ACC_BODYFIX,2.0
+INS_ENABLE_MASK,127.0
+INS_FAST_SAMPLE,0.0
+INS_GYRO_FILTER,20.0
+INS_GYR_CAL,0.0
+INS_HNTCH_ENABLE,0.0
+INS_LOG_BAT_CNT,1024.0
+INS_LOG_BAT_LGCT,32.0
+INS_LOG_BAT_LGIN,20.0
+INS_LOG_BAT_MASK,0.0
+INS_LOG_BAT_OPT,0.0
+INS_NOTCH_ENABLE,0.0
+INS_POS1_X,0.0
+INS_POS1_Y,0.0
+INS_POS1_Z,0.0
+INS_POS2_X,0.0
+INS_POS2_Y,0.0
+INS_POS2_Z,0.0
+INS_POS3_X,0.0
+INS_POS3_Y,0.0
+INS_POS3_Z,0.0
+INS_STILL_THRESH,0.10000000149011612
+INS_TRIM_OPTION,1.0
+INS_USE,1.0
+INS_USE2,1.0
+INS_USE3,1.0
+JS_GAIN_DEFAULT,0.5
+JS_GAIN_MAX,1.0
+JS_GAIN_MIN,0.25
+JS_GAIN_STEPS,4.0
+JS_LIGHTS_STEPS,8.0
+JS_THR_GAIN,1.0
+LEAK1_LOGIC,0.0
+LEAK1_PIN,55.0
+LEAK2_LOGIC,0.0
+LEAK2_PIN,-1.0
+LEAK3_LOGIC,0.0
+LEAK3_PIN,-1.0
+LOG_BACKEND_TYPE,1.0
+LOG_BITMASK,176126.0
+LOG_DISARMED,0.0
+LOG_FILE_BUFSIZE,16.0
+LOG_FILE_DSRMROT,0.0
+LOG_FILE_TIMEOUT,5.0
+LOG_MAV_BUFSIZE,8.0
+LOG_REPLAY,0.0
+LOIT_ACC_MAX,500.0
+LOIT_ANG_MAX,0.0
+LOIT_BRK_ACCEL,250.0
+LOIT_BRK_DELAY,1.0
+LOIT_BRK_JERK,500.0
+LOIT_SPEED,1250.0
+MIS_OPTIONS,0.0
+MIS_RESTART,0.0
+MIS_TOTAL,0.0
+MNT_ANGMAX_PAN,4500.0
+MNT_ANGMAX_ROL,4500.0
+MNT_ANGMAX_TIL,4500.0
+MNT_ANGMIN_PAN,-4500.0
+MNT_ANGMIN_ROL,-4500.0
+MNT_ANGMIN_TIL,-4500.0
+MNT_DEFLT_MODE,3.0
+MNT_JSTICK_SPD,100.0
+MNT_LEAD_PTCH,0.0
+MNT_LEAD_RLL,0.0
+MNT_NEUTRAL_X,0.0
+MNT_NEUTRAL_Y,0.0
+MNT_NEUTRAL_Z,0.0
+MNT_RC_IN_PAN,7.0
+MNT_RC_IN_ROLL,0.0
+MNT_RC_IN_TILT,8.0
+MNT_RETRACT_X,0.0
+MNT_RETRACT_Y,0.0
+MNT_RETRACT_Z,0.0
+MNT_STAB_PAN,0.0
+MNT_STAB_ROLL,0.0
+MNT_STAB_TILT,0.0
+MNT_TYPE,1.0
+MOT_10_DIRECTION,1.0
+MOT_11_DIRECTION,1.0
+MOT_12_DIRECTION,1.0
+MOT_9_DIRECTION,1.0
+MOT_BAT_CURR_MAX,0.0
+MOT_BAT_CURR_TC,5.0
+MOT_BAT_IDX,0.0
+MOT_BAT_VOLT_MAX,0.0
+MOT_BAT_VOLT_MIN,0.0
+MOT_BOOST_SCALE,0.0
+MOT_FV_CPLNG_K,1.0
+MOT_HOVER_LEARN,2.0
+MOT_PWM_MAX,0.0
