diff --git a/ROMFS/px4fmu_common/init.d/3030_io_camflyer b/ROMFS/px4fmu_common/init.d/3030_io_camflyer
index 1886783249..040b78dc77 100644
--- a/ROMFS/px4fmu_common/init.d/3030_io_camflyer
+++ b/ROMFS/px4fmu_common/init.d/3030_io_camflyer
@@ -2,6 +2,30 @@
 
 sh /etc/init.d/rc.fw_defaults
 
+if [ $AUTOCNF == yes ]
+then
+	param set FW_AIRSPD_MAX 15
+	param set FW_AIRSPD_MIN 10
+	param set FW_AIRSPD_TRIM 13
+	param set FW_ATT_TC 0.3
+	param set FW_L1_DAMPING 0.74
+	param set FW_L1_PERIOD 16
+	param set FW_LND_ANG 15
+	param set FW_LND_FLALT 5
+	param set FW_LND_HHDIST 15
+	param set FW_LND_HVIRT 13
+	param set FW_LND_TLALT 5
+	param set FW_THR_LND_MAX 0
+	param set FW_PR_FF 0.35
+	param set FW_PR_I 0.005
+	param set FW_PR_IMAX 0.4
+	param set FW_PR_P 0.08
+	param set FW_RR_FF 0.6
+	param set FW_RR_I 0.005
+	param set FW_RR_IMAX 0.2
+	param set FW_RR_P 0.04
+fi
+
 set MIXER Q
 # Provide ESC a constant 1000 us pulse while disarmed
 set PWM_OUT 4
diff --git a/ROMFS/px4fmu_common/init.d/3033_wingwing b/ROMFS/px4fmu_common/init.d/3033_wingwing
index add905b115..708c34491b 100644
--- a/ROMFS/px4fmu_common/init.d/3033_wingwing
+++ b/ROMFS/px4fmu_common/init.d/3033_wingwing
@@ -30,16 +30,6 @@ then
 	param set FW_RR_I 0.005
 	param set FW_RR_IMAX 0.2
 	param set FW_RR_P 0.04
-	param set MT_TKF_PIT_MAX 30.0
-	param set MT_ACC_D 0.2
-	param set MT_ACC_P 0.6
-	param set MT_A_LP 0.5
-	param set MT_PIT_OFF 0.1
-	param set MT_PIT_I 0.1
-	param set MT_THR_OFF 0.65
-	param set MT_THR_I 0.35
-	param set MT_THR_P  0.2
-	param set MT_THR_FF 1.5
 fi
 
 set MIXER wingwing
diff --git a/ROMFS/px4fmu_common/init.d/3100_tbs_caipirinha b/ROMFS/px4fmu_common/init.d/3100_tbs_caipirinha
index 1fd96d6d3d..8a661f25e2 100644
--- a/ROMFS/px4fmu_common/init.d/3100_tbs_caipirinha
+++ b/ROMFS/px4fmu_common/init.d/3100_tbs_caipirinha
@@ -34,7 +34,9 @@ then
 	param set PWM_MAIN_REV1 1
 fi
 
