diff --git a/ArduCopter/Parameters.h b/ArduCopter/Parameters.h
index 80147e64ea..e2bf52f9e4 100644
--- a/ArduCopter/Parameters.h
+++ b/ArduCopter/Parameters.h
@@ -94,7 +94,10 @@ public:
 	// 140: Sensor parameters
 	//
 	k_param_IMU_calibration = 140,
-	k_param_battery_monitoring,
+    k_param_battery_monitoring,
+    k_param_volt_div_ratio,
+    k_param_curr_amp_per_volt,
+    k_param_input_voltage,
 	k_param_pack_capacity,
 	k_param_compass_enabled,
 	k_param_compass,
@@ -102,11 +105,10 @@ public:
 	k_param_frame_orientation,
 	k_param_top_bottom_ratio,
 	k_param_optflow_enabled,
-	k_param_input_voltage,
 	k_param_low_voltage,
 	k_param_ch7_option,
-	k_param_sonar_type,  // 153
-	k_param_super_simple,
+	k_param_sonar_type,  
+	k_param_super_simple, //155
 
 	//
 	// 160: Navigation parameters
@@ -198,11 +200,13 @@ public:
 	AP_Int16	RTL_altitude;
 	AP_Int8		sonar_enabled;
 	AP_Int8		sonar_type;   // 0 = XL, 1 = LV, 2 = XLL (XL with 10m range)
-	AP_Int8		battery_monitoring;	// 0=disabled, 3=voltage only, 4=voltage and current
+    AP_Int8		battery_monitoring;	// 0=disabled, 3=voltage only, 4=voltage and current
+    AP_Float	volt_div_ratio;
+    AP_Float	curr_amp_per_volt;
+    AP_Float	input_voltage;
 	AP_Int16	pack_capacity;		// Battery pack capacity less reserve
 	AP_Int8		compass_enabled;
     AP_Int8		optflow_enabled;
-    AP_Float	input_voltage;
 	AP_Float	low_voltage;
 	AP_Int8		super_simple;
 
@@ -319,11 +323,13 @@ public:
 	RTL_altitude			(ALT_HOLD_HOME * 100,		k_param_RTL_altitude,					PSTR("ALT_HOLD_RTL")),
 	sonar_enabled			(DISABLED,					k_param_sonar,							PSTR("SONAR_ENABLE")),
 	sonar_type				(AP_RANGEFINDER_MAXSONARXL,	k_param_sonar_type,						PSTR("SONAR_TYPE")),
-	battery_monitoring 		(DISABLED,					k_param_battery_monitoring,				PSTR("BATT_MONITOR")),
+    battery_monitoring 		(DISABLED,					k_param_battery_monitoring,		        PSTR("BATT_MONITOR")),
+    volt_div_ratio			(VOLT_DIV_RATIO,			k_param_volt_div_ratio,			        PSTR("VOLT_DIVIDER")),
+    curr_amp_per_volt		(CURR_AMP_PER_VOLT,			k_param_curr_amp_per_volt,		        PSTR("AMP_PER_VOLT")),
+    input_voltage			(INPUT_VOLTAGE,				k_param_input_voltage,			        PSTR("INPUT_VOLTS")),
 	pack_capacity			(HIGH_DISCHARGE,			k_param_pack_capacity,					PSTR("BATT_CAPACITY")),
 	compass_enabled			(MAGNETOMETER,				k_param_compass_enabled,				PSTR("MAG_ENABLE")),
 	optflow_enabled			(OPTFLOW,					k_param_optflow_enabled,				PSTR("FLOW_ENABLE")),
-	input_voltage			(INPUT_VOLTAGE,				k_param_input_voltage,					PSTR("IN_VOLT")),
 	low_voltage				(LOW_VOLTAGE,				k_param_low_voltage,					PSTR("LOW_VOLT")),
 	super_simple			(SUPER_SIMPLE,				k_param_super_simple,					PSTR("SUPER_SIMPLE")),
 
diff --git a/ArduCopter/defines.h b/ArduCopter/defines.h
index a9927a105c..6c0720799d 100644
--- a/ArduCopter/defines.h
+++ b/ArduCopter/defines.h
@@ -291,9 +291,9 @@ enum gcs_severity {
 // Climb rate calculations
 #define	ALTITUDE_HISTORY_LENGTH 8	//Number of (time,altitude) points to regress a climb rate from
 
+#define BATTERY_VOLTAGE(x) (x*(g.input_voltage/1024.0))*g.volt_div_ratio
+#define CURRENT_AMPS(x) ((x*(g.input_voltage/1024.0))-CURR_AMPS_OFFSET)*g.curr_amp_per_volt
 
-#define BATTERY_VOLTAGE(x) (x*(g.input_voltage/1023.0))*VOLT_DIV_RATIO
-#define CURRENT_AMPS(x) ((x*(g.input_voltage/1023.0))-CURR_AMPS_OFFSET)*CURR_AMP_PER_VOLT
 //#define BARO_FILTER_SIZE 8
 
 /* ************************************************************** */
diff --git a/ArduCopter/sensors.pde b/ArduCopter/sensors.pde
index 2837ccd1c9..6b1cdcc112 100644
--- a/ArduCopter/sensors.pde
+++ b/ArduCopter/sensors.pde
@@ -105,13 +105,12 @@ static void read_battery(void)
 		battery_voltage1 = 0;
 		return;
 	}
-
-	if(g.battery_monitoring == 3 || g.battery_monitoring == 4) {
+    
+    if(g.battery_monitoring == 3 || g.battery_monitoring == 4) 
 		battery_voltage1 = BATTERY_VOLTAGE(analogRead(BATTERY_PIN_1)) * .1 + battery_voltage1 * .9;
-	}
 	if(g.battery_monitoring == 4) {
-		current_amps1	 = CURRENT_AMPS(analogRead(CURRENT_PIN_1)) * .1 + current_amps1 * .9; //reads power sensor current pin
-		current_total1	 += current_amps1 * 0.02778;	// called at 100ms on average, .0002778 is 1/3600 (conversion to hours)
+		current_amps1	 = CURRENT_AMPS(analogRead(CURRENT_PIN_1)) * .1 + current_amps1 * .9; 	//reads power sensor current pin
+		current_total1	 += current_amps1 * 0.0002778;				// .0002778 is 1/3600 (conversion to hours)
 	}
 
 	#if BATTERY_EVENT == 1