diff --git a/libraries/AP_HAL_ChibiOS/hwdef/CarbonixCommon/defaults.parm b/libraries/AP_HAL_ChibiOS/hwdef/CarbonixCommon/defaults.parm
index 2301497613..d2439ebdb4 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/CarbonixCommon/defaults.parm
+++ b/libraries/AP_HAL_ChibiOS/hwdef/CarbonixCommon/defaults.parm
@@ -61,8 +61,6 @@ LOG_FILE_DSRMROT,1
 LOG_FILE_MB_FREE,5000 # DISABLE_CHECKS: we want to reserve 5GB for logs; ArduPilot suggests max of 1GB
 LOG_REPLAY,1
 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
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/CubeOrange-Ottano/defaults.parm b/libraries/AP_HAL_ChibiOS/hwdef/CubeOrange-Ottano/defaults.parm
index ae58f19d68..cfd17b873e 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/CubeOrange-Ottano/defaults.parm
+++ b/libraries/AP_HAL_ChibiOS/hwdef/CubeOrange-Ottano/defaults.parm
@@ -1,8 +1,17 @@
 @include ../CarbonixCommon/defaults.parm
 # Ottano-specific parameters
+ADSB_LIST_ALT,3000
+ADSB_LIST_MAX,40
+ADSB_LIST_RADIUS,30000
+ADSB_TYPE,1
 AIRSPEED_CRUISE,26
 AIRSPEED_MAX,36
 AIRSPEED_MIN,23
+AVD_ENABLE,1
+AVD_F_DIST_XY,1000
+AVD_F_DIST_Z,200
+AVD_W_DIST_XY,5000
+AVD_W_DIST_Z,1000
 # Battery 1: VTOL Battery (Combined)
 BATT_CAPACITY,30000 # Sum of BATT4_CAPACITY and BATT5_CAPACITY
 BATT_MONITOR,10 # Sum
@@ -62,18 +71,19 @@ 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
 GPS_POS2_Y,1.05
 ICE_ENABLE,1
+ICE_IDLE_DB,100
 ICE_IDLE_RPM,2400
-ICE_IDLE_SLEW,2
+ICE_IDLE_SLEW,4
 ICE_OPTIONS,4
 ICE_RPM_CHAN,1
 ICE_START_CHAN,6
 ICE_START_DELAY,3
+ICE_START_PCT,10
 ICE_STARTCHN_MIN,950
 ICE_STARTER_TIME,5
 INS_ACCEL_FILTER,10
@@ -100,37 +110,40 @@ INS_POS2_X,0.82
 INS_POS3_X,0.82
 KFF_RDDRMIX,1
 NAVL1_LIM_BANK,35 # Set to match ROLL_LIMIT_DEG
-NAVL1_PERIOD,27
-PTCH_RATE_D,0.0065
-PTCH_RATE_FF,0.7402687
+NAVL1_PERIOD,25
+PTCH_LIM_MAX_DEG,8
+PTCH_LIM_MIN_DEG,-10
+PTCH_RATE_D,0.0019006
+PTCH_RATE_FF,0.7802848
 PTCH_RATE_FLTD,11
-PTCH_RATE_FLTT,3.183099
-PTCH_RATE_I,0.7402687 # DISABLE_CHECKS: it is recommended for RATE_I to match RATE_FF on planes, but the metadata gives a limit of 0.6 for this and 3.0 for FF
+PTCH_RATE_FLTT,1.768388 # DISABLE_CHECKS: slightly below recommended 2.0
+PTCH_RATE_I,0.7802848 # DISABLE_CHECKS: it is recommended for RATE_I to match RATE_FF on planes, but the metadata gives a limit of 0.6 for this and 3.0 for FF
 PTCH_RATE_IMAX,0.4
-PTCH_RATE_P,0.2194594
+PTCH_RATE_P,0.2409001
 PTCH_RATE_SMAX,110
-PTCH_TRIM_DEG,3
-PTCH2SRV_RLL,1.05
-PTCH2SRV_RMAX_DN,45
-PTCH2SRV_RMAX_UP,75
+PTCH_TRIM_DEG,1