+set PWM_DISARMED p:PWM_DISARMED
+set PWM_MIN p:PWM_MIN
+set PWM_MAX p:PWM_MAX
+
 set MIXER caipi
-# Provide ESC a constant 1000 us pulse
-set PWM_OUT 4
-set PWM_DISARMED 1000
+set PWM_OUT 1234
diff --git a/ROMFS/px4fmu_common/init.d/4010_dji_f330 b/ROMFS/px4fmu_common/init.d/4010_dji_f330
index d07e926a79..512ad132be 100644
--- a/ROMFS/px4fmu_common/init.d/4010_dji_f330
+++ b/ROMFS/px4fmu_common/init.d/4010_dji_f330
@@ -10,11 +10,11 @@ sh /etc/init.d/4001_quad_x
 if [ $AUTOCNF == yes ]
 then
 	param set MC_ROLL_P 7.0
-	param set MC_ROLLRATE_P 0.1
+	param set MC_ROLLRATE_P 0.13
 	param set MC_ROLLRATE_I 0.05
 	param set MC_ROLLRATE_D 0.003
 	param set MC_PITCH_P 7.0
-	param set MC_PITCHRATE_P 0.1
+	param set MC_PITCHRATE_P 0.13
 	param set MC_PITCHRATE_I 0.05
 	param set MC_PITCHRATE_D 0.003
 	param set MC_YAW_P 2.8
diff --git a/ROMFS/px4fmu_common/init.d/4011_dji_f450 b/ROMFS/px4fmu_common/init.d/4011_dji_f450
index 9b3954be6f..2a77f13866 100644
--- a/ROMFS/px4fmu_common/init.d/4011_dji_f450
+++ b/ROMFS/px4fmu_common/init.d/4011_dji_f450
@@ -11,15 +11,15 @@ if [ $AUTOCNF == yes ]
 then
 	# TODO REVIEW
 	param set MC_ROLL_P 7.0
-	param set MC_ROLLRATE_P 0.1
+	param set MC_ROLLRATE_P 0.16
 	param set MC_ROLLRATE_I 0.05
-	param set MC_ROLLRATE_D 0.003
+	param set MC_ROLLRATE_D 0.01
 	param set MC_PITCH_P 7.0
-	param set MC_PITCHRATE_P 0.1
+	param set MC_PITCHRATE_P 0.16
 	param set MC_PITCHRATE_I 0.05
-	param set MC_PITCHRATE_D 0.003
+	param set MC_PITCHRATE_D 0.01
 	param set MC_YAW_P 2.8
-	param set MC_YAWRATE_P 0.2
+	param set MC_YAWRATE_P 0.3
 	param set MC_YAWRATE_I 0.1
 	param set MC_YAWRATE_D 0.0
 fi
diff --git a/ROMFS/px4fmu_common/init.d/4012_quad_x_can b/ROMFS/px4fmu_common/init.d/4012_quad_x_can
index 05b4355138..c6341a4f74 100644
--- a/ROMFS/px4fmu_common/init.d/4012_quad_x_can
+++ b/ROMFS/px4fmu_common/init.d/4012_quad_x_can
@@ -9,18 +9,17 @@ sh /etc/init.d/4001_quad_x
 
 if [ $AUTOCNF == yes ]
 then
-	# TODO REVIEW
 	param set MC_ROLL_P 7.0
-	param set MC_ROLLRATE_P 0.1
+	param set MC_ROLLRATE_P 0.16
 	param set MC_ROLLRATE_I 0.05
-	param set MC_ROLLRATE_D 0.003
+	param set MC_ROLLRATE_D 0.01
 	param set MC_PITCH_P 7.0
-	param set MC_PITCHRATE_P 0.1
+	param set MC_PITCHRATE_P 0.16
 	param set MC_PITCHRATE_I 0.05
-	param set MC_PITCHRATE_D 0.003
+	param set MC_PITCHRATE_D 0.01
 	param set MC_YAW_P 2.8
-	param set MC_YAWRATE_P 0.2
-	param set MC_YAWRATE_I 0.0
+	param set MC_YAWRATE_P 0.3
+	param set MC_YAWRATE_I 0.1
 	param set MC_YAWRATE_D 0.0
 fi
 
diff --git a/ROMFS/px4fmu_common/init.d/rc.mc_defaults b/ROMFS/px4fmu_common/init.d/rc.mc_defaults
index 1f34282aec..fa3653e0d5 100644
--- a/ROMFS/px4fmu_common/init.d/rc.mc_defaults
+++ b/ROMFS/px4fmu_common/init.d/rc.mc_defaults
@@ -4,38 +4,6 @@ set VEHICLE_TYPE mc
 
