diff --git a/Tools/Frame_params/Solo_AC35.param b/Tools/Frame_params/Solo_AC35.param
index ff1c535aab..e9c9cee74c 100644
--- a/Tools/Frame_params/Solo_AC35.param
+++ b/Tools/Frame_params/Solo_AC35.param
@@ -1,4 +1,4 @@
-#NOTE: 4/13/2017: All required 3DR Solo parameters for ArduCopter 3.5
+# NOTE: 7/15/2017: Required parameters for a 3DR Solo with ArduCopter 3.5.0 and higher
 ACCEL_Z_I,1.5
 ACCEL_Z_P,0.75
 ACRO_RP_P,4
@@ -6,36 +6,39 @@ ACRO_THR_MID,0.4
 ACRO_YAW_P,1
 AHRS_ORIENTATION,12
 ANGLE_MAX,2000
-ARMING_CHECK,7166
 ATC_ACCEL_P_MAX,36000
 ATC_ACCEL_R_MAX,36000
 ATC_ACCEL_Y_MAX,7000
-ATC_ANG_PIT_P,4.5
-ATC_ANG_RLL_P,4.5
-ATC_ANG_YAW_P,3.42
-ATC_RAT_PIT_D,0.0036
-ATC_RAT_PIT_I,0.09
-ATC_RAT_PIT_P,0.135
-ATC_RAT_RLL_D,0.0036
-ATC_RAT_RLL_I,0.09
-ATC_RAT_RLL_P,0.135
-ATC_RAT_YAW_FILT,3.151
-ATC_RAT_YAW_I,0.092
-ATC_RAT_YAW_P,0.92
+ATC_ANG_PIT_P,10
+ATC_ANG_RLL_P,9
+ATC_ANG_YAW_P,7
+ATC_RAT_PIT_D,0.006
+ATC_RAT_PIT_IMAX,0.444
+ATC_RAT_PIT_P,0.167
+ATC_RAT_RLL_D,0.005
+ATC_RAT_RLL_I,0.12
+ATC_RAT_RLL_IMAX,0.444
+ATC_RAT_RLL_P,0.086
+ATC_RAT_YAW_FILT,5
+ATC_RAT_YAW_I,0.061
+ATC_RAT_YAW_IMAX,0.222
+ATC_RAT_YAW_P,0.617
+ATC_SLEW_YAW,8000
 BATT_CAPACITY,5200
 BATT_MONITOR,5
+BATT_SERIAL_NUM,0
 BRD_IMU_TARGTEMP,45
 BRD_SAFETY_MASK,16368
 BRD_SAFETYENABLE,0
 BRD_SER1_RTSCTS,1
-BRD_TYPE,3
-COMPASS_LEARN,0
+CIRCLE_RADIUS,3000
 COMPASS_ORIENT,38
 COMPASS_USE3,0
-DISARM_DELAY,5
+DISARM_DELAY,8
 FENCE_ACTION,0
 FENCE_ALT_MAX,122
 FENCE_ENABLE,1
+FENCE_RADIUS,0
 FENCE_TYPE,1
 FLTMODE1,5
 FLTMODE2,5
@@ -47,99 +50,78 @@ FRAME_CLASS,1
 FRAME_TYPE,1
 FS_BATT_ENABLE,2
 FS_BATT_MAH,520
-FS_BATT_VOLTAGE,13.9
+FS_BATT_VOLTAGE,14
 FS_EKF_ACTION,2
-FS_THR_ENABLE,1
 FS_THR_VALUE,950
 GND_EFFECT_COMP,1
 GPS_HDOP_GOOD,200
 GPS_NAVFILTER,6
 INS_ACC_BODYFIX,3
+INS_FAST_SAMPLE,3
 INS_TRIM_OPTION,2
 LAND_SPEED,45
-LAND_SPEED_HIGH,245
+LAND_SPEED_HIGH,220
 LOG_BACKEND_TYPE,3
