diff --git a/Tools/Frame_params/ModalAI/SentinelM0065.parm b/Tools/Frame_params/ModalAI/SentinelM0065.parm
new file mode 100644
index 0000000000..264855d75b
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+++ b/Tools/Frame_params/ModalAI/SentinelM0065.parm
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+# parameters for the Sentinel M0065 PWM ESC drone
+
+# flight modes
+FLTMODE1 0
+FLTMODE2 0
+FLTMODE3 0
+FLTMODE4 2
+FLTMODE5 0
+FLTMODE6 0
+FLTMODE_CH       6
+
+# enable PID logging
+LOG_BITMASK      65535
+
+# mag field varies quite a lot between batteries
+ARMING_MAGTHRESH 200
+
+# IMU orientation
+# 8 = ROLL 180
+AHRS_ORIENTATION 8
+
+# Forced external compass
+COMPASS_EXTERNAL 2
+# compass orientation
+# ROTATION_ROLL_180_YAW_135 = 11
+COMPASS_ORIENT 11
+
+# filtering
+INS_GYRO_FILTER  40
+INS_HNTCH_ENABLE 1
+INS_HNTCH_ATT 40.0
+INS_HNTCH_BW 50.0
+INS_HNTCH_FM_RAT 1.0
+INS_HNTCH_FREQ 100.0
+INS_HNTCH_HMNCS 7
+INS_HNTCH_MODE 3
+INS_HNTCH_OPTS 2
+INS_HNTCH_REF 1.0
+
+# run IMU at 2kHz
+INS_GYRO_RATE    1
+
+# a bit more agressive loiter
+PILOT_SPEED_UP   500
+LOIT_BRK_ACCEL   500
+LOIT_BRK_JERK    1000
+LOIT_BRK_DELAY   0.200000
+
+# Tune parameters
+ATC_RAT_PIT_D 0.002
+ATC_RAT_PIT_I 0.08
+ATC_RAT_PIT_P 0.08
+ATC_RAT_RLL_D 0.002
+ATC_RAT_RLL_I 0.08
+ATC_RAT_RLL_P 0.08
+
+# battery setup
+BATT_LOW_VOLT    14.2
+BATT_OPTIONS     64
+BATT_VOLT_PIN    1
+BATT_CURR_PIN    2
+BATT_VOLT_MULT   1
+BATT_AMP_PERVLT  1
+BATT_AMP_OFFSET 0.0
+
+# 4S battery range
+MOT_BAT_VOLT_MAX 16.800000
+MOT_BAT_VOLT_MIN 13.200000
+
+# Learned hover thrust
+# MOT_THST_EXPO 0.550000011920928955
+# MOT_THST_HOVER 0.130549192428588867
+
+# quad-X
+FRAME_CLASS      1
+
+# tweak R/C inputs
+RC1_MIN          1000
+RC1_MAX          2000
+RC1_DZ           40
+RC2_MIN          1000
+RC2_MAX          2000
+RC2_REVERSED     1
+RC3_MIN          1000
+RC3_MAX          2000
+RC4_MIN          1000
+RC4_MAX          2000
+RC4_DZ           40
+
+# add arming on right switch
+RC7_OPTION       153
+
+# Motor mappings
+SERVO1_FUNCTION 33
+SERVO2_FUNCTION 34
+SERVO3_FUNCTION 35
+SERVO4_FUNCTION 36
+