diff --git a/ArduCopter/ArduCopter.pde b/ArduCopter/ArduCopter.pde
index 3603a30883..6a19cdb90c 100644
--- a/ArduCopter/ArduCopter.pde
+++ b/ArduCopter/ArduCopter.pde
@@ -219,7 +219,7 @@ AP_InertialSensor_MPU6000 ins( CONFIG_MPU6000_CHIP_SELECT_PIN );
 #else
 AP_InertialSensor_Oilpan ins(&adc);
 #endif
-AP_IMU_INS  imu(&ins, Parameters::k_param_IMU_calibration);
+AP_IMU_INS  imu(&ins);
 AP_DCM  dcm(&imu, g_gps);
 AP_TimerProcess timer_scheduler;
 
@@ -258,8 +258,8 @@ AP_TimerProcess timer_scheduler;
 ////////////////////////////////////////////////////////////////////////////////
 // GCS selection
 ////////////////////////////////////////////////////////////////////////////////
-GCS_MAVLINK	gcs0(Parameters::k_param_streamrates_port0);
-GCS_MAVLINK	gcs3(Parameters::k_param_streamrates_port3);
+GCS_MAVLINK	gcs0;
+GCS_MAVLINK	gcs3;
 
 ////////////////////////////////////////////////////////////////////////////////
 // SONAR selection
@@ -1919,7 +1919,7 @@ static void tuning(){
 
 		case CH6_DAMP:
 			g.rc_6.set_range(0,300); 		// 0 to 1
-			g.stablize_d.set(tuning_value);
+			g.stabilize_d.set(tuning_value);
 
 			//tuning_value = (float)g.rc_6.control_in / 100000.0;
 			//g.rc_6.set_range(0,1000); 		// 0 to 1
@@ -2132,4 +2132,4 @@ static void update_auto_yaw()
 		auto_yaw = target_bearing;
 	}
 	// MAV_ROI_NONE = basic Yaw hold
-}
\ No newline at end of file
+}
diff --git a/ArduCopter/Attitude.pde b/ArduCopter/Attitude.pde
index 0312f9b3aa..674d78f655 100644
--- a/ArduCopter/Attitude.pde
+++ b/ArduCopter/Attitude.pde
@@ -115,7 +115,7 @@ get_rate_roll(int32_t target_rate)
 	target_rate 			= g.pid_rate_roll.get_pid(target_rate, G_Dt);
 
 	// Dampening
-	target_rate 			-= constrain((current_rate - last_rate) * g.stablize_d, -500, 500);
+	target_rate 			-= constrain((current_rate - last_rate) * g.stabilize_d, -500, 500);
 	last_rate 				= current_rate;
 
 	// output control:
@@ -133,7 +133,7 @@ get_rate_pitch(int32_t target_rate)
 	target_rate 			= g.pid_rate_pitch.get_pid(target_rate, G_Dt);
 
 	// Dampening
-	target_rate 			-= constrain((current_rate - last_rate) * g.stablize_d, -500, 500);
+	target_rate 			-= constrain((current_rate - last_rate) * g.stabilize_d, -500, 500);
 	last_rate 				= current_rate;
 
 	// output control:
diff --git a/ArduCopter/setup.pde b/ArduCopter/setup.pde
index 79832a1962..f4112ee382 100644
--- a/ArduCopter/setup.pde
+++ b/ArduCopter/setup.pde
@@ -102,7 +102,34 @@ setup_show(uint8_t argc, const Menu::arg *argv)
 	report_gyro();
 #endif
 
-	AP_Var_menu_show(argc, argv);
+    uint32_t token;
+    AP_Param *ap;
+    enum ap_var_type type;
+
+    for (ap=AP_Param::first(&token, &type);
+         ap;
+         ap=AP_Param::next_scalar(&token, &type)) {
+        char s[AP_MAX_NAME_SIZE+1];
+        ap->copy_name(s, sizeof(s));
+        s[AP_MAX_NAME_SIZE] = 0;
+
+        switch (type) {
+        case AP_PARAM_INT8:
+            Serial.printf_P("%s: %d\n", s, (int)((AP_Int8 *)ap)->get());
+            break;
+        case AP_PARAM_INT16:
+            Serial.printf_P("%s: %d\n", s, (int)((AP_Int16 *)ap)->get());
+            break;
+        case AP_PARAM_INT32:
+            Serial.printf_P("%s: %ld\n", s, (long)((AP_Int32 *)ap)->get());
+            break;
+        case AP_PARAM_FLOAT:
+            Serial.printf_P("%s: %f\n", s, ((AP_Float *)ap)->get());
+            break;
+        default:
+            break;
+        }
+    }
 	return(0);
 }
 
@@ -122,7 +149,7 @@ setup_factory(uint8_t argc, const Menu::arg *argv)
 	if (('y' != c) && ('Y' != c))
 		return(-1);
 
-	AP_Var::erase_all();
+	AP_Param::erase_all();
 	Serial.printf_P(PSTR("\nReboot APM"));
 
 	delay(1000);
diff --git a/ArduCopter/system.pde b/ArduCopter/system.pde
index 6e2a9e86bf..1d6c8832fb 100644
--- a/ArduCopter/system.pde
+++ b/ArduCopter/system.pde
@@ -159,34 +159,8 @@ static void init_ardupilot()
 		piezo_beep();
 	#endif
 
-
-	if (!g.format_version.load() ||
-	     g.format_version != Parameters::k_format_version) {
-		//Serial.printf_P(PSTR("\n\nForcing complete parameter reset..."));
-
-		/*Serial.printf_P(PSTR("\n\nEEPROM format version  %d not compatible with this firmware (requires %d)"
-		                     "\n\nForcing complete parameter reset..."),
-		                     g.format_version.get(),
-		                     Parameters::k_format_version);
-		*/
-
-		// erase all parameters
-		Serial.printf_P(PSTR("Firmware change: erasing EEPROM...\n"));
-		delay(100); // wait for serial send
-		AP_Var::erase_all();
-
-		// save the new format version
-		g.format_version.set_and_save(Parameters::k_format_version);
-
-		// save default radio values
-		default_dead_zones();
-	}else{
-		// save default radio values
-		//default_dead_zones();
-
-	    // Load all auto-loaded EEPROM variables
-	    AP_Var::load_all();
-	}
+    // load parameters from EEPROM
+    load_parameters();
 
 	// init the GCS
     gcs0.init(&Serial);