 if [ $AUTOCNF == yes ]
 then
-	param set MC_ROLL_P 7.0
-	param set MC_ROLLRATE_P 0.1
-	param set MC_ROLLRATE_I 0.0
-	param set MC_ROLLRATE_D 0.003
-	param set MC_PITCH_P 7.0
-	param set MC_PITCHRATE_P 0.1
-	param set MC_PITCHRATE_I 0.0
-	param set MC_PITCHRATE_D 0.003
-	param set MC_YAW_P 2.8
-	param set MC_YAWRATE_P 0.2
-	param set MC_YAWRATE_I 0.1
-	param set MC_YAWRATE_D 0.0
-	param set MC_YAW_FF 0.5
-
-	param set MPC_THR_MAX 1.0
-	param set MPC_THR_MIN 0.1
-	param set MPC_XY_P 1.0
-	param set MPC_XY_VEL_P 0.1
-	param set MPC_XY_VEL_I 0.02
-	param set MPC_XY_VEL_D 0.01
-	param set MPC_XY_VEL_MAX 5
-	param set MPC_XY_FF 0.5
-	param set MPC_Z_P 1.0
-	param set MPC_Z_VEL_P 0.1
-	param set MPC_Z_VEL_I 0.02
-	param set MPC_Z_VEL_D 0.0
-	param set MPC_Z_VEL_MAX 3
-	param set MPC_Z_FF 0.5
-	param set MPC_TILTMAX_AIR 45.0
-	param set MPC_TILTMAX_LND 15.0
-	param set MPC_LAND_SPEED 1.0
-
 	param set PE_VELNE_NOISE 0.5
 	param set PE_VELD_NOISE 0.7
 	param set PE_POSNE_NOISE 0.5
diff --git a/ROMFS/px4fmu_common/init.d/rc.usb b/ROMFS/px4fmu_common/init.d/rc.usb
index 0442637941..027d2aca5d 100644
--- a/ROMFS/px4fmu_common/init.d/rc.usb
+++ b/ROMFS/px4fmu_common/init.d/rc.usb
@@ -3,21 +3,21 @@
 # USB MAVLink start
 #
 
-mavlink start -r 80000 -d /dev/ttyACM0 -x
+mavlink start -r 800000 -d /dev/ttyACM0 -x
 # Enable a number of interesting streams we want via USB
 mavlink stream -d /dev/ttyACM0 -s PARAM_VALUE -r 300
 mavlink stream -d /dev/ttyACM0 -s MISSION_ITEM -r 50
 mavlink stream -d /dev/ttyACM0 -s NAMED_VALUE_FLOAT -r 10
 mavlink stream -d /dev/ttyACM0 -s OPTICAL_FLOW_RAD -r 10
 mavlink stream -d /dev/ttyACM0 -s VFR_HUD -r 20
-mavlink stream -d /dev/ttyACM0 -s ATTITUDE -r 20
+mavlink stream -d /dev/ttyACM0 -s ATTITUDE -r 100
 mavlink stream -d /dev/ttyACM0 -s ACTUATOR_CONTROL_TARGET0 -r 30
 mavlink stream -d /dev/ttyACM0 -s RC_CHANNELS_RAW -r 5
 mavlink stream -d /dev/ttyACM0 -s SERVO_OUTPUT_RAW_0 -r 20
 mavlink stream -d /dev/ttyACM0 -s POSITION_TARGET_GLOBAL_INT -r 10
 mavlink stream -d /dev/ttyACM0 -s LOCAL_POSITION_NED -r 30
 mavlink stream -d /dev/ttyACM0 -s MANUAL_CONTROL -r 5
-mavlink stream -d /dev/ttyACM0 -s HIGHRES_IMU -r 20
+mavlink stream -d /dev/ttyACM0 -s HIGHRES_IMU -r 100
 mavlink stream -d /dev/ttyACM0 -s GPS_RAW_INT -r 20
 
 # Exit shell to make it available to MAVLink
diff --git a/ROMFS/px4fmu_common/init.d/rcS b/ROMFS/px4fmu_common/init.d/rcS
index 8a93737ef8..0fb6e117cc 100644
--- a/ROMFS/px4fmu_common/init.d/rcS
+++ b/ROMFS/px4fmu_common/init.d/rcS
@@ -479,11 +479,11 @@ then
 		# but this works for now
 		if param compare SYS_COMPANION 921600
 		then
-			mavlink start -d /dev/ttyS2 -b 921600 -m onboard -r 20000
+			mavlink start -d /dev/ttyS2 -b 921600 -m onboard -r 20000 -x
 		fi
 		if param compare SYS_COMPANION 57600
 		then
-			mavlink start -d /dev/ttyS2 -b 57600 -m onboard -r 1000
+			mavlink start -d /dev/ttyS2 -b 57600 -m onboard -r 1000 -x
 		fi
 		if param compare SYS_COMPANION 157600
 		then
diff --git a/src/drivers/drv_pwm_output.h b/src/drivers/drv_pwm_output.h
index 2fb9469c8a..18a75d063f 100644
--- a/src/drivers/drv_pwm_output.h
+++ b/src/drivers/drv_pwm_output.h
@@ -83,7 +83,7 @@ __BEGIN_DECLS
 /**
  * Highest maximum PWM in us
  */
-#define PWM_HIGHEST_MAX 2100
+#define PWM_HIGHEST_MAX 2150
 