+PTCH2SRV_RLL,1.5
+PTCH2SRV_RMAX_DN,60
+PTCH2SRV_RMAX_UP,60
+PTCH2SRV_TCONST,0.9
 Q_A_ACCEL_P_MAX,8800
 Q_A_ACCEL_R_MAX,9000
 Q_A_ACCEL_Y_MAX,4000
 Q_A_ANG_YAW_P,2 # DISABLE_CHECKS: AP limits are based on small quadcopters
-Q_A_RAT_PIT_D,0.03447478
+Q_A_RAT_PIT_D,0.02
 Q_A_RAT_PIT_FLTD,11
 Q_A_RAT_PIT_FLTE,8
 Q_A_RAT_PIT_FLTT,11
-Q_A_RAT_PIT_I,0.4894217
+Q_A_RAT_PIT_I,0.45
 Q_A_RAT_PIT_IMAX,0.4
-Q_A_RAT_PIT_P,0.4894217
+Q_A_RAT_PIT_P,0.45
 Q_A_RAT_PIT_SMAX,15
-Q_A_RAT_RLL_D,0.02028733
+Q_A_RAT_RLL_D,0.01
 Q_A_RAT_RLL_FLTD,11
 Q_A_RAT_RLL_FLTE,8
 Q_A_RAT_RLL_FLTT,11
-Q_A_RAT_RLL_I,0.8448284
-Q_A_RAT_RLL_P,0.8448284 # DISABLE_CHECKS: AP limits are based on small quadcopters
+Q_A_RAT_RLL_I,0.75
+Q_A_RAT_RLL_P,0.75 # DISABLE_CHECKS: AP limits are based on small quadcopters
 Q_A_RAT_RLL_SMAX,15
 Q_A_RAT_YAW_D,0.002
 Q_A_RAT_YAW_FLTD,11
@@ -188,15 +201,16 @@ Q_WVANE_GAIN,1
 RELAY1_FUNCTION,4
 RELAY2_FUNCTION,2
 RELAY2_PIN,108
-RLL_RATE_D,0.001917198
-RLL_RATE_FF,0.7728607
+RLL_RATE_D,0.0077308
+RLL_RATE_FF,0.6552786
 RLL_RATE_FLTD,11
-RLL_RATE_FLTT,3.183099
-RLL_RATE_I,0.7728607 # DISABLE_CHECKS: it is recommended for RATE_I to match RATE_FF on planes, but the metadata gives a limit of 0.6 for this and 3.0 for FF
+RLL_RATE_FLTT,2.652582
+RLL_RATE_I,0.2274013
 RLL_RATE_IMAX,0.4
-RLL_RATE_P,0.09429314
+RLL_RATE_P,0.2274013
 RLL_RATE_SMAX,125
-RLL2SRV_RMAX,75
+RLL2SRV_RMAX,60
+RLL2SRV_TCONST,0.6
 RNGFND1_GNDCLEAR,27
 RNGFND1_POS_X,0.93
 RNGFND1_TYPE,24
@@ -247,19 +261,14 @@ SERVO8_MAX,2000
 SERVO8_MIN,1000
 SERVO9_MAX,2000
 SERVO9_MIN,1000
-TECS_CLMB_MAX,4
-TECS_INTEG_GAIN,0.15
+TECS_CLMB_MAX,3.5
 TECS_LAND_ARSPD,24
-TECS_PITCH_MAX,16
-TECS_PITCH_MIN,-8
-TECS_PTCH_DAMP,0.4
-TECS_RLL2THR,20
-TECS_SINK_MAX,2.7
-TECS_SINK_MIN,2.4
-TECS_SPDWEIGHT,0.5
-TECS_THR_DAMP,0.4
+TECS_PITCH_MAX,0
+TECS_PTCH_DAMP,0.5
+TECS_RLL2THR,5
+TECS_SINK_MAX,4.2
+TECS_SINK_MIN,3
 TECS_TIME_CONST,4
-TECS_VERT_ACC,6
 THR_SLEWRATE,50
 TRIM_THROTTLE,60
 WP_LOITER_RAD,250
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/CubeOrange-Volanti/defaults.parm b/libraries/AP_HAL_ChibiOS/hwdef/CubeOrange-Volanti/defaults.parm
index 10843d3209..0fbddeb744 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/CubeOrange-Volanti/defaults.parm
+++ b/libraries/AP_HAL_ChibiOS/hwdef/CubeOrange-Volanti/defaults.parm
@@ -84,6 +84,8 @@ INS_POS3_Z,-0.03
 KFF_RDDRMIX,0.9
 NAVL1_LIM_BANK,40 # Set to match ROLL_LIMIT_DEG
 NAVL1_PERIOD,19
+PTCH_LIM_MAX_DEG,16
+PTCH_LIM_MIN_DEG,-13
 PTCH_RATE_D,0.0029344
 PTCH_RATE_FF,0.36
 PTCH_RATE_FLTD,10