diff --git a/src/modules/sensors/sensor_params_acc0.c b/src/modules/sensors/sensor_params_acc0.c
new file mode 100644
index 0000000000..1b0bdd130a
--- /dev/null
+++ b/src/modules/sensors/sensor_params_acc0.c
@@ -0,0 +1,89 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2012-2017 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * ID of the Accelerometer that the calibration is for.
+ *
+ * @group Sensor Calibration
+ */
+PARAM_DEFINE_INT32(CAL_ACC0_ID, 0);
+
+/**
+ * Accelerometer 0 enabled
+ *
+ * @boolean
+ * @group Sensor Calibration
+ */
+PARAM_DEFINE_INT32(CAL_ACC0_EN, 1);
+
+/**
+ * Accelerometer X-axis offset
+ *
+ * @group Sensor Calibration
+ */
+PARAM_DEFINE_FLOAT(CAL_ACC0_XOFF, 0.0f);
+
+/**
+ * Accelerometer Y-axis offset
+ *
+ * @group Sensor Calibration
+ */
+PARAM_DEFINE_FLOAT(CAL_ACC0_YOFF, 0.0f);
+
+/**
+ * Accelerometer Z-axis offset
+ *
+ * @group Sensor Calibration
+ */
+PARAM_DEFINE_FLOAT(CAL_ACC0_ZOFF, 0.0f);
+
+/**
+ * Accelerometer X-axis scaling factor
+ *
+ * @group Sensor Calibration
+ */
+PARAM_DEFINE_FLOAT(CAL_ACC0_XSCALE, 1.0f);
+
+/**
+ * Accelerometer Y-axis scaling factor
+ *
+ * @group Sensor Calibration
+ */
+PARAM_DEFINE_FLOAT(CAL_ACC0_YSCALE, 1.0f);
+
+/**
+ * Accelerometer Z-axis scaling factor
+ *
+ * @group Sensor Calibration
+ */
+PARAM_DEFINE_FLOAT(CAL_ACC0_ZSCALE, 1.0f);
diff --git a/src/modules/sensors/sensor_params_acc1.c b/src/modules/sensors/sensor_params_acc1.c
new file mode 100644
index 0000000000..faf82ebf9e
--- /dev/null
+++ b/src/modules/sensors/sensor_params_acc1.c
@@ -0,0 +1,89 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2012-2017 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * ID of the Accelerometer that the calibration is for.
+ *
+ * @group Sensor Calibration
+ */
+PARAM_DEFINE_INT32(CAL_ACC1_ID, 0);
+
+/**
+ * Accelerometer 1 enabled
+ *
+ * @boolean
+ * @group Sensor Calibration
+ */
+PARAM_DEFINE_INT32(CAL_ACC1_EN, 1);
+
+/**
+ * Accelerometer X-axis offset
+ *
+ * @group Sensor Calibration
+ */
+PARAM_DEFINE_FLOAT(CAL_ACC1_XOFF, 0.0f);
+
+/**
+ * Accelerometer Y-axis offset
+ *
+ * @group Sensor Calibration
+ */
+PARAM_DEFINE_FLOAT(CAL_ACC1_YOFF, 0.0f);
+
+/**
+ * Accelerometer Z-axis offset
+ *
+ * @group Sensor Calibration
+ */
+PARAM_DEFINE_FLOAT(CAL_ACC1_ZOFF, 0.0f);
+
+/**
+ * Accelerometer X-axis scaling factor
+ *
+ * @group Sensor Calibration
+ */
+PARAM_DEFINE_FLOAT(CAL_ACC1_XSCALE, 1.0f);
+
+/**
+ * Accelerometer Y-axis scaling factor
+ *
+ * @group Sensor Calibration
+ */
+PARAM_DEFINE_FLOAT(CAL_ACC1_YSCALE, 1.0f);
+
+/**
+ * Accelerometer Z-axis scaling factor
+ *
+ * @group Sensor Calibration
+ */
+PARAM_DEFINE_FLOAT(CAL_ACC1_ZSCALE, 1.0f);
diff --git a/src/modules/sensors/sensor_params_acc2.c b/src/modules/sensors/sensor_params_acc2.c
new file mode 100644
index 0000000000..6ca19227b8
--- /dev/null
+++ b/src/modules/sensors/sensor_params_acc2.c
@@ -0,0 +1,89 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2012-2017 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * ID of the Accelerometer that the calibration is for.
+ *
+ * @group Sensor Calibration
+ */
+PARAM_DEFINE_INT32(CAL_ACC2_ID, 0);
+
+/**
+ * Accelerometer 2 enabled
+ *
+ * @boolean
+ * @group Sensor Calibration
+ */
+PARAM_DEFINE_INT32(CAL_ACC2_EN, 1);
+
+/**
+ * Accelerometer X-axis offset
+ *
+ * @group Sensor Calibration
+ */
+PARAM_DEFINE_FLOAT(CAL_ACC2_XOFF, 0.0f);
+
+/**
+ * Accelerometer Y-axis offset
+ *
+ * @group Sensor Calibration
+ */
+PARAM_DEFINE_FLOAT(CAL_ACC2_YOFF, 0.0f);
+
+/**
+ * Accelerometer Z-axis offset
+ *
+ * @group Sensor Calibration
+ */
+PARAM_DEFINE_FLOAT(CAL_ACC2_ZOFF, 0.0f);
+
+/**
+ * Accelerometer X-axis scaling factor
+ *
+ * @group Sensor Calibration
+ */
+PARAM_DEFINE_FLOAT(CAL_ACC2_XSCALE, 1.0f);
+
+/**
+ * Accelerometer Y-axis scaling factor
+ *
+ * @group Sensor Calibration
+ */
+PARAM_DEFINE_FLOAT(CAL_ACC2_YSCALE, 1.0f);
+
+/**
+ * Accelerometer Z-axis scaling factor
+ *
+ * @group Sensor Calibration
+ */
+PARAM_DEFINE_FLOAT(CAL_ACC2_ZSCALE, 1.0f);
diff --git a/src/modules/sensors/sensor_params_accel.c b/src/modules/sensors/sensor_params_accel.c
index 5a46ad21c7..09b4c92cd9 100644
--- a/src/modules/sensors/sensor_params_accel.c
+++ b/src/modules/sensors/sensor_params_accel.c
@@ -37,174 +37,3 @@
  * @group Sensor Calibration
  */
 PARAM_DEFINE_INT32(CAL_ACC_PRIME, 0);
-
-/**
- * ID of the Accelerometer that the calibration is for.
