diff --git a/libraries/AP_HAL_ChibiOS/hwdef/CarbonixCommon/defaults.parm b/libraries/AP_HAL_ChibiOS/hwdef/CarbonixCommon/defaults.parm
index bfe437e901..b37e1a5954 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/CarbonixCommon/defaults.parm
+++ b/libraries/AP_HAL_ChibiOS/hwdef/CarbonixCommon/defaults.parm
@@ -14,13 +14,11 @@ ARSPD2_SKIP_CAL,1
 ARSPD2_TYPE,8
 ARSPD2_USE,1
 BRD_RTC_TYPES,7
-BRD_SAFETYOPTION,3
 CAM_AUTO_ONLY,1
-CAM_DURATION,1
-CAM_MIN_INTERVAL,800
-CAM_RELAY_ON,0
-CAM_SERVO_OFF,1000
-CAM_TRIGG_TYPE,1
+CAM1_INTRVAL_MIN,0.8
+CAM1_RELAY_ON,0
+CAM1_SERVO_OFF,1000
+CAM1_TYPE,2
 CAN_D1_UC_OPTION,10
 CAN_D2_UC_NODE,20
 CAN_D2_UC_OPTION,10
@@ -36,7 +34,6 @@ EK3_SRC1_POSZ,3
 FENCE_AUTOENABLE,3
 FENCE_ENABLE,1
 FENCE_OPTIONS,0
-FLTMODE1,11
 FLTMODE3,10
 FLTMODE4,19
 FLTMODE5,7
@@ -54,26 +51,26 @@ INS_TCAL3_ENABLE,1
 LAND_DISARMDELAY,3
 LAND_THEN_NEUTRL,1
 LEVEL_ROLL_LIMIT,6
-LIM_PITCH_MAX,1600
-LIM_PITCH_MIN,-1300
 LOG_DISARMED,1
 LOG_FILE_DSRMROT,1
 LOG_FILE_MB_FREE,5000       # Old logs on memory card with be deleted to create atleast 5GB memory.
 LOG_REPLAY,1
-MIN_GNDSPD_CM,800
+MIN_GROUNDSPEED,8
+PTCH_LIM_MAX_DEG,16
+PTCH_LIM_MIN_DEG,-13
 Q_A_THR_MIX_MAN,0.25
 Q_A_THR_MIX_MAX,0.65
 Q_A_THR_MIX_MIN,0.25
 Q_ENABLE,1
 Q_LAND_FINAL_ALT,10
+Q_PILOT_SPD_DN,1.8
+Q_PILOT_SPD_UP,2
 Q_RC_SPEED,400
 Q_RTL_ALT,45
 Q_RTL_MODE,1
 Q_TRAN_PIT_MAX,2
 Q_TRANS_FAIL,30
 Q_TRANSITION_MS,2000
-Q_VELZ_MAX,200
-Q_VELZ_MAX_DN,180
 Q_VFWD_ALT,5
 Q_WVANE_HGT_MIN,5
 Q_WVANE_TAKEOFF,0
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/CubeOrange-Ottano/defaults.parm b/libraries/AP_HAL_ChibiOS/hwdef/CubeOrange-Ottano/defaults.parm
index d2cd1a60ce..2da4766e4f 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/CubeOrange-Ottano/defaults.parm
+++ b/libraries/AP_HAL_ChibiOS/hwdef/CubeOrange-Ottano/defaults.parm
@@ -1,7 +1,9 @@
 @include ../CarbonixCommon/defaults.parm
 # Ottano-specific parameters
-ARSPD_FBW_MAX,36
-ARSPD_FBW_MIN,23
+AIRSPEED_CRUISE,26
+AIRSPEED_MAX,36
+AIRSPEED_MIN,23
+ARSPD_TYPE,8
 BATT_ARM_MAH,10000
 BATT_ARM_VOLT,24
 BATT_CAPACITY,30600
@@ -49,7 +51,6 @@ EFI_THRLIN_COEF3,0.0002301534
 EFI_THRLIN_EN,1
 EFI_THRLIN_OFS,6
 EFI_TYPE,8
-FBWB_CLIMB_RATE,2.4
 GPS_POS1_X,-0.135
 GPS_POS1_Y,-1.05
 GPS_POS2_X,-0.135
@@ -57,7 +58,6 @@ GPS_POS2_Y,1.05
 ICE_ENABLE,1
 ICE_IDLE_RPM,2400
 ICE_IDLE_SLEW,2
-ICE_IGNITION_RLY,2
