diff --git a/Tools/Frame_params/Solo_AC35.param b/Tools/Frame_params/Solo_Copter-3.5_GreenCube.param
similarity index 95%
rename from Tools/Frame_params/Solo_AC35.param
rename to Tools/Frame_params/Solo_Copter-3.5_GreenCube.param
index 4c866fa0a5..3772aed74f 100644
--- a/Tools/Frame_params/Solo_AC35.param
+++ b/Tools/Frame_params/Solo_Copter-3.5_GreenCube.param
@@ -1,4 +1,4 @@
-# NOTE: 1/8/2018: Required parameters for a 3DR Solo with ArduCopter 3.5.  Not for use on ArduCopter 3.6!
+# 3DR Solo with Green Cube on Copter 3.5 only
 ACCEL_Z_I,1.5
 ACCEL_Z_P,0.75
 ACRO_RP_P,4
diff --git a/Tools/Frame_params/Solo_AC36.param b/Tools/Frame_params/Solo_Copter-3.6_GreenCube.param
similarity index 94%
rename from Tools/Frame_params/Solo_AC36.param
rename to Tools/Frame_params/Solo_Copter-3.6_GreenCube.param
index c8a8bb325e..17b56fc09c 100644
--- a/Tools/Frame_params/Solo_AC36.param
+++ b/Tools/Frame_params/Solo_Copter-3.6_GreenCube.param
@@ -1,7 +1,8 @@
-# NOTE: 8/3/2018: Required parameters for a 3DR Solo with ArduCopter 3.6. Not for use on ArduCopter 3.5!
+# 3DR Solo with Green Cube on Copter 3.6 only
 ACRO_RP_P,4
 ACRO_THR_MID,0.4
 ACRO_YAW_P,1
+ADSB_ENABLE,0
 AHRS_EKF_TYPE,3
 AHRS_ORIENTATION,12
 ANGLE_MAX,2000
@@ -25,6 +26,7 @@ ATC_RAT_YAW_I,0.05
 ATC_RAT_YAW_IMAX,0.222
 ATC_RAT_YAW_P,0.5
 ATC_SLEW_YAW,8000
+AVD_ENABLE,0
 BATT_CAPACITY,5200
 BATT_CRT_MAH,0
 BATT_CRT_VOLT,13
@@ -35,8 +37,8 @@ BATT_LOW_MAH,520
 BATT_LOW_TIMER,10
 BATT_LOW_VOLT,14
 BATT_MONITOR,5
-BRD_SAFETY_MASK,16368
 BRD_SAFETYENABLE,0
+BRD_SAFETY_MASK,16368
 CIRCLE_RADIUS,3000
 COMPASS_ORIENT,38
 COMPASS_ORIENT2,0
@@ -112,16 +114,13 @@ PILOT_TKOFF_ALT,214
 PILOT_TKOFF_DZ,250
 PSC_ACCZ_I,1.5
 PSC_ACCZ_P,0.75
-RC1_DZ,20
 RC1_MAX,2000
 RC1_MIN,1000
-RC2_DZ,20
 RC2_MAX,2000
 RC2_MIN,1000
 RC3_MAX,1890
 RC3_MIN,1008
 RC3_TRIM,1450
-RC4_DZ,20
 RC4_MAX,2000
 RC4_MIN,1000
 RC6_MAX,1520
@@ -142,9 +141,9 @@ SERVO4_FUNCTION,36