- *
- * @group Sensor Calibration
- */
-PARAM_DEFINE_INT32(CAL_ACC0_ID, 0);
-
-/**
- * Accelerometer 0 enabled
- *
- * @boolean
- * @group Sensor Calibration
- */
-PARAM_DEFINE_INT32(CAL_ACC0_EN, 1);
-
-/**
- * Accelerometer X-axis offset
- *
- * @group Sensor Calibration
- */
-PARAM_DEFINE_FLOAT(CAL_ACC0_XOFF, 0.0f);
-
-/**
- * Accelerometer Y-axis offset
- *
- * @group Sensor Calibration
- */
-PARAM_DEFINE_FLOAT(CAL_ACC0_YOFF, 0.0f);
-
-/**
- * Accelerometer Z-axis offset
- *
- * @group Sensor Calibration
- */
-PARAM_DEFINE_FLOAT(CAL_ACC0_ZOFF, 0.0f);
-
-/**
- * Accelerometer X-axis scaling factor
- *
- * @group Sensor Calibration
- */
-PARAM_DEFINE_FLOAT(CAL_ACC0_XSCALE, 1.0f);
-
-/**
- * Accelerometer Y-axis scaling factor
- *
- * @group Sensor Calibration
- */
-PARAM_DEFINE_FLOAT(CAL_ACC0_YSCALE, 1.0f);
-
-/**
- * Accelerometer Z-axis scaling factor
- *
- * @group Sensor Calibration
- */
-PARAM_DEFINE_FLOAT(CAL_ACC0_ZSCALE, 1.0f);
-
-/**
- * ID of the Accelerometer that the calibration is for.
- *
- * @group Sensor Calibration
- */
-PARAM_DEFINE_INT32(CAL_ACC1_ID, 0);
-
-/**
- * Accelerometer 1 enabled
- *
- * @boolean
- * @group Sensor Calibration
- */
-PARAM_DEFINE_INT32(CAL_ACC1_EN, 1);
-
-/**
- * Accelerometer X-axis offset
- *
- * @group Sensor Calibration
- */
-PARAM_DEFINE_FLOAT(CAL_ACC1_XOFF, 0.0f);
-
-/**
- * Accelerometer Y-axis offset
- *
- * @group Sensor Calibration
- */
-PARAM_DEFINE_FLOAT(CAL_ACC1_YOFF, 0.0f);
-
-/**
- * Accelerometer Z-axis offset
- *
- * @group Sensor Calibration
- */
-PARAM_DEFINE_FLOAT(CAL_ACC1_ZOFF, 0.0f);
-
-/**
- * Accelerometer X-axis scaling factor
- *
- * @group Sensor Calibration
- */
-PARAM_DEFINE_FLOAT(CAL_ACC1_XSCALE, 1.0f);
-
-/**
- * Accelerometer Y-axis scaling factor
- *
- * @group Sensor Calibration
- */
-PARAM_DEFINE_FLOAT(CAL_ACC1_YSCALE, 1.0f);
-
-/**
- * Accelerometer Z-axis scaling factor
- *
- * @group Sensor Calibration
- */
-PARAM_DEFINE_FLOAT(CAL_ACC1_ZSCALE, 1.0f);
-
-/**
- * ID of the Accelerometer that the calibration is for.
- *
- * @group Sensor Calibration
- */
-PARAM_DEFINE_INT32(CAL_ACC2_ID, 0);
-
-/**
- * Accelerometer 2 enabled
- *
- * @boolean
- * @group Sensor Calibration
- */
-PARAM_DEFINE_INT32(CAL_ACC2_EN, 1);
-
-/**
- * Accelerometer X-axis offset
- *
- * @group Sensor Calibration
- */
-PARAM_DEFINE_FLOAT(CAL_ACC2_XOFF, 0.0f);
-
-/**
- * Accelerometer Y-axis offset
- *
- * @group Sensor Calibration
- */
-PARAM_DEFINE_FLOAT(CAL_ACC2_YOFF, 0.0f);
-
-/**
- * Accelerometer Z-axis offset
- *
- * @group Sensor Calibration
- */
-PARAM_DEFINE_FLOAT(CAL_ACC2_ZOFF, 0.0f);
-
-/**
- * Accelerometer X-axis scaling factor
- *
- * @group Sensor Calibration
- */
-PARAM_DEFINE_FLOAT(CAL_ACC2_XSCALE, 1.0f);
-
-/**
- * Accelerometer Y-axis scaling factor
- *
- * @group Sensor Calibration
- */
-PARAM_DEFINE_FLOAT(CAL_ACC2_YSCALE, 1.0f);
-
-/**
- * Accelerometer Z-axis scaling factor
- *
- * @group Sensor Calibration
- */
-PARAM_DEFINE_FLOAT(CAL_ACC2_ZSCALE, 1.0f);
diff --git a/src/modules/sensors/sensor_params_gyro.c b/src/modules/sensors/sensor_params_gyro.c
index a8d4a33dd6..1cd3c5a120 100644
--- a/src/modules/sensors/sensor_params_gyro.c
+++ b/src/modules/sensors/sensor_params_gyro.c
@@ -37,174 +37,3 @@
  * @group Sensor Calibration
  */
 PARAM_DEFINE_INT32(CAL_GYRO_PRIME, 0);
-
-/**
- * ID of the Gyro that the calibration is for.
- *
- * @group Sensor Calibration
- */
-PARAM_DEFINE_INT32(CAL_GYRO0_ID, 0);
-
-/**
- * Gyro 0 enabled
- *
- * @boolean
- * @group Sensor Calibration
- */
-PARAM_DEFINE_INT32(CAL_GYRO0_EN, 1);
-
-/**
- * Gyro X-axis offset
- *
- * @group Sensor Calibration
- */
-PARAM_DEFINE_FLOAT(CAL_GYRO0_XOFF, 0.0f);
-
-/**
- * Gyro Y-axis offset
- *
- * @group Sensor Calibration
- */
-PARAM_DEFINE_FLOAT(CAL_GYRO0_YOFF, 0.0f);
-
-/**
- * Gyro Z-axis offset
- *
- * @group Sensor Calibration
- */
-PARAM_DEFINE_FLOAT(CAL_GYRO0_ZOFF, 0.0f);
-
-/**
- * Gyro X-axis scaling factor
- *
- * @group Sensor Calibration
- */
-PARAM_DEFINE_FLOAT(CAL_GYRO0_XSCALE, 1.0f);
-
-/**
- * Gyro Y-axis scaling factor
- *
- * @group Sensor Calibration
- */
-PARAM_DEFINE_FLOAT(CAL_GYRO0_YSCALE, 1.0f);
-
-/**
- * Gyro Z-axis scaling factor
- *
- * @group Sensor Calibration
- */
-PARAM_DEFINE_FLOAT(CAL_GYRO0_ZSCALE, 1.0f);
-
-/**
- * ID of the Gyro that the calibration is for.