 ICE_OPTIONS,4
 ICE_RPM_CHAN,1
 ICE_START_CHAN,6
@@ -86,8 +86,7 @@ INS_POS1_X,0.82
 INS_POS2_X,0.82
 INS_POS3_X,0.82
 KFF_RDDRMIX,1
-LIM_ROLL_CD,3500 # Set to match NAVL1_LIM_BANK
-NAVL1_LIM_BANK,35 # Set to match LIM_ROLL_CD
+NAVL1_LIM_BANK,35 # Set to match ROLL_LIMIT_DEG
 NAVL1_PERIOD,18
 PTCH_RATE_D,0.007605
 PTCH_RATE_FF,0.7402687
@@ -97,6 +96,7 @@ PTCH_RATE_I,0.7402687
 PTCH_RATE_IMAX,0.4
 PTCH_RATE_P,0.2194594
 PTCH_RATE_SMAX,110
+PTCH_TRIM_DEG,3
 PTCH2SRV_RLL,1.05
 PTCH2SRV_RMAX_DN,45
 PTCH2SRV_RMAX_UP,75
@@ -131,11 +131,8 @@ Q_A_RATE_P_MAX,45
 Q_A_RATE_R_MAX,55
 Q_A_RATE_Y_MAX,12
 Q_A_SLEW_YAW,1500
-Q_ACCEL_Z,100
 Q_ANGLE_MAX,1500
 Q_ASSIST_SPEED,18
-Q_FRAME_CLASS,1
-Q_FRAME_TYPE,1
 Q_LOIT_ACC_MAX,100
 Q_LOIT_ANG_MAX,10
 Q_LOIT_BRK_ACCEL,25
@@ -167,6 +164,7 @@ Q_P_VELZ_FLTE,4
 Q_P_VELZ_I,0.78
 Q_P_VELZ_IMAX,4
 Q_P_VELZ_P,4
+Q_PILOT_ACCEL_Z,1
 Q_PLT_Y_RATE,25
 Q_TRANS_DECEL,0.9
 Q_VFWD_GAIN,0.1
@@ -175,7 +173,9 @@ Q_WP_JERK,0.7
 Q_WP_SPEED_DN,200
 Q_WP_SPEED_UP,220
 Q_WVANE_GAIN,1
-RELAY_PIN2,108
+RELAY1_FUNCTION,4
+RELAY2_FUNCTION,2
+RELAY2_PIN,108
 RLL_RATE_D,0.001917198
 RLL_RATE_FF,0.7728607
 RLL_RATE_FLTD,11
@@ -188,6 +188,7 @@ RLL2SRV_RMAX,75
 RNGFND1_GNDCLEAR,27
 RNGFND1_POS_X,0.93
 RNGFND1_TYPE,24
+ROLL_LIMIT_DEG,35  # Set to match NAVL1_LIM_BANK
 RPM1_TYPE,3
 SCALING_SPEED,24
 SERIAL1_BAUD,57
@@ -216,8 +217,6 @@ TECS_THR_DAMP,0.4
 TECS_TIME_CONST,4
 TECS_VERT_ACC,6
 THR_SLEWRATE,50
-TRIM_ARSPD_CM,2600
-TRIM_PITCH_CD,300
 TRIM_THROTTLE,60
 WP_LOITER_RAD,250
 WP_RADIUS,150
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/CubeOrange-Volanti/defaults.parm b/libraries/AP_HAL_ChibiOS/hwdef/CubeOrange-Volanti/defaults.parm
index 76d5eca485..c4effc0712 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/CubeOrange-Volanti/defaults.parm
+++ b/libraries/AP_HAL_ChibiOS/hwdef/CubeOrange-Volanti/defaults.parm
@@ -1,22 +1,9 @@
 @include ../CarbonixCommon/defaults.parm
 # Volanti-specific parameters
-ARSPD_FBW_MIN,20            # 20m/s is the minimum airspeed demanded in automatic throttle modes. Should be 20% above stall speed which is 16.5m/s at 16kg MTOW.
-BRD_SAFETYENABLE,1          # On boot the Safety state is ON "SAFE".
-COMPASS_PRIO1_ID,70403      # Compass from Drone CAN GPS 19 on CAN BUS 1 mounted left.
-COMPASS_PRIO2_ID,72963      # Compass from Drone CAN GPS 29 on CAN BUS 1 mounted right.