 SR1_RAW_CTRL,2
 SR3_PARAMS,10
 THR_DZ,10
-WP_YAW_BEHAVIOR,3
 WPNAV_LOIT_MAXA,229
 WPNAV_LOIT_MINA,108
 WPNAV_SPEED,300
 WPNAV_SPEED_DN,240
 WPNAV_SPEED_UP,320
+WP_YAW_BEHAVIOR,3
diff --git a/Tools/Frame_params/Solo_Copter-3.7_BlackCube.param b/Tools/Frame_params/Solo_Copter-3.7_BlackCube.param
new file mode 100644
index 0000000000..0b38efcdeb
--- /dev/null
+++ b/Tools/Frame_params/Solo_Copter-3.7_BlackCube.param
@@ -0,0 +1,140 @@
+# 3DR Solo with stock or black cube on Copter 3.7 only
+ACRO_RP_P,4
+ACRO_THR_MID,0.4
+ACRO_YAW_P,1
+AHRS_EKF_TYPE,3
+AHRS_GPS_USE,1
+AHRS_ORIENTATION,12
+AHRS_RP_P,0.21
+AHRS_YAW_P,0.21
+ANGLE_MAX,2000
+ARMING_CHECK,7166
+ATC_ACCEL_P_MAX,36000
+ATC_ACCEL_R_MAX,36000
+ATC_ACCEL_Y_MAX,7000
+ATC_ANG_PIT_P,8
+ATC_ANG_RLL_P,9.5
+ATC_ANG_YAW_P,7
+ATC_INPUT_TC,0.25
+ATC_RAT_PIT_D,0.0065
+ATC_RAT_PIT_I,0.08
+ATC_RAT_PIT_IMAX,0.666
+ATC_RAT_PIT_P,0.08
+ATC_RAT_RLL_D,0.0035
+ATC_RAT_RLL_I,0.085
+ATC_RAT_RLL_IMAX,0.666
+ATC_RAT_RLL_P,0.085
+ATC_RAT_YAW_FILT,7.6
+ATC_RAT_YAW_I,0.0594
+ATC_RAT_YAW_IMAX,0.222
+ATC_RAT_YAW_P,0.5949
+BATT_ARM_MAH,250
+BATT_ARM_VOLT,13.3
+BATT_CRT_MAH,250
+BATT_CRT_VOLT,13.3
+BATT_FS_CRT_ACT,2
+BATT_FS_LOW_ACT,2
+BATT_FS_VOLTSRC,1
+BATT_LOW_MAH,520
+BATT_LOW_TIMER,10
+BATT_LOW_VOLT,14
+BATT_MONITOR,5
+BRD_SAFETY_MASK,16368
+BRD_SAFETYENABLE,0
+CIRCLE_RADIUS,3000
+COMPASS_ORIENT,38
+COMPASS_TYPEMASK,15392
+COMPASS_USE3,0
+EK2_ENABLE,0
+EK3_ENABLE,1
+EK3_IMU_MASK,3
+FENCE_ACTION,0
+FENCE_ALT_MAX,122
+FENCE_ENABLE,1
+FENCE_RADIUS,0
+FENCE_TYPE,1
+FLTMODE1,5
+FLTMODE2,5
+FLTMODE3,5
+FLTMODE4,5
+FLTMODE5,5
+FLTMODE6,5
+FRAME_CLASS,1
+FRAME_TYPE,1
+FS_EKF_ACTION,2
+FS_THR_VALUE,950
+GPS_HDOP_GOOD,200
+GPS_NAVFILTER,6
+GPS_TYPE,1
+INS_ACC_BODYFIX,3
+INS_FAST_SAMPLE,3
+INS_TRIM_OPTION,2
+LAND_ALT_LOW,600
+LAND_SPEED,45
+LAND_SPEED_HIGH,220
+LOG_BACKEND_TYPE,3
+LOG_FILE_BUFSIZE,8
+LOG_FILE_DSRMROT,1
+LOIT_ACC_MAX,200
+LOIT_ANG_MAX,30
+LOIT_BRK_ACCEL,175