- *
- * @group Sensor Calibration
- */
-PARAM_DEFINE_INT32(CAL_GYRO1_ID, 0);
-
-/**
- * Gyro 1 enabled
- *
- * @boolean
- * @group Sensor Calibration
- */
-PARAM_DEFINE_INT32(CAL_GYRO1_EN, 1);
-
-/**
- * Gyro X-axis offset
- *
- * @group Sensor Calibration
- */
-PARAM_DEFINE_FLOAT(CAL_GYRO1_XOFF, 0.0f);
-
-/**
- * Gyro Y-axis offset
- *
- * @group Sensor Calibration
- */
-PARAM_DEFINE_FLOAT(CAL_GYRO1_YOFF, 0.0f);
-
-/**
- * Gyro Z-axis offset
- *
- * @group Sensor Calibration
- */
-PARAM_DEFINE_FLOAT(CAL_GYRO1_ZOFF, 0.0f);
-
-/**
- * Gyro X-axis scaling factor
- *
- * @group Sensor Calibration
- */
-PARAM_DEFINE_FLOAT(CAL_GYRO1_XSCALE, 1.0f);
-
-/**
- * Gyro Y-axis scaling factor
- *
- * @group Sensor Calibration
- */
-PARAM_DEFINE_FLOAT(CAL_GYRO1_YSCALE, 1.0f);
-
-/**
- * Gyro Z-axis scaling factor
- *
- * @group Sensor Calibration
- */
-PARAM_DEFINE_FLOAT(CAL_GYRO1_ZSCALE, 1.0f);
-
-/**
- * ID of the Gyro that the calibration is for.
- *
- * @group Sensor Calibration
- */
-PARAM_DEFINE_INT32(CAL_GYRO2_ID, 0);
-
-/**
- * Gyro 2 enabled
- *
- * @boolean
- * @group Sensor Calibration
- */
-PARAM_DEFINE_INT32(CAL_GYRO2_EN, 1);
-
-/**
- * Gyro X-axis offset
- *
- * @group Sensor Calibration
- */
-PARAM_DEFINE_FLOAT(CAL_GYRO2_XOFF, 0.0f);
-
-/**
- * Gyro Y-axis offset
- *
- * @group Sensor Calibration
- */
-PARAM_DEFINE_FLOAT(CAL_GYRO2_YOFF, 0.0f);
-
-/**
- * Gyro Z-axis offset
- *
- * @group Sensor Calibration
- */
-PARAM_DEFINE_FLOAT(CAL_GYRO2_ZOFF, 0.0f);
-
-/**
- * Gyro X-axis scaling factor
- *
- * @group Sensor Calibration
- */
-PARAM_DEFINE_FLOAT(CAL_GYRO2_XSCALE, 1.0f);
-
-/**
- * Gyro Y-axis scaling factor
- *
- * @group Sensor Calibration
- */
-PARAM_DEFINE_FLOAT(CAL_GYRO2_YSCALE, 1.0f);
-
-/**
- * Gyro Z-axis scaling factor
- *
- * @group Sensor Calibration
- */
-PARAM_DEFINE_FLOAT(CAL_GYRO2_ZSCALE, 1.0f);
diff --git a/src/modules/sensors/sensor_params_gyro0.c b/src/modules/sensors/sensor_params_gyro0.c
new file mode 100644
index 0000000000..1d2e750b0d
--- /dev/null
+++ b/src/modules/sensors/sensor_params_gyro0.c
@@ -0,0 +1,89 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2012-2017 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * ID of the Gyro that the calibration is for.
+ *
+ * @group Sensor Calibration
+ */
+PARAM_DEFINE_INT32(CAL_GYRO0_ID, 0);
+
+/**
+ * Gyro 0 enabled
+ *
+ * @boolean
+ * @group Sensor Calibration
+ */
+PARAM_DEFINE_INT32(CAL_GYRO0_EN, 1);
+
+/**
+ * Gyro X-axis offset
+ *
+ * @group Sensor Calibration
+ */
+PARAM_DEFINE_FLOAT(CAL_GYRO0_XOFF, 0.0f);
+
+/**
+ * Gyro Y-axis offset
+ *
+ * @group Sensor Calibration
+ */
+PARAM_DEFINE_FLOAT(CAL_GYRO0_YOFF, 0.0f);
+
+/**
+ * Gyro Z-axis offset
+ *
+ * @group Sensor Calibration
+ */
+PARAM_DEFINE_FLOAT(CAL_GYRO0_ZOFF, 0.0f);
+
+/**
+ * Gyro X-axis scaling factor
+ *
+ * @group Sensor Calibration
+ */
+PARAM_DEFINE_FLOAT(CAL_GYRO0_XSCALE, 1.0f);
+
+/**
+ * Gyro Y-axis scaling factor
+ *
+ * @group Sensor Calibration
+ */
+PARAM_DEFINE_FLOAT(CAL_GYRO0_YSCALE, 1.0f);
+
+/**
+ * Gyro Z-axis scaling factor
+ *
+ * @group Sensor Calibration
+ */
+PARAM_DEFINE_FLOAT(CAL_GYRO0_ZSCALE, 1.0f);
diff --git a/src/modules/sensors/sensor_params_gyro1.c b/src/modules/sensors/sensor_params_gyro1.c
new file mode 100644
index 0000000000..8cac4c87c8
--- /dev/null
+++ b/src/modules/sensors/sensor_params_gyro1.c
@@ -0,0 +1,89 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2012-2017 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * ID of the Gyro that the calibration is for.