 /**
  * Default maximum PWM in us
diff --git a/src/modules/dataman/dataman.c b/src/modules/dataman/dataman.c
index b442b74303..6cfbb4d830 100644
--- a/src/modules/dataman/dataman.c
+++ b/src/modules/dataman/dataman.c
@@ -794,7 +794,7 @@ start(void)
 	sem_init(&g_init_sema, 1, 0);
 
 	/* start the worker thread */
-	if ((task = task_spawn_cmd("dataman", SCHED_DEFAULT, SCHED_PRIORITY_DEFAULT, 1800, task_main, NULL)) <= 0) {
+	if ((task = task_spawn_cmd("dataman", SCHED_DEFAULT, SCHED_PRIORITY_DEFAULT, 1500, task_main, NULL)) <= 0) {
 		warn("task start failed");
 		return -1;
 	}
diff --git a/src/modules/land_detector/FixedwingLandDetector.cpp b/src/modules/land_detector/FixedwingLandDetector.cpp
index 5f7ded9cb2..741bc02ad4 100644
--- a/src/modules/land_detector/FixedwingLandDetector.cpp
+++ b/src/modules/land_detector/FixedwingLandDetector.cpp
@@ -85,12 +85,12 @@ bool FixedwingLandDetector::update()
 	bool landDetected = false;
 
 	if (hrt_elapsed_time(&_vehicleLocalPosition.timestamp) < 500 * 1000) {
-		float val = 0.95f * _velocity_xy_filtered + 0.05f * sqrtf(_vehicleLocalPosition.vx *
+		float val = 0.97f * _velocity_xy_filtered + 0.03f * sqrtf(_vehicleLocalPosition.vx *
 					_vehicleLocalPosition.vx + _vehicleLocalPosition.vy * _vehicleLocalPosition.vy);
 		if (isfinite(val)) {
 			_velocity_xy_filtered = val;
 		}
-		val = 0.95f * _velocity_z_filtered + 0.05f * fabsf(_vehicleLocalPosition.vz);
+		val = 0.99f * _velocity_z_filtered + 0.01f * fabsf(_vehicleLocalPosition.vz);
 
 		if (isfinite(val)) {
 			_velocity_z_filtered = val;
diff --git a/src/modules/land_detector/land_detector_params.c b/src/modules/land_detector/land_detector_params.c
index b670dcc035..f182495ac3 100644
--- a/src/modules/land_detector/land_detector_params.c
+++ b/src/modules/land_detector/land_detector_params.c
@@ -96,7 +96,7 @@ PARAM_DEFINE_FLOAT(LNDMC_THR_MAX, 0.20f);
  *
  * @group Land Detector
  */
-PARAM_DEFINE_FLOAT(LNDFW_VEL_XY_MAX, 4.0f);
+PARAM_DEFINE_FLOAT(LNDFW_VEL_XY_MAX, 5.0f);
 
 /**
  * Fixedwing max climb rate
diff --git a/src/modules/mavlink/mavlink_parameters.cpp b/src/modules/mavlink/mavlink_parameters.cpp
index 524effb205..73d7580d21 100644
--- a/src/modules/mavlink/mavlink_parameters.cpp
+++ b/src/modules/mavlink/mavlink_parameters.cpp
@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (c) 2014 PX4 Development Team. All rights reserved.
+ *   Copyright (c) 2015 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
@@ -36,6 +36,7 @@
  * Mavlink parameters manager implementation.
  *
  * @author Anton Babushkin <anton.babushkin@me.com>
+ * @author Lorenz Meier <lorenz@px4.io>
  */
 
 #include <stdio.h>
@@ -130,7 +131,17 @@ MavlinkParametersManager::handle_message(const mavlink_message_t *msg)
 
