diff --git a/libraries/SITL/SITL.cpp b/libraries/SITL/SITL.cpp
index 2aeed73ab6..235fa71a8d 100644
--- a/libraries/SITL/SITL.cpp
+++ b/libraries/SITL/SITL.cpp
@@ -332,28 +332,97 @@ const AP_Param::GroupInfo SIM::var_info3[] = {
     // Scenario for thermalling simulation, for soaring
     AP_GROUPINFO("THML_SCENARI",  12, SIM,  thermal_scenario, 0),
 
-    // vicon sensor position (position offsets in body frame)
+    // @Param: VICON_POS_X
+    // @DisplayName: SITL vicon position on vehicle in Forward direction
+    // @Description: SITL vicon position on vehicle in Forward direction
+    // @Units: m
+    // @Range: 0 10
+    // @User: Advanced
+
+    // @Param: VICON_POS_Y
+    // @DisplayName: SITL vicon position on vehicle in Right direction
+    // @Description: SITL vicon position on vehicle in Right direction
+    // @Units: m
+    // @Range: 0 10
+    // @User: Advanced
+
+    // @Param: VICON_POS_Z
+    // @DisplayName: SITL vicon position on vehicle in Down direction
+    // @Description: SITL vicon position on vehicle in Down direction
+    // @Units: m
+    // @Range: 0 10
+    // @User: Advanced    
     AP_GROUPINFO("VICON_POS",     14, SIM,  vicon_pos_offset, 0),
 
     // Buyoancy for submarines
     AP_GROUPINFO_FRAME("BUOYANCY", 15, SIM, buoyancy, 1, AP_PARAM_FRAME_SUB),
 
-    // vicon glitch in NED frame
+    // @Param: VICON_GLIT_X
+    // @DisplayName: SITL vicon position glitch North
+    // @Description: SITL vicon position glitch North
+    // @Units: m
+    // @User: Advanced
+
+    // @Param: VICON_GLIT_Y
+    // @DisplayName: SITL vicon position glitch East
+    // @Description: SITL vicon position glitch East
+    // @Units: m
+    // @User: Advanced
+
+    // @Param: VICON_GLIT_Z
+    // @DisplayName: SITL vicon position glitch Down
+    // @Description: SITL vicon position glitch Down
+    // @Units: m
+    // @User: Advanced
     AP_GROUPINFO("VICON_GLIT",    16, SIM,  vicon_glitch, 0),
 
-    // vicon failure
+    // @Param: VICON_FAIL
+    // @DisplayName: SITL vicon failure
+    // @Description: SITL vicon failure
+    // @Values: 0:Vicon Healthy, 1:Vicon Failed
+    // @User: Advanced
     AP_GROUPINFO("VICON_FAIL",    17, SIM,  vicon_fail, 0),
 
-    // vicon yaw (in earth frame)
+    // @Param: VICON_YAW
+    // @DisplayName: SITL vicon yaw angle in earth frame
+    // @Description: SITL vicon yaw angle in earth frame
+    // @Units: deg
+    // @Range: 0 360
+    // @User: Advanced
     AP_GROUPINFO("VICON_YAW",     18, SIM,  vicon_yaw, 0),
 
-    // vicon yaw error in degrees (added to reported yaw sent to vehicle)
+    // @Param: VICON_YAWERR
+    // @DisplayName: SITL vicon yaw error
+    // @Description: SITL vicon yaw added to reported yaw sent to vehicle
+    // @Units: deg
+    // @Range: -180 180
+    // @User: Advanced
     AP_GROUPINFO("VICON_YAWERR",  19, SIM,  vicon_yaw_error, 0),
 
-    // vicon message type mask
+    // @Param: VICON_TMASK
+    // @DisplayName: SITL vicon type mask
+    // @Description: SITL vicon messages sent
+    // @Bitmask: 0:VISION_POSITION_ESTIMATE, 1:VISION_SPEED_ESTIMATE, 2:VICON_POSITION_ESTIMATE, 3:VISION_POSITION_DELTA, 4:ODOMETRY
+    // @User: Advanced
     AP_GROUPINFO("VICON_TMASK",   20, SIM,  vicon_type_mask, 3),
 
-    // vicon velocity glitch in NED frame
+    // @Param: VICON_VGLI_X
+    // @DisplayName: SITL vicon velocity glitch North
+    // @Description: SITL vicon velocity glitch North
+    // @Units: m/s
+    // @User: Advanced
+
+    // @Param: VICON_VGLI_Y
+    // @DisplayName: SITL vicon velocity glitch East
+    // @Description: SITL vicon velocity glitch East
+    // @Units: m/s
+    // @User: Advanced
+
+    // @Param: VICON_VGLI_Z
+    // @DisplayName: SITL vicon velocity glitch Down
+    // @Description: SITL vicon velocity glitch Down
+    // @Units: m/s
+    // @User: Advanced
     AP_GROUPINFO("VICON_VGLI",    21, SIM,  vicon_vel_glitch, 0),
 
     AP_GROUPINFO("RATE_HZ",  22, SIM,  loop_rate_hz, SIM_RATE_HZ_DEFAULT),