+ *
+ * @group Sensor Calibration
+ */
+PARAM_DEFINE_INT32(CAL_GYRO1_ID, 0);
+
+/**
+ * Gyro 1 enabled
+ *
+ * @boolean
+ * @group Sensor Calibration
+ */
+PARAM_DEFINE_INT32(CAL_GYRO1_EN, 1);
+
+/**
+ * Gyro X-axis offset
+ *
+ * @group Sensor Calibration
+ */
+PARAM_DEFINE_FLOAT(CAL_GYRO1_XOFF, 0.0f);
+
+/**
+ * Gyro Y-axis offset
+ *
+ * @group Sensor Calibration
+ */
+PARAM_DEFINE_FLOAT(CAL_GYRO1_YOFF, 0.0f);
+
+/**
+ * Gyro Z-axis offset
+ *
+ * @group Sensor Calibration
+ */
+PARAM_DEFINE_FLOAT(CAL_GYRO1_ZOFF, 0.0f);
+
+/**
+ * Gyro X-axis scaling factor
+ *
+ * @group Sensor Calibration
+ */
+PARAM_DEFINE_FLOAT(CAL_GYRO1_XSCALE, 1.0f);
+
+/**
+ * Gyro Y-axis scaling factor
+ *
+ * @group Sensor Calibration
+ */
+PARAM_DEFINE_FLOAT(CAL_GYRO1_YSCALE, 1.0f);
+
+/**
+ * Gyro Z-axis scaling factor
+ *
+ * @group Sensor Calibration
+ */
+PARAM_DEFINE_FLOAT(CAL_GYRO1_ZSCALE, 1.0f);
diff --git a/src/modules/sensors/sensor_params_gyro2.c b/src/modules/sensors/sensor_params_gyro2.c
new file mode 100644
index 0000000000..761c57e15a
--- /dev/null
+++ b/src/modules/sensors/sensor_params_gyro2.c
@@ -0,0 +1,89 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2012-2017 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * ID of the Gyro that the calibration is for.
+ *
+ * @group Sensor Calibration
+ */
+PARAM_DEFINE_INT32(CAL_GYRO2_ID, 0);
+
+/**
+ * Gyro 2 enabled
+ *
+ * @boolean
+ * @group Sensor Calibration
+ */
+PARAM_DEFINE_INT32(CAL_GYRO2_EN, 1);
+
+/**
+ * Gyro X-axis offset
+ *
+ * @group Sensor Calibration
+ */
+PARAM_DEFINE_FLOAT(CAL_GYRO2_XOFF, 0.0f);
+
+/**
+ * Gyro Y-axis offset
+ *
+ * @group Sensor Calibration
+ */
+PARAM_DEFINE_FLOAT(CAL_GYRO2_YOFF, 0.0f);
+
+/**
+ * Gyro Z-axis offset
+ *
+ * @group Sensor Calibration
+ */
+PARAM_DEFINE_FLOAT(CAL_GYRO2_ZOFF, 0.0f);
+
+/**
+ * Gyro X-axis scaling factor
+ *
+ * @group Sensor Calibration
+ */
+PARAM_DEFINE_FLOAT(CAL_GYRO2_XSCALE, 1.0f);
+
+/**
+ * Gyro Y-axis scaling factor
+ *
+ * @group Sensor Calibration
+ */
+PARAM_DEFINE_FLOAT(CAL_GYRO2_YSCALE, 1.0f);
+
+/**
+ * Gyro Z-axis scaling factor
+ *
+ * @group Sensor Calibration
+ */
+PARAM_DEFINE_FLOAT(CAL_GYRO2_ZSCALE, 1.0f);
diff --git a/src/modules/sensors/sensor_params_mag.c b/src/modules/sensors/sensor_params_mag.c
index 056e22acd7..88098d5cde 100644
--- a/src/modules/sensors/sensor_params_mag.c
+++ b/src/modules/sensors/sensor_params_mag.c
@@ -56,408 +56,3 @@ PARAM_DEFINE_INT32(CAL_MAG_PRIME, 0);
  * @group Sensor Calibration
  */
 PARAM_DEFINE_INT32(CAL_MAG_SIDES, 63);
-
-
-/**
- * ID of Magnetometer the calibration is for.
- *
- * @group Sensor Calibration
- */
-PARAM_DEFINE_INT32(CAL_MAG0_ID, 0);
-
-/**
- * Mag 0 enabled
- *
- * @boolean
- * @group Sensor Calibration
- */
-PARAM_DEFINE_INT32(CAL_MAG0_EN, 1);
-
-/**
- * Rotation of magnetometer 0 relative to airframe.
- *
- * An internal magnetometer will force a value of -1, so a GCS
- * should only attempt to configure the rotation if the value is
- * greater than or equal to zero.
- *
- * @value -1 Internal mag
- * @value 0 No rotation
- * @value 1 Yaw 45°
- * @value 2 Yaw 90°
- * @value 3 Yaw 135°
- * @value 4 Yaw 180°
- * @value 5 Yaw 225°
- * @value 6 Yaw 270°
- * @value 7 Yaw 315°
- * @value 8 Roll 180°
- * @value 9 Roll 180°, Yaw 45°
- * @value 10 Roll 180°, Yaw 90°
- * @value 11 Roll 180°, Yaw 135°
- * @value 12 Pitch 180°
- * @value 13 Roll 180°, Yaw 225°
- * @value 14 Roll 180°, Yaw 270°
- * @value 15 Roll 180°, Yaw 315°
- * @value 16 Roll 90°
- * @value 17 Roll 90°, Yaw 45°
- * @value 18 Roll 90°, Yaw 90°
- * @value 19 Roll 90°, Yaw 135°
- * @value 20 Roll 270°
- * @value 21 Roll 270°, Yaw 45°
- * @value 22 Roll 270°, Yaw 90°
- * @value 23 Roll 270°, Yaw 135°
- * @value 24 Pitch 90°
- * @value 25 Pitch 270°
- *
- * @min -1
- * @max 30
- * @reboot_required true
- * @group Sensor Calibration
- */
-PARAM_DEFINE_INT32(CAL_MAG0_ROT, -1);
-
-/**
- * Magnetometer X-axis offset
- *
- * @group Sensor Calibration
- */
-PARAM_DEFINE_FLOAT(CAL_MAG0_XOFF, 0.0f);
-
-/**
- * Magnetometer Y-axis offset
- *
- * @group Sensor Calibration
- */
-PARAM_DEFINE_FLOAT(CAL_MAG0_YOFF, 0.0f);
-
-/**
- * Magnetometer Z-axis offset
- *
- * @group Sensor Calibration
- */
-PARAM_DEFINE_FLOAT(CAL_MAG0_ZOFF, 0.0f);
-
-/**
- * Magnetometer X-axis scaling factor
- *
- * @group Sensor Calibration
- */
-PARAM_DEFINE_FLOAT(CAL_MAG0_XSCALE, 1.0f);
-
-/**
- * Magnetometer Y-axis scaling factor
- *
- * @group Sensor Calibration
- */
-PARAM_DEFINE_FLOAT(CAL_MAG0_YSCALE, 1.0f);
-
-/**
- * Magnetometer Z-axis scaling factor
- *
- * @group Sensor Calibration
- */
-PARAM_DEFINE_FLOAT(CAL_MAG0_ZSCALE, 1.0f);
-
-/**
- * ID of Magnetometer the calibration is for.