+MOT_PWM_MIN,0.0
+MOT_PWM_TYPE,0.0
+MOT_SAFE_DISARM,0.0
+MOT_SLEW_DN_TIME,0.0
+MOT_SLEW_UP_TIME,0.0
+MOT_SPIN_ARM,0.10000000149011612
+MOT_SPIN_MAX,0.949999988079071
+MOT_SPIN_MIN,0.15000000596046448
+MOT_SPOOL_TIME,0.5
+MOT_THST_EXPO,0.6499999761581421
+MOT_THST_HOVER,0.3499999940395355
+MOT_YAW_HEADROOM,200.0
+NTF_BUZZ_ENABLE,1.0
+NTF_BUZZ_ON_LVL,1.0
+NTF_BUZZ_PIN,0.0
+NTF_BUZZ_VOLUME,100.0
+NTF_DISPLAY_TYPE,0.0
+NTF_LED_BRIGHT,3.0
+NTF_LED_OVERRIDE,0.0
+NTF_LED_TYPES,199.0
+NTF_OREO_THEME,0.0
+PILOT_ACCEL_Z,100.0
+PILOT_SPEED_DN,0.0
+PILOT_SPEED_UP,500.0
+PILOT_THR_FILT,0.0
+PSC_ACCZ_D,0.0
+PSC_ACCZ_FF,0.0
+PSC_ACCZ_FLTD,0.0
+PSC_ACCZ_FLTE,20.0
+PSC_ACCZ_FLTT,0.0
+PSC_ACCZ_I,0.10000000149011612
+PSC_ACCZ_IMAX,100.0
+PSC_ACCZ_P,0.5
+PSC_ACC_XY_FILT,2.0
+PSC_ANGLE_MAX,0.0
+PSC_POSXY_P,1.0
+PSC_POSZ_P,3.0
+PSC_VELXY_D,0.0
+PSC_VELXY_D_FILT,5.0
+PSC_VELXY_FILT,5.0
+PSC_VELXY_I,0.5
+PSC_VELXY_IMAX,1000.0
+PSC_VELXY_P,1.0
+PSC_VELZ_P,8.0
+RC10_DZ,0.0
+RC10_MAX,1900.0
+RC10_MIN,1100.0
+RC10_REVERSED,0.0
+RC10_TRIM,1500.0
+RC11_DZ,0.0
+RC11_MAX,1900.0
+RC11_MIN,1100.0
+RC11_REVERSED,0.0
+RC11_TRIM,1500.0
+RC12_DZ,0.0
+RC12_MAX,1900.0
+RC12_MIN,1100.0
+RC12_REVERSED,0.0
+RC12_TRIM,1500.0
+RC13_DZ,0.0
+RC13_MAX,1900.0
+RC13_MIN,1100.0
+RC13_REVERSED,0.0
+RC13_TRIM,1500.0
+RC14_DZ,0.0
+RC14_MAX,1900.0
+RC14_MIN,1100.0
+RC14_REVERSED,0.0
+RC14_TRIM,1500.0
+RC15_DZ,0.0
+RC15_MAX,1900.0
+RC15_MIN,1100.0
+RC15_REVERSED,0.0
+RC15_TRIM,1500.0
+RC16_DZ,0.0
+RC16_MAX,1900.0
+RC16_MIN,1100.0
+RC16_REVERSED,0.0
+RC16_TRIM,1500.0
+RC1_DZ,30.0
+RC1_MAX,1900.0
+RC1_MIN,1100.0
+RC1_REVERSED,0.0
+RC1_TRIM,1500.0
+RC2_DZ,30.0
+RC2_MAX,1900.0
+RC2_MIN,1100.0
+RC2_REVERSED,0.0
+RC2_TRIM,1500.0
+RC3_DZ,30.0
+RC3_MAX,1900.0
+RC3_MIN,1100.0
+RC3_REVERSED,0.0
+RC3_TRIM,1100.0
+RC4_DZ,40.0