 				} else {
 					/* when index is >= 0, send this parameter again */
-					send_param(param_for_used_index(req_read.param_index));
+					int ret = send_param(param_for_used_index(req_read.param_index));
+
+					if (ret == 1) {
+						char buf[MAVLINK_MSG_STATUSTEXT_FIELD_TEXT_LEN];
+						sprintf(buf, "[pm] unknown param ID: %u", req_read.param_index);
+						_mavlink->send_statustext_info(buf);
+					} else if (ret == 2) {
+						char buf[MAVLINK_MSG_STATUSTEXT_FIELD_TEXT_LEN];
+						sprintf(buf, "[pm] failed loading param from storage ID: %u", req_read.param_index);
+						_mavlink->send_statustext_info(buf);
+					}
 				}
 			}
 			break;
@@ -207,11 +218,11 @@ MavlinkParametersManager::send(const hrt_abstime t)
 	}
 }
 
-void
+int
 MavlinkParametersManager::send_param(param_t param)
 {
 	if (param == PARAM_INVALID) {
-		return;
+		return 1;
 	}
 
 	mavlink_param_value_t msg;
@@ -221,7 +232,7 @@ MavlinkParametersManager::send_param(param_t param)
 	 * space during transmission, copy param onto float val_buf
 	 */
 	if (param_get(param, &msg.param_value) != OK) {
-		return;
+		return 2;
 	}
 
 	msg.param_count = param_count_used();
@@ -248,4 +259,6 @@ MavlinkParametersManager::send_param(param_t param)
 	}
 
 	_mavlink->send_message(MAVLINK_MSG_ID_PARAM_VALUE, &msg);
+
+	return 0;
 }
diff --git a/src/modules/mavlink/mavlink_parameters.h b/src/modules/mavlink/mavlink_parameters.h
index b6736f2128..3dfed084b3 100644
--- a/src/modules/mavlink/mavlink_parameters.h
+++ b/src/modules/mavlink/mavlink_parameters.h
@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (c) 2012-2014 PX4 Development Team. All rights reserved.
+ *   Copyright (c) 2012-2015 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
@@ -36,6 +36,7 @@
  * Mavlink parameters manager definition.
  *
  * @author Anton Babushkin <anton.babushkin@me.com>
+ * @author Lorenz Meier <lorenz@px4.io>
  */
 
 #pragma once
@@ -113,7 +114,7 @@ protected:
 
 	void send(const hrt_abstime t);
 
-	void send_param(param_t param);
+	int send_param(param_t param);
 
 	orb_advert_t _rc_param_map_pub;
 	struct rc_parameter_map_s _rc_param_map;
diff --git a/src/modules/mc_att_control/mc_att_control_params.c b/src/modules/mc_att_control/mc_att_control_params.c
index c9bf3753b4..42c7bc3d04 100644
--- a/src/modules/mc_att_control/mc_att_control_params.c
+++ b/src/modules/mc_att_control/mc_att_control_params.c
@@ -50,7 +50,7 @@
  * @min 0.0
  * @group Multicopter Attitude Control
  */
-PARAM_DEFINE_FLOAT(MC_ROLL_P, 6.0f);
+PARAM_DEFINE_FLOAT(MC_ROLL_P, 6.5f);
 
 /**
  * Roll rate P gain
@@ -60,7 +60,7 @@ PARAM_DEFINE_FLOAT(MC_ROLL_P, 6.0f);
  * @min 0.0
  * @group Multicopter Attitude Control
  */
-PARAM_DEFINE_FLOAT(MC_ROLLRATE_P, 0.1f);
+PARAM_DEFINE_FLOAT(MC_ROLLRATE_P, 0.12f);
 
 /**
  * Roll rate I gain
@@ -70,7 +70,7 @@ PARAM_DEFINE_FLOAT(MC_ROLLRATE_P, 0.1f);
  * @min 0.0
  * @group Multicopter Attitude Control
  */
-PARAM_DEFINE_FLOAT(MC_ROLLRATE_I, 0.0f);
+PARAM_DEFINE_FLOAT(MC_ROLLRATE_I, 0.05f);
 
 /**
  * Roll rate D gain
@@ -80,7 +80,7 @@ PARAM_DEFINE_FLOAT(MC_ROLLRATE_I, 0.0f);
  * @min 0.0
  * @group Multicopter Attitude Control
  */
-PARAM_DEFINE_FLOAT(MC_ROLLRATE_D, 0.002f);
+PARAM_DEFINE_FLOAT(MC_ROLLRATE_D, 0.003f);
 