- *
- * @group Sensor Calibration
- */
-PARAM_DEFINE_INT32(CAL_MAG1_ID, 0);
-
-/**
- * Mag 1 enabled
- *
- * @boolean
- * @group Sensor Calibration
- */
-PARAM_DEFINE_INT32(CAL_MAG1_EN, 1);
-
-/**
- * Rotation of magnetometer 1 relative to airframe.
- *
- * An internal magnetometer will force a value of -1, so a GCS
- * should only attempt to configure the rotation if the value is
- * greater than or equal to zero.
- *
- * @value -1 Internal mag
- * @value 0 No rotation
- * @value 1 Yaw 45°
- * @value 2 Yaw 90°
- * @value 3 Yaw 135°
- * @value 4 Yaw 180°
- * @value 5 Yaw 225°
- * @value 6 Yaw 270°
- * @value 7 Yaw 315°
- * @value 8 Roll 180°
- * @value 9 Roll 180°, Yaw 45°
- * @value 10 Roll 180°, Yaw 90°
- * @value 11 Roll 180°, Yaw 135°
- * @value 12 Pitch 180°
- * @value 13 Roll 180°, Yaw 225°
- * @value 14 Roll 180°, Yaw 270°
- * @value 15 Roll 180°, Yaw 315°
- * @value 16 Roll 90°
- * @value 17 Roll 90°, Yaw 45°
- * @value 18 Roll 90°, Yaw 90°
- * @value 19 Roll 90°, Yaw 135°
- * @value 20 Roll 270°
- * @value 21 Roll 270°, Yaw 45°
- * @value 22 Roll 270°, Yaw 90°
- * @value 23 Roll 270°, Yaw 135°
- * @value 24 Pitch 90°
- * @value 25 Pitch 270°
- *
- * @min -1
- * @max 30
- * @reboot_required true
- * @group Sensor Calibration
- */
-PARAM_DEFINE_INT32(CAL_MAG1_ROT, -1);
-
-/**
- * Magnetometer X-axis offset
- *
- * @group Sensor Calibration
- */
-PARAM_DEFINE_FLOAT(CAL_MAG1_XOFF, 0.0f);
-
-/**
- * Magnetometer Y-axis offset
- *
- * @group Sensor Calibration
- */
-PARAM_DEFINE_FLOAT(CAL_MAG1_YOFF, 0.0f);
-
-/**
- * Magnetometer Z-axis offset
- *
- * @group Sensor Calibration
- */
-PARAM_DEFINE_FLOAT(CAL_MAG1_ZOFF, 0.0f);
-
-/**
- * Magnetometer X-axis scaling factor
- *
- * @group Sensor Calibration
- */
-PARAM_DEFINE_FLOAT(CAL_MAG1_XSCALE, 1.0f);
-
-/**
- * Magnetometer Y-axis scaling factor
- *
- * @group Sensor Calibration
- */
-PARAM_DEFINE_FLOAT(CAL_MAG1_YSCALE, 1.0f);
-
-/**
- * Magnetometer Z-axis scaling factor
- *
- * @group Sensor Calibration
- */
-PARAM_DEFINE_FLOAT(CAL_MAG1_ZSCALE, 1.0f);
-
-/**
- * ID of Magnetometer the calibration is for.
- *
- * @group Sensor Calibration
- */
-PARAM_DEFINE_INT32(CAL_MAG2_ID, 0);
-
-/**
- * Mag 2 enabled
- *
- * @boolean
- * @group Sensor Calibration
- */
-PARAM_DEFINE_INT32(CAL_MAG2_EN, 1);
-
-/**
- * Rotation of magnetometer 2 relative to airframe.
- *
- * An internal magnetometer will force a value of -1, so a GCS
- * should only attempt to configure the rotation if the value is
- * greater than or equal to zero.
- *
- * @value -1 Internal mag
- * @value 0 No rotation
- * @value 1 Yaw 45°
- * @value 2 Yaw 90°
- * @value 3 Yaw 135°
- * @value 4 Yaw 180°
- * @value 5 Yaw 225°
- * @value 6 Yaw 270°
- * @value 7 Yaw 315°
- * @value 8 Roll 180°
- * @value 9 Roll 180°, Yaw 45°
- * @value 10 Roll 180°, Yaw 90°
- * @value 11 Roll 180°, Yaw 135°
- * @value 12 Pitch 180°
- * @value 13 Roll 180°, Yaw 225°
- * @value 14 Roll 180°, Yaw 270°
- * @value 15 Roll 180°, Yaw 315°
- * @value 16 Roll 90°
- * @value 17 Roll 90°, Yaw 45°
- * @value 18 Roll 90°, Yaw 90°
- * @value 19 Roll 90°, Yaw 135°
- * @value 20 Roll 270°
- * @value 21 Roll 270°, Yaw 45°
- * @value 22 Roll 270°, Yaw 90°
- * @value 23 Roll 270°, Yaw 135°
- * @value 24 Pitch 90°
- * @value 25 Pitch 270°
- *
- * @min -1
- * @max 30
- * @reboot_required true
- * @group Sensor Calibration
- */
-PARAM_DEFINE_INT32(CAL_MAG2_ROT, -1);
-
-/**
- * Magnetometer X-axis offset
- *
- * @group Sensor Calibration
- */
-PARAM_DEFINE_FLOAT(CAL_MAG2_XOFF, 0.0f);
-
-/**
- * Magnetometer Y-axis offset
- *
- * @group Sensor Calibration
- */
-PARAM_DEFINE_FLOAT(CAL_MAG2_YOFF, 0.0f);
-
-/**
- * Magnetometer Z-axis offset
- *
- * @min -500.0
- * @max 500.0
- * @group Sensor Calibration
- */
-PARAM_DEFINE_FLOAT(CAL_MAG2_ZOFF, 0.0f);
-
-/**
- * Magnetometer X-axis scaling factor
- *
- * @group Sensor Calibration
- */
-PARAM_DEFINE_FLOAT(CAL_MAG2_XSCALE, 1.0f);
-
-/**
- * Magnetometer Y-axis scaling factor
- *
- * @group Sensor Calibration
- */
-PARAM_DEFINE_FLOAT(CAL_MAG2_YSCALE, 1.0f);
-
-/**
- * Magnetometer Z-axis scaling factor
- *
- * @group Sensor Calibration
- */
-PARAM_DEFINE_FLOAT(CAL_MAG2_ZSCALE, 1.0f);
-
-/**
- * ID of Magnetometer the calibration is for.