+RC4_MAX,1900.0
+RC4_MIN,1100.0
+RC4_REVERSED,0.0
+RC4_TRIM,1500.0
+RC5_DZ,30.0
+RC5_MAX,1900.0
+RC5_MIN,1100.0
+RC5_REVERSED,0.0
+RC5_TRIM,1500.0
+RC6_DZ,30.0
+RC6_MAX,1900.0
+RC6_MIN,1100.0
+RC6_REVERSED,0.0
+RC6_TRIM,1500.0
+RC7_DZ,0.0
+RC7_MAX,1900.0
+RC7_MIN,1100.0
+RC7_REVERSED,0.0
+RC7_TRIM,1500.0
+RC8_DZ,0.0
+RC8_MAX,1900.0
+RC8_MIN,1100.0
+RC8_REVERSED,0.0
+RC8_TRIM,1500.0
+RC9_DZ,0.0
+RC9_MAX,1900.0
+RC9_MIN,1100.0
+RC9_REVERSED,0.0
+RC9_TRIM,1500.0
+RC_OPTIONS,0.0
+RC_OVERRIDE_TIME,3.0
+RC_SPEED,200.0
+RELAY_DEFAULT,0.0
+RELAY_PIN,54.0
+RELAY_PIN2,55.0
+RELAY_PIN3,-1.0
+RELAY_PIN4,-1.0
+RELAY_PIN5,-1.0
+RELAY_PIN6,-1.0
+RNGFND1_ADDR,0.0
+RNGFND1_FUNCTION,0.0
+RNGFND1_GNDCLEAR,10.0
+RNGFND1_MAX_CM,700.0
+RNGFND1_MIN_CM,20.0
+RNGFND1_OFFSET,0.0
+RNGFND1_ORIENT,25.0
+RNGFND1_PIN,-1.0
+RNGFND1_POS_X,0.0
+RNGFND1_POS_Y,0.0
+RNGFND1_POS_Z,0.0
+RNGFND1_PWRRNG,0.0
+RNGFND1_RMETRIC,1.0
+RNGFND1_SCALING,3.0
+RNGFND1_STOP_PIN,-1.0
+RNGFND1_TYPE,10.0
+RNGFND2_ADDR,0.0
+RNGFND2_FUNCTION,0.0
+RNGFND2_GNDCLEAR,10.0
+RNGFND2_MAX_CM,700.0
+RNGFND2_MIN_CM,20.0
+RNGFND2_OFFSET,0.0
+RNGFND2_ORIENT,25.0
+RNGFND2_PIN,-1.0
+RNGFND2_POS_X,0.0
+RNGFND2_POS_Y,0.0
+RNGFND2_POS_Z,0.0
+RNGFND2_PWRRNG,0.0
+RNGFND2_RMETRIC,1.0
+RNGFND2_SCALING,3.0
+RNGFND2_STOP_PIN,-1.0
+RNGFND2_TYPE,0.0
+RNGFND3_ADDR,0.0
+RNGFND3_FUNCTION,0.0
+RNGFND3_GNDCLEAR,10.0
+RNGFND3_MAX_CM,700.0
+RNGFND3_MIN_CM,20.0
+RNGFND3_OFFSET,0.0
+RNGFND3_ORIENT,25.0
+RNGFND3_PIN,-1.0
+RNGFND3_POS_X,0.0
+RNGFND3_POS_Y,0.0
+RNGFND3_POS_Z,0.0
+RNGFND3_PWRRNG,0.0
+RNGFND3_RMETRIC,1.0
+RNGFND3_SCALING,3.0
+RNGFND3_STOP_PIN,-1.0
+RNGFND3_TYPE,0.0
+RNGFND4_ADDR,0.0
+RNGFND4_FUNCTION,0.0
+RNGFND4_GNDCLEAR,10.0
+RNGFND4_MAX_CM,700.0
+RNGFND4_MIN_CM,20.0
+RNGFND4_OFFSET,0.0
+RNGFND4_ORIENT,25.0
+RNGFND4_PIN,-1.0
+RNGFND4_POS_X,0.0