 /**
  * Roll rate feedforward
@@ -101,7 +101,7 @@ PARAM_DEFINE_FLOAT(MC_ROLLRATE_FF, 0.0f);
  * @min 0.0
  * @group Multicopter Attitude Control
  */
-PARAM_DEFINE_FLOAT(MC_PITCH_P, 6.0f);
+PARAM_DEFINE_FLOAT(MC_PITCH_P, 6.5f);
 
 /**
  * Pitch rate P gain
@@ -111,7 +111,7 @@ PARAM_DEFINE_FLOAT(MC_PITCH_P, 6.0f);
  * @min 0.0
  * @group Multicopter Attitude Control
  */
-PARAM_DEFINE_FLOAT(MC_PITCHRATE_P, 0.1f);
+PARAM_DEFINE_FLOAT(MC_PITCHRATE_P, 0.12f);
 
 /**
  * Pitch rate I gain
@@ -121,7 +121,7 @@ PARAM_DEFINE_FLOAT(MC_PITCHRATE_P, 0.1f);
  * @min 0.0
  * @group Multicopter Attitude Control
  */
-PARAM_DEFINE_FLOAT(MC_PITCHRATE_I, 0.0f);
+PARAM_DEFINE_FLOAT(MC_PITCHRATE_I, 0.05f);
 
 /**
  * Pitch rate D gain
@@ -131,7 +131,7 @@ PARAM_DEFINE_FLOAT(MC_PITCHRATE_I, 0.0f);
  * @min 0.0
  * @group Multicopter Attitude Control
  */
-PARAM_DEFINE_FLOAT(MC_PITCHRATE_D, 0.002f);
+PARAM_DEFINE_FLOAT(MC_PITCHRATE_D, 0.003f);
 
 /**
  * Pitch rate feedforward
@@ -152,7 +152,7 @@ PARAM_DEFINE_FLOAT(MC_PITCHRATE_FF, 0.0f);
  * @min 0.0
  * @group Multicopter Attitude Control
  */
-PARAM_DEFINE_FLOAT(MC_YAW_P, 2.0f);
+PARAM_DEFINE_FLOAT(MC_YAW_P, 2.8f);
 
 /**
  * Yaw rate P gain
@@ -162,7 +162,7 @@ PARAM_DEFINE_FLOAT(MC_YAW_P, 2.0f);
  * @min 0.0
  * @group Multicopter Attitude Control
  */
-PARAM_DEFINE_FLOAT(MC_YAWRATE_P, 0.3f);
+PARAM_DEFINE_FLOAT(MC_YAWRATE_P, 0.2f);
 
 /**
  * Yaw rate I gain
@@ -172,7 +172,7 @@ PARAM_DEFINE_FLOAT(MC_YAWRATE_P, 0.3f);
  * @min 0.0
  * @group Multicopter Attitude Control
  */
-PARAM_DEFINE_FLOAT(MC_YAWRATE_I, 0.0f);
+PARAM_DEFINE_FLOAT(MC_YAWRATE_I, 0.1f);
 
 /**
  * Yaw rate D gain
diff --git a/src/modules/mc_pos_control/mc_pos_control_params.c b/src/modules/mc_pos_control/mc_pos_control_params.c
index 4865c1c684..a09ed4a3e6 100644
--- a/src/modules/mc_pos_control/mc_pos_control_params.c
+++ b/src/modules/mc_pos_control/mc_pos_control_params.c
@@ -107,9 +107,10 @@ PARAM_DEFINE_FLOAT(MPC_Z_VEL_D, 0.0f);
  *
  * @unit m/s
  * @min 0.0
+ * @max 8 m/s
  * @group Multicopter Position Control
  */
-PARAM_DEFINE_FLOAT(MPC_Z_VEL_MAX, 5.0f);
+PARAM_DEFINE_FLOAT(MPC_Z_VEL_MAX, 3.0f);
 