- *
- * @group Sensor Calibration
- */
-PARAM_DEFINE_INT32(CAL_MAG3_ID, 0);
-
-/**
- * Mag 3 enabled
- *
- * @boolean
- * @group Sensor Calibration
- */
-PARAM_DEFINE_INT32(CAL_MAG3_EN, 1);
-
-/**
- * Rotation of magnetometer 2 relative to airframe.
- *
- * An internal magnetometer will force a value of -1, so a GCS
- * should only attempt to configure the rotation if the value is
- * greater than or equal to zero.
- *
- * @value -1 Internal mag
- * @value 0 No rotation
- * @value 1 Yaw 45°
- * @value 2 Yaw 90°
- * @value 3 Yaw 135°
- * @value 4 Yaw 180°
- * @value 5 Yaw 225°
- * @value 6 Yaw 270°
- * @value 7 Yaw 315°
- * @value 8 Roll 180°
- * @value 9 Roll 180°, Yaw 45°
- * @value 10 Roll 180°, Yaw 90°
- * @value 11 Roll 180°, Yaw 135°
- * @value 12 Pitch 180°
- * @value 13 Roll 180°, Yaw 225°
- * @value 14 Roll 180°, Yaw 270°
- * @value 15 Roll 180°, Yaw 315°
- * @value 16 Roll 90°
- * @value 17 Roll 90°, Yaw 45°
- * @value 18 Roll 90°, Yaw 90°
- * @value 19 Roll 90°, Yaw 135°
- * @value 20 Roll 270°
- * @value 21 Roll 270°, Yaw 45°
- * @value 22 Roll 270°, Yaw 90°
- * @value 23 Roll 270°, Yaw 135°
- * @value 24 Pitch 90°
- * @value 25 Pitch 270°
- *
- * @min -1
- * @max 30
- * @reboot_required true
- * @group Sensor Calibration
- */
-PARAM_DEFINE_INT32(CAL_MAG3_ROT, -1);
-
-/**
- * Magnetometer X-axis offset
- *
- * @min -500.0
- * @max 500.0
- * @group Sensor Calibration
- */
-PARAM_DEFINE_FLOAT(CAL_MAG3_XOFF, 0.0f);
-
-/**
- * Magnetometer Y-axis offset
- *
- * @min -500.0
- * @max 500.0
- * @group Sensor Calibration
- */
-PARAM_DEFINE_FLOAT(CAL_MAG3_YOFF, 0.0f);
-
-/**
- * Magnetometer Z-axis offset
- *
- * @min -500.0
- * @max 500.0
- * @group Sensor Calibration
- */
-PARAM_DEFINE_FLOAT(CAL_MAG3_ZOFF, 0.0f);
-
-/**
- * Magnetometer X-axis scaling factor
- *
- * @group Sensor Calibration
- */
-PARAM_DEFINE_FLOAT(CAL_MAG3_XSCALE, 1.0f);
-
-/**
- * Magnetometer Y-axis scaling factor
- *
- * @group Sensor Calibration
- */
-PARAM_DEFINE_FLOAT(CAL_MAG3_YSCALE, 1.0f);
-
-/**
- * Magnetometer Z-axis scaling factor
- *
- * @group Sensor Calibration
- */
-PARAM_DEFINE_FLOAT(CAL_MAG3_ZSCALE, 1.0f);
diff --git a/src/modules/sensors/sensor_params_mag0.c b/src/modules/sensors/sensor_params_mag0.c
new file mode 100644
index 0000000000..d4ed0981c2
--- /dev/null
+++ b/src/modules/sensors/sensor_params_mag0.c
@@ -0,0 +1,131 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2012-2017 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * ID of Magnetometer the calibration is for.
+ *
+ * @group Sensor Calibration
+ */
+PARAM_DEFINE_INT32(CAL_MAG0_ID, 0);
+
+/**
+ * Mag 0 enabled
+ *
+ * @boolean
+ * @group Sensor Calibration
+ */
+PARAM_DEFINE_INT32(CAL_MAG0_EN, 1);
+
+/**
+ * Rotation of magnetometer 0 relative to airframe.
+ *
+ * An internal magnetometer will force a value of -1, so a GCS
+ * should only attempt to configure the rotation if the value is
+ * greater than or equal to zero.