+LOIT_BRK_DELAY,0.25
+LOIT_SPEED,500
+MNT_ANGMAX_TIL,0
+MNT_ANGMIN_TIL,-9000
+MNT_RC_IN_TILT,6
+MNT_TYPE,2
+MOT_BAT_CURR_MAX,40
+MOT_BAT_VOLT_MAX,16.8
+MOT_BAT_VOLT_MIN,12
+MOT_PWM_MAX,1869
+MOT_PWM_MIN,1000
+MOT_SLEW_TIME,0.275
+MOT_SPIN_ARM,0.08
+MOT_SPIN_MIN,0.12
+MOT_THST_EXPO,0.8
+NTF_LED_TYPES,215
+NTF_OREO_THEME,1
+PHLD_BRAKE_ANGLE,2500
+PHLD_BRAKE_RATE,6
+PILOT_ACCEL_Z,100
+PILOT_SPEED_DN,133
+PILOT_SPEED_UP,133
+PILOT_THR_BHV,7
+PILOT_THR_FILT,2
+PILOT_TKOFF_ALT,214
+PILOT_TKOFF_DZ,250
+PSC_ACCZ_I,1.5
+PSC_ACCZ_P,0.75
+PSC_VELXY_I,0.51
+PSC_VELXY_P,1.41
+RC1_MAX,2000
+RC1_MIN,1000
+RC2_MAX,2000
+RC2_MIN,1000
+RC3_MAX,1890
+RC3_MIN,1008
+RC3_TRIM,1450
+RC4_MAX,2000
+RC4_MIN,1000
+RC6_MAX,1520
+RC6_MIN,1000
+RC6_TRIM,1000
+RC7_MAX,2000
+RC7_MIN,1000
+RTL_ALT,4500
+RTL_CLIMB_MIN,1000
+RTL_SPEED,800
+SERIAL1_BAUD,921
+SERIAL4_BAUD,230
+SERIAL4_PROTOCOL,1
+SERVO1_FUNCTION,33
+SERVO2_FUNCTION,34
+SERVO3_FUNCTION,35
+SERVO4_FUNCTION,36
+SR3_PARAMS,2
+THR_DZ,10
+WP_YAW_BEHAVIOR,3
+WPNAV_SPEED,300
+WPNAV_SPEED_DN,240
+WPNAV_SPEED_UP,320
diff --git a/Tools/Frame_params/Solo_Copter-3.7_GreenCube.param b/Tools/Frame_params/Solo_Copter-3.7_GreenCube.param
new file mode 100644
index 0000000000..bd7bf8d290
--- /dev/null
+++ b/Tools/Frame_params/Solo_Copter-3.7_GreenCube.param
@@ -0,0 +1,140 @@
+# 3DR Solo with Green Cube on Copter 3.7 only
+ACRO_RP_P,4
+ACRO_THR_MID,0.4
+ACRO_YAW_P,1
+AHRS_EKF_TYPE,3
+AHRS_GPS_USE,1
+AHRS_ORIENTATION,12
+AHRS_RP_P,0.21
+AHRS_YAW_P,0.21
+ANGLE_MAX,2000
+ARMING_CHECK,7166
+ATC_ACCEL_P_MAX,36000
+ATC_ACCEL_R_MAX,36000
+ATC_ACCEL_Y_MAX,7000
+ATC_ANG_PIT_P,10
+ATC_ANG_RLL_P,9
+ATC_ANG_YAW_P,6
+ATC_INPUT_TC,0.15
+ATC_RAT_PIT_D,0.006
+ATC_RAT_PIT_I,0.09
+ATC_RAT_PIT_IMAX,0.444
+ATC_RAT_PIT_P,0.167
+ATC_RAT_RLL_D,0.005
+ATC_RAT_RLL_I,0.12
+ATC_RAT_RLL_IMAX,0.444
+ATC_RAT_RLL_P,0.086
+ATC_RAT_YAW_FILT,5
+ATC_RAT_YAW_I,0.05
+ATC_RAT_YAW_IMAX,0.222
+ATC_RAT_YAW_P,0.5