 /**
  * Vertical velocity feed forward
diff --git a/src/modules/navigator/navigator_main.cpp b/src/modules/navigator/navigator_main.cpp
index 1460972cc2..dc97600434 100644
--- a/src/modules/navigator/navigator_main.cpp
+++ b/src/modules/navigator/navigator_main.cpp
@@ -521,7 +521,7 @@ Navigator::start()
 	_navigator_task = task_spawn_cmd("navigator",
 					 SCHED_DEFAULT,
 					 SCHED_PRIORITY_DEFAULT + 20,
-					 1700,
+					 1500,
 					 (main_t)&Navigator::task_main_trampoline,
 					 nullptr);
 
diff --git a/src/modules/sensors/sensor_params.c b/src/modules/sensors/sensor_params.c
index 7b3932638b..72d139b113 100644
--- a/src/modules/sensors/sensor_params.c
+++ b/src/modules/sensors/sensor_params.c
@@ -1401,3 +1401,110 @@ PARAM_DEFINE_INT32(RC_RSSI_PWM_MAX, 1000);
  *
  */
 PARAM_DEFINE_INT32(RC_RSSI_PWM_MIN, 2000);
+
+/**
+ * Enable Lidar-Lite (LL40LS) pwm driver
+ *
+ * @min 0
+ * @max 1
+ * @group Sensor Enable
+ */
+PARAM_DEFINE_INT32(SENS_EN_LL40LS, 0);
+
+/**
+ * Set the minimum PWM for the MAIN outputs
+ *
+ * IMPORTANT: CHANGING THIS PARAMETER REQUIRES A COMPLETE SYSTEM
+ * REBOOT IN ORDER TO APPLY THE CHANGES. COMPLETELY POWER-CYCLE
+ * THE SYSTEM TO PUT CHANGES INTO EFFECT.
+ *
+ * Set to 1000 for default or 900 to increase servo travel
+ *
+ * @min 800
+ * @max 1400
+ * @unit microseconds
+ * @group PWM Outputs
+ */
+PARAM_DEFINE_INT32(PWM_MIN, 1000);
+
+/**
+ * Set the maximum PWM for the MAIN outputs
+ *
+ * IMPORTANT: CHANGING THIS PARAMETER REQUIRES A COMPLETE SYSTEM
+ * REBOOT IN ORDER TO APPLY THE CHANGES. COMPLETELY POWER-CYCLE
+ * THE SYSTEM TO PUT CHANGES INTO EFFECT.
+ *
+ * Set to 2000 for default or 2100 to increase servo travel
+ *
+ * @min 1600
+ * @max 2200
+ * @unit microseconds
+ * @group PWM Outputs
+ */
+PARAM_DEFINE_INT32(PWM_MAX, 2000);
+
+/**
+ * Set the disarmed PWM for MAIN outputs
+ *
+ * IMPORTANT: CHANGING THIS PARAMETER REQUIRES A COMPLETE SYSTEM
+ * REBOOT IN ORDER TO APPLY THE CHANGES. COMPLETELY POWER-CYCLE
+ * THE SYSTEM TO PUT CHANGES INTO EFFECT.
+ *
+ * This is the PWM pulse the autopilot is outputting if not armed.
+ * The main use of this parameter is to silence ESCs when they are disarmed.
+ *
+ * @min 0
+ * @max 2200
+ * @unit microseconds
+ * @group PWM Outputs
+ */
+PARAM_DEFINE_INT32(PWM_DISARMED, 0);
+
+/**
+ * Set the minimum PWM for the MAIN outputs
+ *
+ * IMPORTANT: CHANGING THIS PARAMETER REQUIRES A COMPLETE SYSTEM
+ * REBOOT IN ORDER TO APPLY THE CHANGES. COMPLETELY POWER-CYCLE
+ * THE SYSTEM TO PUT CHANGES INTO EFFECT.
+ *
+ * Set to 1000 for default or 900 to increase servo travel
+ *
+ * @min 800
+ * @max 1400
+ * @unit microseconds
+ * @group PWM Outputs
+ */
+PARAM_DEFINE_INT32(PWM_AUX_MIN, 1000);
+
+/**
+ * Set the maximum PWM for the MAIN outputs
+ *
+ * IMPORTANT: CHANGING THIS PARAMETER REQUIRES A COMPLETE SYSTEM
+ * REBOOT IN ORDER TO APPLY THE CHANGES. COMPLETELY POWER-CYCLE
+ * THE SYSTEM TO PUT CHANGES INTO EFFECT.
+ *
+ * Set to 2000 for default or 2100 to increase servo travel
+ *
+ * @min 1600
+ * @max 2200
+ * @unit microseconds
+ * @group PWM Outputs
+ */
+PARAM_DEFINE_INT32(PWM_AUX_MAX, 2000);
+
+/**
+ * Set the disarmed PWM for AUX outputs
+ *
+ * IMPORTANT: CHANGING THIS PARAMETER REQUIRES A COMPLETE SYSTEM
+ * REBOOT IN ORDER TO APPLY THE CHANGES. COMPLETELY POWER-CYCLE
+ * THE SYSTEM TO PUT CHANGES INTO EFFECT.
+ *
+ * This is the PWM pulse the autopilot is outputting if not armed.
+ * The main use of this parameter is to silence ESCs when they are disarmed.
+ *
+ * @min 0
+ * @max 2200
+ * @unit microseconds
+ * @group PWM Outputs
+ */
+PARAM_DEFINE_INT32(PWM_AUX_DISARMED, 1000);
diff --git a/src/modules/sensors/sensors.cpp b/src/modules/sensors/sensors.cpp
index 1e831becd9..0c7b0467f7 100644
--- a/src/modules/sensors/sensors.cpp
+++ b/src/modules/sensors/sensors.cpp
@@ -634,6 +634,12 @@ Sensors::Sensors() :
 	(void)param_find("CAL_MAG2_ROT");
 	(void)param_find("SYS_PARAM_VER");
 	(void)param_find("SYS_AUTOSTART");
+	(void)param_find("PWM_MIN");
+	(void)param_find("PWM_MAX");
+	(void)param_find("PWM_DISARMED");
+	(void)param_find("PWM_AUX_MIN");
+	(void)param_find("PWM_AUX_MAX");
+	(void)param_find("PWM_AUX_DISARMED");
 	