+ *
+ * @value -1 Internal mag
+ * @value 0 No rotation
+ * @value 1 Yaw 45°
+ * @value 2 Yaw 90°
+ * @value 3 Yaw 135°
+ * @value 4 Yaw 180°
+ * @value 5 Yaw 225°
+ * @value 6 Yaw 270°
+ * @value 7 Yaw 315°
+ * @value 8 Roll 180°
+ * @value 9 Roll 180°, Yaw 45°
+ * @value 10 Roll 180°, Yaw 90°
+ * @value 11 Roll 180°, Yaw 135°
+ * @value 12 Pitch 180°
+ * @value 13 Roll 180°, Yaw 225°
+ * @value 14 Roll 180°, Yaw 270°
+ * @value 15 Roll 180°, Yaw 315°
+ * @value 16 Roll 90°
+ * @value 17 Roll 90°, Yaw 45°
+ * @value 18 Roll 90°, Yaw 90°
+ * @value 19 Roll 90°, Yaw 135°
+ * @value 20 Roll 270°
+ * @value 21 Roll 270°, Yaw 45°
+ * @value 22 Roll 270°, Yaw 90°
+ * @value 23 Roll 270°, Yaw 135°
+ * @value 24 Pitch 90°
+ * @value 25 Pitch 270°
+ *
+ * @min -1
+ * @max 30
+ * @reboot_required true
+ * @group Sensor Calibration
+ */
+PARAM_DEFINE_INT32(CAL_MAG0_ROT, -1);
+
+/**
+ * Magnetometer X-axis offset
+ *
+ * @group Sensor Calibration
+ */
+PARAM_DEFINE_FLOAT(CAL_MAG0_XOFF, 0.0f);
+
+/**
+ * Magnetometer Y-axis offset
+ *
+ * @group Sensor Calibration
+ */
+PARAM_DEFINE_FLOAT(CAL_MAG0_YOFF, 0.0f);
+
+/**
+ * Magnetometer Z-axis offset
+ *
+ * @group Sensor Calibration
+ */
+PARAM_DEFINE_FLOAT(CAL_MAG0_ZOFF, 0.0f);
+
+/**
+ * Magnetometer X-axis scaling factor
+ *
+ * @group Sensor Calibration
+ */
+PARAM_DEFINE_FLOAT(CAL_MAG0_XSCALE, 1.0f);
+
+/**
+ * Magnetometer Y-axis scaling factor
+ *
+ * @group Sensor Calibration
+ */
+PARAM_DEFINE_FLOAT(CAL_MAG0_YSCALE, 1.0f);
+
+/**
+ * Magnetometer Z-axis scaling factor
+ *
+ * @group Sensor Calibration
+ */
+PARAM_DEFINE_FLOAT(CAL_MAG0_ZSCALE, 1.0f);
diff --git a/src/modules/sensors/sensor_params_mag1.c b/src/modules/sensors/sensor_params_mag1.c
new file mode 100644
index 0000000000..bb7900380a
--- /dev/null
+++ b/src/modules/sensors/sensor_params_mag1.c
@@ -0,0 +1,131 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2012-2017 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * ID of Magnetometer the calibration is for.
+ *
+ * @group Sensor Calibration
+ */
+PARAM_DEFINE_INT32(CAL_MAG1_ID, 0);
+
+/**
+ * Mag 1 enabled
+ *
+ * @boolean
+ * @group Sensor Calibration
+ */
+PARAM_DEFINE_INT32(CAL_MAG1_EN, 1);
+
+/**
+ * Rotation of magnetometer 1 relative to airframe.
+ *
+ * An internal magnetometer will force a value of -1, so a GCS
+ * should only attempt to configure the rotation if the value is
+ * greater than or equal to zero.
+ *
+ * @value -1 Internal mag
+ * @value 0 No rotation
+ * @value 1 Yaw 45°
+ * @value 2 Yaw 90°
+ * @value 3 Yaw 135°
+ * @value 4 Yaw 180°
+ * @value 5 Yaw 225°
+ * @value 6 Yaw 270°
+ * @value 7 Yaw 315°
+ * @value 8 Roll 180°
+ * @value 9 Roll 180°, Yaw 45°
+ * @value 10 Roll 180°, Yaw 90°
+ * @value 11 Roll 180°, Yaw 135°
+ * @value 12 Pitch 180°
+ * @value 13 Roll 180°, Yaw 225°
+ * @value 14 Roll 180°, Yaw 270°
+ * @value 15 Roll 180°, Yaw 315°
+ * @value 16 Roll 90°
+ * @value 17 Roll 90°, Yaw 45°
+ * @value 18 Roll 90°, Yaw 90°
+ * @value 19 Roll 90°, Yaw 135°
+ * @value 20 Roll 270°
+ * @value 21 Roll 270°, Yaw 45°
+ * @value 22 Roll 270°, Yaw 90°
+ * @value 23 Roll 270°, Yaw 135°
+ * @value 24 Pitch 90°
+ * @value 25 Pitch 270°
+ *
+ * @min -1
+ * @max 30
+ * @reboot_required true
+ * @group Sensor Calibration
+ */
+PARAM_DEFINE_INT32(CAL_MAG1_ROT, -1);
+
+/**
+ * Magnetometer X-axis offset
+ *
+ * @group Sensor Calibration
+ */
+PARAM_DEFINE_FLOAT(CAL_MAG1_XOFF, 0.0f);
+
+/**
+ * Magnetometer Y-axis offset
+ *
+ * @group Sensor Calibration
+ */
+PARAM_DEFINE_FLOAT(CAL_MAG1_YOFF, 0.0f);
+
+/**
+ * Magnetometer Z-axis offset
+ *
+ * @group Sensor Calibration
+ */
+PARAM_DEFINE_FLOAT(CAL_MAG1_ZOFF, 0.0f);
+
+/**
+ * Magnetometer X-axis scaling factor
+ *
+ * @group Sensor Calibration
+ */
+PARAM_DEFINE_FLOAT(CAL_MAG1_XSCALE, 1.0f);
+
+/**
+ * Magnetometer Y-axis scaling factor
+ *
+ * @group Sensor Calibration
+ */
+PARAM_DEFINE_FLOAT(CAL_MAG1_YSCALE, 1.0f);
+
+/**
+ * Magnetometer Z-axis scaling factor
+ *
+ * @group Sensor Calibration
+ */
+PARAM_DEFINE_FLOAT(CAL_MAG1_ZSCALE, 1.0f);
diff --git a/src/modules/sensors/sensor_params_mag2.c b/src/modules/sensors/sensor_params_mag2.c
new file mode 100644
index 0000000000..0a3bbdd26d
--- /dev/null
+++ b/src/modules/sensors/sensor_params_mag2.c
@@ -0,0 +1,131 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2012-2017 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * ID of Magnetometer the calibration is for.
+ *
+ * @group Sensor Calibration
+ */
+PARAM_DEFINE_INT32(CAL_MAG2_ID, 0);
+
+/**
+ * Mag 2 enabled
+ *
+ * @boolean
+ * @group Sensor Calibration
+ */
+PARAM_DEFINE_INT32(CAL_MAG2_EN, 1);
+
+/**
+ * Rotation of magnetometer 2 relative to airframe.
+ *
+ * An internal magnetometer will force a value of -1, so a GCS
+ * should only attempt to configure the rotation if the value is
+ * greater than or equal to zero.