+RNGFND4_POS_Y,0.0
+RNGFND4_POS_Z,0.0
+RNGFND4_PWRRNG,0.0
+RNGFND4_RMETRIC,1.0
+RNGFND4_SCALING,3.0
+RNGFND4_STOP_PIN,-1.0
+RNGFND4_TYPE,0.0
+RNGFND5_ADDR,0.0
+RNGFND5_FUNCTION,0.0
+RNGFND5_GNDCLEAR,10.0
+RNGFND5_MAX_CM,700.0
+RNGFND5_MIN_CM,20.0
+RNGFND5_OFFSET,0.0
+RNGFND5_ORIENT,25.0
+RNGFND5_PIN,-1.0
+RNGFND5_POS_X,0.0
+RNGFND5_POS_Y,0.0
+RNGFND5_POS_Z,0.0
+RNGFND5_PWRRNG,0.0
+RNGFND5_RMETRIC,1.0
+RNGFND5_SCALING,3.0
+RNGFND5_STOP_PIN,-1.0
+RNGFND5_TYPE,0.0
+RNGFND6_ADDR,0.0
+RNGFND6_FUNCTION,0.0
+RNGFND6_GNDCLEAR,10.0
+RNGFND6_MAX_CM,700.0
+RNGFND6_MIN_CM,20.0
+RNGFND6_OFFSET,0.0
+RNGFND6_ORIENT,25.0
+RNGFND6_PIN,-1.0
+RNGFND6_POS_X,0.0
+RNGFND6_POS_Y,0.0
+RNGFND6_POS_Z,0.0
+RNGFND6_PWRRNG,0.0
+RNGFND6_RMETRIC,1.0
+RNGFND6_SCALING,3.0
+RNGFND6_STOP_PIN,-1.0
+RNGFND6_TYPE,0.0
+RNGFND7_ADDR,0.0
+RNGFND7_FUNCTION,0.0
+RNGFND7_GNDCLEAR,10.0
+RNGFND7_MAX_CM,700.0
+RNGFND7_MIN_CM,20.0
+RNGFND7_OFFSET,0.0
+RNGFND7_ORIENT,25.0
+RNGFND7_PIN,-1.0
+RNGFND7_POS_X,0.0
+RNGFND7_POS_Y,0.0
+RNGFND7_POS_Z,0.0
+RNGFND7_PWRRNG,0.0
+RNGFND7_RMETRIC,1.0
+RNGFND7_SCALING,3.0
+RNGFND7_STOP_PIN,-1.0
+RNGFND7_TYPE,0.0
+RNGFND8_ADDR,0.0
+RNGFND8_FUNCTION,0.0
+RNGFND8_GNDCLEAR,10.0
+RNGFND8_MAX_CM,700.0
+RNGFND8_MIN_CM,20.0
+RNGFND8_OFFSET,0.0
+RNGFND8_ORIENT,25.0
+RNGFND8_PIN,-1.0
+RNGFND8_POS_X,0.0
+RNGFND8_POS_Y,0.0
+RNGFND8_POS_Z,0.0
+RNGFND8_PWRRNG,0.0
+RNGFND8_RMETRIC,1.0
+RNGFND8_SCALING,3.0
+RNGFND8_STOP_PIN,-1.0
+RNGFND8_TYPE,0.0
+RNGFND9_ADDR,0.0
+RNGFND9_FUNCTION,0.0
+RNGFND9_GNDCLEAR,10.0
+RNGFND9_MAX_CM,700.0
+RNGFND9_MIN_CM,20.0
+RNGFND9_OFFSET,0.0
+RNGFND9_ORIENT,25.0
+RNGFND9_PIN,-1.0
+RNGFND9_POS_X,0.0
+RNGFND9_POS_Y,0.0
+RNGFND9_POS_Z,0.0
+RNGFND9_PWRRNG,0.0
+RNGFND9_RMETRIC,1.0
+RNGFND9_SCALING,3.0
+RNGFND9_STOP_PIN,-1.0
+RNGFND9_TYPE,0.0
+RNGFNDA_ADDR,0.0