-FFT_ENABLE,1                # Enabled FFT  
-FFT_BW_HOVER,8.673816
-FFT_ENABLE,1
-FFT_FREQ_HOVER,17.84392
-FFT_HMNC_FIT,20
-FFT_MAXHZ,30
-FFT_MINHZ,8
-FFT_SAMPLE_MODE,2
-FFT_SNR_REF,5
-FFT_THR_REF,0.0846776
-FFT_WINDOW_OLAP,0.65
-FFT_WINDOW_SIZE,256
-ARSPD_FBW_MAX,28
+AIRSPEED_CRUISE,21
+AIRSPEED_MAX,28
+AIRSPEED_MIN,20
+ARSPD_TYPE,8
 BATT_CAPACITY,22000
 BATT_CRT_VOLT,44.4
 BATT_FS_LOW_ACT,1
@@ -47,7 +34,21 @@ CAN_D1_UC_ESC_BM,19
 CAN_D1_UC_SRV_BM,1824
 CAN_D2_UC_ESC_BM,12
 CAN_D2_UC_SRV_BM,1824
+COMPASS_PRIO1_ID,70403
+COMPASS_PRIO2_ID,72963
+COMPASS_PRIO3_ID,590114
 COMPASS_USE3,0
+FFT_BW_HOVER,8.673816
+FFT_ENABLE,1
+FFT_FREQ_HOVER,17.84392
+FFT_HMNC_FIT,20
+FFT_MAXHZ,30
+FFT_MINHZ,8
+FFT_SAMPLE_MODE,2
+FFT_SNR_REF,5
+FFT_THR_REF,0.0846776
+FFT_WINDOW_OLAP,0.65
+FFT_WINDOW_SIZE,256
 FWD_BAT_VOLT_MAX,50.4
 FWD_BAT_VOLT_MIN,42
 GPS_POS1_X,-0.12
@@ -61,7 +62,6 @@ INS_HNTC2_ATT,50
 INS_HNTC2_BW,6
 INS_HNTC2_ENABLE,1
 INS_HNTC2_FREQ,8
-INS_HNTC2_HMNCS,3
 INS_HNTC2_MODE,4
 INS_HNTC2_OPTS,2
 INS_HNTC2_REF,1
@@ -82,8 +82,7 @@ INS_POS2_Z,-0.03
 INS_POS3_X,-0.21
 INS_POS3_Z,-0.03
 KFF_RDDRMIX,0.9
-LIM_ROLL_CD,4000 # Set to match NAVL1_LIM_BANK
-NAVL1_LIM_BANK,40 # Set to match LIM_ROLL_CD
+NAVL1_LIM_BANK,40 # Set to match ROLL_LIMIT_DEG
 NAVL1_PERIOD,19
 PTCH_RATE_D,0.0029344
 PTCH_RATE_FF,0.36
@@ -93,6 +92,7 @@ PTCH_RATE_I,0.4009161
 PTCH_RATE_IMAX,0.4
 PTCH_RATE_P,0.09
 PTCH_RATE_SMAX,125
+PTCH_TRIM_DEG,2
 PTCH2SRV_RLL,0.9
 PTCH2SRV_RMAX_DN,45
 PTCH2SRV_RMAX_UP,75
@@ -123,7 +123,6 @@ Q_A_RATE_P_MAX,60
 Q_A_RATE_R_MAX,60
 Q_A_RATE_Y_MAX,12
 Q_A_SLEW_YAW,1500
-Q_ACCEL_Z,200
 Q_ANGLE_MAX,1500
 Q_ASSIST_SPEED,18
 Q_FRAME_CLASS,1
@@ -162,6 +161,7 @@ Q_P_VELZ_FLTD,7
 Q_P_VELZ_I,0.8
 Q_P_VELZ_IMAX,4
 Q_P_VELZ_P,4.5
+Q_PILOT_ACCEL_Z,2
 Q_PLT_Y_RATE,12
 Q_TRANS_DECEL,0.8
 Q_VFWD_GAIN,0.05
@@ -181,6 +181,7 @@ RNGFND1_GNDCLEAR,20
 RNGFND1_POS_X,-0.12
 RNGFND1_POS_Z,0.05
 RNGFND1_TYPE,24
+ROLL_LIMIT_DEG,40 # Set to match NAVL1_LIM_BANK
 SCALING_SPEED,21
 SERIAL2_BAUD,115
 SERIAL5_BAUD,115
@@ -195,9 +196,7 @@ TECS_PTCH_FF_V0,19
 TECS_RLL2THR,14
 TECS_SINK_MAX,4
 TECS_TIME_CONST,3
-TRIM_ARSPD_CM,2100
-TRIM_PITCH_CD,200
-TRIM_THROTTLE,60                # 60% Throttle is the target percentage in auto flight to maintain TRIM_ARSPD_CM.
+TRIM_THROTTLE,60
 WP_LOITER_RAD,250
 WP_RADIUS,75
 YAW2SRV_DAMP,1