+ *
+ * @value -1 Internal mag
+ * @value 0 No rotation
+ * @value 1 Yaw 45°
+ * @value 2 Yaw 90°
+ * @value 3 Yaw 135°
+ * @value 4 Yaw 180°
+ * @value 5 Yaw 225°
+ * @value 6 Yaw 270°
+ * @value 7 Yaw 315°
+ * @value 8 Roll 180°
+ * @value 9 Roll 180°, Yaw 45°
+ * @value 10 Roll 180°, Yaw 90°
+ * @value 11 Roll 180°, Yaw 135°
+ * @value 12 Pitch 180°
+ * @value 13 Roll 180°, Yaw 225°
+ * @value 14 Roll 180°, Yaw 270°
+ * @value 15 Roll 180°, Yaw 315°
+ * @value 16 Roll 90°
+ * @value 17 Roll 90°, Yaw 45°
+ * @value 18 Roll 90°, Yaw 90°
+ * @value 19 Roll 90°, Yaw 135°
+ * @value 20 Roll 270°
+ * @value 21 Roll 270°, Yaw 45°
+ * @value 22 Roll 270°, Yaw 90°
+ * @value 23 Roll 270°, Yaw 135°
+ * @value 24 Pitch 90°
+ * @value 25 Pitch 270°
+ *
+ * @min -1
+ * @max 30
+ * @reboot_required true
+ * @group Sensor Calibration
+ */
+PARAM_DEFINE_INT32(CAL_MAG2_ROT, -1);
+
+/**
+ * Magnetometer X-axis offset
+ *
+ * @group Sensor Calibration
+ */
+PARAM_DEFINE_FLOAT(CAL_MAG2_XOFF, 0.0f);
+
+/**
+ * Magnetometer Y-axis offset
+ *
+ * @group Sensor Calibration
+ */
+PARAM_DEFINE_FLOAT(CAL_MAG2_YOFF, 0.0f);
+
+/**
+ * Magnetometer Z-axis offset
+ *
+ * @group Sensor Calibration
+ */
+PARAM_DEFINE_FLOAT(CAL_MAG2_ZOFF, 0.0f);
+
+/**
+ * Magnetometer X-axis scaling factor
+ *
+ * @group Sensor Calibration
+ */
+PARAM_DEFINE_FLOAT(CAL_MAG2_XSCALE, 1.0f);
+
+/**
+ * Magnetometer Y-axis scaling factor
+ *
+ * @group Sensor Calibration
+ */
+PARAM_DEFINE_FLOAT(CAL_MAG2_YSCALE, 1.0f);
+
+/**
+ * Magnetometer Z-axis scaling factor
+ *
+ * @group Sensor Calibration
+ */
+PARAM_DEFINE_FLOAT(CAL_MAG2_ZSCALE, 1.0f);
diff --git a/src/modules/sensors/sensor_params_mag3.c b/src/modules/sensors/sensor_params_mag3.c
new file mode 100644
index 0000000000..3824cbbed6
--- /dev/null
+++ b/src/modules/sensors/sensor_params_mag3.c
@@ -0,0 +1,131 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2012-2017 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * ID of Magnetometer the calibration is for.
+ *
+ * @group Sensor Calibration
+ */
+PARAM_DEFINE_INT32(CAL_MAG3_ID, 0);
+
+/**
+ * Mag 3 enabled
+ *
+ * @boolean
+ * @group Sensor Calibration
+ */
+PARAM_DEFINE_INT32(CAL_MAG3_EN, 1);
+
+/**
+ * Rotation of magnetometer 2 relative to airframe.
+ *
+ * An internal magnetometer will force a value of -1, so a GCS
+ * should only attempt to configure the rotation if the value is
+ * greater than or equal to zero.
+ *
+ * @value -1 Internal mag
+ * @value 0 No rotation
+ * @value 1 Yaw 45°
+ * @value 2 Yaw 90°
+ * @value 3 Yaw 135°
+ * @value 4 Yaw 180°
+ * @value 5 Yaw 225°
+ * @value 6 Yaw 270°
+ * @value 7 Yaw 315°
+ * @value 8 Roll 180°
+ * @value 9 Roll 180°, Yaw 45°
+ * @value 10 Roll 180°, Yaw 90°
+ * @value 11 Roll 180°, Yaw 135°
+ * @value 12 Pitch 180°
+ * @value 13 Roll 180°, Yaw 225°
+ * @value 14 Roll 180°, Yaw 270°
+ * @value 15 Roll 180°, Yaw 315°
+ * @value 16 Roll 90°
+ * @value 17 Roll 90°, Yaw 45°
+ * @value 18 Roll 90°, Yaw 90°
+ * @value 19 Roll 90°, Yaw 135°
+ * @value 20 Roll 270°
+ * @value 21 Roll 270°, Yaw 45°
+ * @value 22 Roll 270°, Yaw 90°
+ * @value 23 Roll 270°, Yaw 135°
+ * @value 24 Pitch 90°
+ * @value 25 Pitch 270°
+ *
+ * @min -1
+ * @max 30
+ * @reboot_required true
+ * @group Sensor Calibration
+ */
+PARAM_DEFINE_INT32(CAL_MAG3_ROT, -1);
+
+/**
+ * Magnetometer X-axis offset
+ *
+ * @group Sensor Calibration
+ */
+PARAM_DEFINE_FLOAT(CAL_MAG3_XOFF, 0.0f);
+
+/**
+ * Magnetometer Y-axis offset
+ *
+ * @group Sensor Calibration
+ */
+PARAM_DEFINE_FLOAT(CAL_MAG3_YOFF, 0.0f);
+
+/**
+ * Magnetometer Z-axis offset
+ *
+ * @group Sensor Calibration
+ */
+PARAM_DEFINE_FLOAT(CAL_MAG3_ZOFF, 0.0f);
+
+/**
+ * Magnetometer X-axis scaling factor
+ *
+ * @group Sensor Calibration
+ */
+PARAM_DEFINE_FLOAT(CAL_MAG3_XSCALE, 1.0f);
+
+/**
+ * Magnetometer Y-axis scaling factor
+ *
+ * @group Sensor Calibration
+ */
+PARAM_DEFINE_FLOAT(CAL_MAG3_YSCALE, 1.0f);
+
+/**
+ * Magnetometer Z-axis scaling factor
+ *
+ * @group Sensor Calibration
+ */
+PARAM_DEFINE_FLOAT(CAL_MAG3_ZSCALE, 1.0f);