+RNGFNDA_FUNCTION,0.0
+RNGFNDA_GNDCLEAR,10.0
+RNGFNDA_MAX_CM,700.0
+RNGFNDA_MIN_CM,20.0
+RNGFNDA_OFFSET,0.0
+RNGFNDA_ORIENT,25.0
+RNGFNDA_PIN,-1.0
+RNGFNDA_POS_X,0.0
+RNGFNDA_POS_Y,0.0
+RNGFNDA_POS_Z,0.0
+RNGFNDA_PWRRNG,0.0
+RNGFNDA_RMETRIC,1.0
+RNGFNDA_SCALING,3.0
+RNGFNDA_STOP_PIN,-1.0
+RNGFNDA_TYPE,0.0
+RNGFND_GAIN,0.800000011920929
+SCHED_DEBUG,0.0
+SCHED_LOOP_RATE,400.0
+SCR_ENABLE,0.0
+SERIAL0_BAUD,115.0
+SERIAL0_PROTOCOL,2.0
+SERIAL1_BAUD,57.0
+SERIAL1_OPTIONS,0.0
+SERIAL1_PROTOCOL,1.0
+SERIAL2_BAUD,57.0
+SERIAL2_OPTIONS,0.0
+SERIAL2_PROTOCOL,1.0
+SERIAL3_BAUD,38.0
+SERIAL3_OPTIONS,0.0
+SERIAL3_PROTOCOL,5.0
+SERIAL4_BAUD,38.0
+SERIAL4_OPTIONS,0.0
+SERIAL4_PROTOCOL,5.0
+SERIAL5_BAUD,57.0
+SERIAL5_OPTIONS,0.0
+SERIAL5_PROTOCOL,-1.0
+SERIAL6_BAUD,57.0
+SERIAL6_OPTIONS,0.0
+SERIAL6_PROTOCOL,-1.0
+SERIAL7_BAUD,57.0
+SERIAL7_OPTIONS,0.0
+SERIAL7_PROTOCOL,-1.0
+SERIAL_PASS1,0.0
+SERIAL_PASS2,-1.0
+SERIAL_PASSTIMO,15.0
+SERVO10_FUNCTION,7.0
+SERVO10_MAX,1900.0
+SERVO10_MIN,1100.0
+SERVO10_REVERSED,1.0
+SERVO10_TRIM,1500.0
+SERVO11_FUNCTION,0.0
+SERVO11_MAX,1900.0
+SERVO11_MIN,1100.0
+SERVO11_REVERSED,0.0
+SERVO11_TRIM,1500.0
+SERVO12_FUNCTION,0.0
+SERVO12_MAX,1900.0
+SERVO12_MIN,1100.0
+SERVO12_REVERSED,0.0
+SERVO12_TRIM,1500.0
+SERVO13_FUNCTION,0.0
+SERVO13_MAX,1900.0
+SERVO13_MIN,1100.0
+SERVO13_REVERSED,0.0
+SERVO13_TRIM,1500.0
+SERVO14_FUNCTION,0.0
+SERVO14_MAX,1900.0
+SERVO14_MIN,1100.0
+SERVO14_REVERSED,0.0
+SERVO14_TRIM,1500.0
+SERVO15_FUNCTION,0.0
+SERVO15_MAX,1900.0
+SERVO15_MIN,1100.0
+SERVO15_REVERSED,0.0
+SERVO15_TRIM,1500.0
+SERVO16_FUNCTION,0.0
+SERVO16_MAX,1900.0
+SERVO16_MIN,1100.0
+SERVO16_REVERSED,0.0
+SERVO16_TRIM,1500.0
+SERVO1_FUNCTION,33.0
+SERVO1_MAX,1900.0
+SERVO1_MIN,1100.0
+SERVO1_REVERSED,0.0
+SERVO1_TRIM,1500.0
+SERVO2_FUNCTION,34.0