+BATT_ARM_MAH,250
+BATT_ARM_VOLT,13.3
+BATT_CRT_MAH,250
+BATT_CRT_VOLT,13.3
+BATT_FS_CRT_ACT,2
+BATT_FS_LOW_ACT,2
+BATT_FS_VOLTSRC,1
+BATT_LOW_MAH,520
+BATT_LOW_TIMER,10
+BATT_LOW_VOLT,14
+BATT_MONITOR,5
+BRD_SAFETY_MASK,16368
+BRD_SAFETYENABLE,0
+CIRCLE_RADIUS,3000
+COMPASS_ORIENT,38
+COMPASS_TYPEMASK,15392
+COMPASS_USE3,0
+EK2_ENABLE,0
+EK3_ENABLE,1
+EK3_IMU_MASK,3
+FENCE_ACTION,0
+FENCE_ALT_MAX,122
+FENCE_ENABLE,1
+FENCE_RADIUS,0
+FENCE_TYPE,1
+FLTMODE1,5
+FLTMODE2,5
+FLTMODE3,5
+FLTMODE4,5
+FLTMODE5,5
+FLTMODE6,5
+FRAME_CLASS,1
+FRAME_TYPE,1
+FS_EKF_ACTION,2
+FS_THR_VALUE,950
+GPS_HDOP_GOOD,200
+GPS_NAVFILTER,6
+GPS_TYPE,1
+INS_ACC_BODYFIX,3
+INS_FAST_SAMPLE,3
+INS_TRIM_OPTION,2
+LAND_ALT_LOW,600
+LAND_SPEED,45
+LAND_SPEED_HIGH,220
+LOG_BACKEND_TYPE,3
+LOG_FILE_BUFSIZE,8
+LOG_FILE_DSRMROT,1
+LOIT_ACC_MAX,200
+LOIT_ANG_MAX,30
+LOIT_BRK_ACCEL,175
+LOIT_BRK_DELAY,0.25
+LOIT_SPEED,500
+MNT_ANGMAX_TIL,0
+MNT_ANGMIN_TIL,-9000
+MNT_RC_IN_TILT,6
+MNT_TYPE,2
+MOT_BAT_CURR_MAX,50
+MOT_BAT_VOLT_MAX,16.8
+MOT_BAT_VOLT_MIN,12
+MOT_PWM_MAX,1869
+MOT_PWM_MIN,1000
+MOT_SLEW_TIME,0
+MOT_SPIN_ARM,0.08
+MOT_SPIN_MIN,0.12
+MOT_THST_EXPO,0.8
+NTF_LED_TYPES,215
+NTF_OREO_THEME,1
+PHLD_BRAKE_ANGLE,2500
+PHLD_BRAKE_RATE,6
+PILOT_ACCEL_Z,100
+PILOT_SPEED_DN,133
+PILOT_SPEED_UP,133
+PILOT_THR_BHV,7
+PILOT_THR_FILT,2
+PILOT_TKOFF_ALT,214
+PILOT_TKOFF_DZ,250
+PSC_ACCZ_I,1.5
+PSC_ACCZ_P,0.75
+PSC_VELXY_I,0.51
+PSC_VELXY_P,1.41
+RC1_MAX,2000
+RC1_MIN,1000
+RC2_MAX,2000
+RC2_MIN,1000
+RC3_MAX,1890
+RC3_MIN,1008
+RC3_TRIM,1450
+RC4_MAX,2000
+RC4_MIN,1000
+RC6_MAX,1520
+RC6_MIN,1000
+RC6_TRIM,1000
+RC7_MAX,2000
+RC7_MIN,1000
+RTL_ALT,4500
+RTL_CLIMB_MIN,1000
+RTL_SPEED,800
+SERIAL1_BAUD,921
+SERIAL4_BAUD,230
+SERIAL4_PROTOCOL,1
+SERVO1_FUNCTION,33
+SERVO2_FUNCTION,34
+SERVO3_FUNCTION,35
+SERVO4_FUNCTION,36
+SR3_PARAMS,2
+THR_DZ,10
+WP_YAW_BEHAVIOR,3
+WPNAV_SPEED,300
+WPNAV_SPEED_DN,240
+WPNAV_SPEED_UP,320