 	/* fetch initial parameter values */
 	parameters_update();
diff --git a/src/modules/systemlib/module.mk b/src/modules/systemlib/module.mk
index f80d8009ae..f2499bbb13 100644
--- a/src/modules/systemlib/module.mk
+++ b/src/modules/systemlib/module.mk
@@ -55,8 +55,7 @@ SRCS		 = err.c \
 		   pwm_limit/pwm_limit.c \
 		   circuit_breaker.cpp \
 		   circuit_breaker_params.c \
-		   mcu_version.c \
-		   circuit_breaker_params.c
+		   mcu_version.c
 
 MAXOPTIMIZATION	 = -Os
 
diff --git a/src/systemcmds/param/param.c b/src/systemcmds/param/param.c
index 45fb2fd830..210d93bde8 100644
--- a/src/systemcmds/param/param.c
+++ b/src/systemcmds/param/param.c
@@ -189,7 +189,7 @@ param_main(int argc, char *argv[])
 		}
 	}
 
-	errx(1, "expected a command, try 'load', 'import', 'show', 'set', 'compare', 'select' or 'save'");
+	errx(1, "expected a command, try 'load', 'import', 'show', 'set', 'compare',\n'index', 'index_used', 'select' or 'save'");
 }
 
 static void
diff --git a/src/systemcmds/pwm/pwm.c b/src/systemcmds/pwm/pwm.c
index 6bb9f235cb..168a1d8603 100644
--- a/src/systemcmds/pwm/pwm.c
+++ b/src/systemcmds/pwm/pwm.c
@@ -59,6 +59,7 @@
 
 #include "systemlib/systemlib.h"
 #include "systemlib/err.h"
+#include "systemlib/param/param.h"
 #include "drivers/drv_pwm_output.h"
 
 static void	usage(const char *reason);
@@ -187,10 +188,35 @@ pwm_main(int argc, char *argv[])
 			break;
 
 		case 'p':
-			pwm_value = strtoul(optarg, &ep, 0);
+			{
+				/* check if this is a param name */
+				if (strncmp("p:", optarg, 2) == 0) {
 
-			if (*ep != '\0') {
-				usage("BAD PWM VAL");
+					char buf[32];
+					strncpy(buf, optarg + 2, 16);
+					/* user wants to use a param name */
+					param_t parm = param_find(buf);
+
+					if (parm != PARAM_INVALID) {
+						int32_t pwm_parm;
+						int gret = param_get(parm, &pwm_parm);
+
+						if (gret == 0) {
+							pwm_value = pwm_parm;
+						} else {
+							usage("PARAM LOAD FAIL");
+						}
+					} else {
+						usage("PARAM NAME NOT FOUND");
+					}
+				} else {
+
+					pwm_value = strtoul(optarg, &ep, 0);
+				}
+
+				if (*ep != '\0') {
+					usage("BAD PWM VAL");
+				}
 			}
 
 			break;