+SERVO2_MAX,1900.0
+SERVO2_MIN,1100.0
+SERVO2_REVERSED,0.0
+SERVO2_TRIM,1500.0
+SERVO3_FUNCTION,35.0
+SERVO3_MAX,1900.0
+SERVO3_MIN,1100.0
+SERVO3_REVERSED,0.0
+SERVO3_TRIM,1500.0
+SERVO4_FUNCTION,36.0
+SERVO4_MAX,1900.0
+SERVO4_MIN,1100.0
+SERVO4_REVERSED,0.0
+SERVO4_TRIM,1500.0
+SERVO5_FUNCTION,37.0
+SERVO5_MAX,1900.0
+SERVO5_MIN,1100.0
+SERVO5_REVERSED,0.0
+SERVO5_TRIM,1500.0
+SERVO6_FUNCTION,38.0
+SERVO6_MAX,1900.0
+SERVO6_MIN,1100.0
+SERVO6_REVERSED,0.0
+SERVO6_TRIM,1500.0
+SERVO7_FUNCTION,39.0
+SERVO7_MAX,1900.0
+SERVO7_MIN,1100.0
+SERVO7_REVERSED,0.0
+SERVO7_TRIM,1500.0
+SERVO8_FUNCTION,40.0
+SERVO8_MAX,1900.0
+SERVO8_MIN,1100.0
+SERVO8_REVERSED,0.0
+SERVO8_TRIM,1500.0
+SERVO9_FUNCTION,59.0
+SERVO9_MAX,1900.0
+SERVO9_MIN,1100.0
+SERVO9_REVERSED,0.0
+SERVO9_TRIM,1500.0
+SERVO_BLH_DEBUG,0.0
+SERVO_BLH_MASK,0.0
+SERVO_BLH_OTYPE,0.0
+SERVO_BLH_POLES,14.0
+SERVO_BLH_PORT,0.0
+SERVO_BLH_REMASK,0.0
+SERVO_BLH_TEST,0.0
+SERVO_BLH_TMOUT,0.0
+SERVO_BLH_TRATE,10.0
+SERVO_RATE,50.0
+SERVO_ROB_POSMAX,4095.0
+SERVO_ROB_POSMIN,0.0
+SERVO_SBUS_RATE,50.0
+SERVO_VOLZ_MASK,0.0
+SR0_PARAMS,0.0
+SR1_EXTRA1,0.0
+SR1_EXTRA2,0.0
+SR1_EXTRA3,0.0
+SR1_EXT_STAT,0.0
+SR1_PARAMS,0.0
+SR1_POSITION,0.0
+SR1_RAW_SENS,0.0
+SR1_RC_CHAN,0.0
+SR2_EXTRA1,0.0
+SR2_EXTRA2,0.0
+SR2_EXTRA3,0.0
+SR2_EXT_STAT,0.0
+SR2_PARAMS,0.0
+SR2_POSITION,0.0
+SR2_RAW_SENS,0.0
+SR2_RC_CHAN,0.0
+SR3_EXTRA1,0.0
+SR3_EXTRA2,0.0
+SR3_EXTRA3,0.0
+SR3_EXT_STAT,0.0
+SR3_PARAMS,0.0
+SR3_POSITION,0.0
+SR3_RAW_SENS,0.0
+SR3_RC_CHAN,0.0
+SURFACE_DEPTH,-10.0
+SYSID_MYGCS,255.0
+SYSID_SW_MREV,1.0
+SYSID_THISMAV,1.0
+THR_DZ,100.0
+WPNAV_ACCEL,0.0
+WPNAV_ACCEL_Z,100.0
+WPNAV_RADIUS,200.0
+WPNAV_RFND_USE,1.0
+WPNAV_SPEED,500.0
+WPNAV_SPEED_DN,150.0
+WPNAV_SPEED_UP,250.0
+WP_YAW_BEHAVIOR,4.0
+XTRACK_ANG_LIM,45.0