-LOG_BITMASK,131070
 LOG_DISARMED,1
 LOG_FILE_BUFSIZE,32
-MNT_ANGMAX_PAN,4500
-MNT_ANGMAX_ROL,4500
+LOG_FILE_DSRMROT,1
 MNT_ANGMAX_TIL,0
-MNT_ANGMIN_PAN,-4500
-MNT_ANGMIN_ROL,-4500
 MNT_ANGMIN_TIL,-9000
-MNT_DEFLT_MODE,3
+MNT_RC_IN_TILT,6
 MNT_TYPE,2
-MOT_BAT_CURR_MAX,45
+MOT_BAT_CURR_MAX,50
 MOT_BAT_VOLT_MAX,16.8
 MOT_BAT_VOLT_MIN,12
 MOT_PWM_MAX,1869
 MOT_PWM_MIN,1000
 MOT_SPIN_ARM,0.08
-MOT_SPIN_MAX,0.95
-MOT_SPIN_MIN,0.15
+MOT_SPIN_MIN,0.12
 MOT_SPOOL_TIME,1
 MOT_THST_EXPO,0.8
-MOT_THST_HOVER,0.37
+NTF_OREO_THEME,1
+PHLD_BRAKE_ANGLE,2000
+PHLD_BRAKE_RATE,6
 PILOT_ACCEL_Z,100
-PILOT_THR_BHV,1
+PILOT_THR_BHV,7
 PILOT_THR_FILT,2
 PILOT_TKOFF_ALT,214
 PILOT_TKOFF_DZ,250
 PILOT_VELZ_MAX,133
 RC_FEEL_RP,20
-RC1_DZ,10
-RC1_MAX,1998
+RC1_DZ,20
+RC1_MAX,2000
 RC1_MIN,1000
-RC1_TRIM,1500
-RC2_DZ,10
+RC2_DZ,20
 RC2_MAX,2000
-RC2_MIN,1006
-RC2_TRIM,1499
-RC3_DZ,30
-RC3_MAX,1898
-RC3_MIN,1000
-RC3_TRIM,1449
-RC4_DZ,10
+RC2_MIN,1000
+RC3_MAX,1890
+RC3_MIN,1008
+RC3_TRIM,1450
+RC4_DZ,20
 RC4_MAX,2000
-RC4_MIN,1006
-RC4_TRIM,1499
-RC6_DZ,0
+RC4_MIN,1000
 RC6_MAX,1520
 RC6_MIN,1000
 RC6_TRIM,1000
+RC7_MAX,2000
+RC7_MIN,1000
 RTL_ALT,4500
-RTL_ALT_FINAL,0
 RTL_CLIMB_MIN,1000
-RTL_LOIT_TIME,3000
-RTL_SPEED,1000
+RTL_SPEED,900
 SERIAL1_BAUD,921
-SERIAL1_PROTOCOL,1
-SERIAL2_PROTOCOL,0
 SERIAL4_BAUD,230
 SERIAL4_PROTOCOL,1
 SERVO1_FUNCTION,33
 SERVO2_FUNCTION,34
 SERVO3_FUNCTION,35
 SERVO4_FUNCTION,36
-SERVO7_FUNCTION,1
-SR1_EXT_STAT,2
-SR1_EXTRA1,5
-SR1_EXTRA2,5
-SR1_EXTRA3,1
-SR1_PARAMS,10
-SR1_POSITION,1
-SR1_RAW_CTRL,3
-SR1_RAW_SENS,1
-SR1_RC_CHAN,1
-TERRAIN_ENABLE,0
-TERRAIN_FOLLOW,0
+SR3_PARAMS,10
+TERRAIN_SPACING,30
 THR_DZ,10
+VEL_XY_P,1.4
 WP_YAW_BEHAVIOR,3
-WPNAV_LOIT_JERK,1400
-WPNAV_LOIT_MAXA,321
-WPNAV_LOIT_MINA,138
-WPNAV_LOIT_SPEED,700
-WPNAV_SPEED,500
+WPNAV_LOIT_MAXA,229
+WPNAV_LOIT_MINA,108
+WPNAV_SPEED,300
 WPNAV_SPEED_DN,240
 WPNAV_SPEED_UP,320