diff --git a/Tools/Frame_params/Solo_Copter-3.5_GreenCube.param b/Tools/Frame_params/Solo_Copter-3.5_GreenCube.param
index 3772aed74f..810fa0cae8 100644
--- a/Tools/Frame_params/Solo_Copter-3.5_GreenCube.param
+++ b/Tools/Frame_params/Solo_Copter-3.5_GreenCube.param
@@ -122,7 +122,7 @@ SERVO1_FUNCTION,33
 SERVO2_FUNCTION,34
 SERVO3_FUNCTION,35
 SERVO4_FUNCTION,36
-SR3_PARAMS,10
+SR1_PARAMS,30
 TERRAIN_SPACING,30
 THR_DZ,10
 VEL_XY_P,1.4
diff --git a/Tools/Frame_params/Solo_Copter-3.6_GreenCube.param b/Tools/Frame_params/Solo_Copter-3.6_GreenCube.param
index 12bf3dec49..141ea21f69 100644
--- a/Tools/Frame_params/Solo_Copter-3.6_GreenCube.param
+++ b/Tools/Frame_params/Solo_Copter-3.6_GreenCube.param
@@ -27,9 +27,10 @@ ATC_RAT_YAW_IMAX,0.222
 ATC_RAT_YAW_P,0.5
 ATC_SLEW_YAW,8000
 AVD_ENABLE,0
-BATT_CAPACITY,5200
-BATT_CRT_MAH,0
-BATT_CRT_VOLT,13
+BATT_ARM_MAH,250
+BATT_ARM_VOLT,13.5
+BATT_CRT_MAH,250
+BATT_CRT_VOLT,13.5
 BATT_FS_CRT_ACT,2
 BATT_FS_LOW_ACT,2
 BATT_FS_VOLTSRC,1
@@ -41,12 +42,7 @@ BRD_SAFETYENABLE,0
 BRD_SAFETY_MASK,16368
 CIRCLE_RADIUS,3000
 COMPASS_ORIENT,38
-COMPASS_ORIENT2,0
-COMPASS_ORIENT3,0
-COMPASS_PRIMARY,0
 COMPASS_TYPEMASK,15392
-COMPASS_USE,1
-COMPASS_USE2,1
 COMPASS_USE3,0
 DISARM_DELAY,10
 EK2_ENABLE,0
@@ -139,8 +135,7 @@ SERVO1_FUNCTION,33
 SERVO2_FUNCTION,34
 SERVO3_FUNCTION,35
 SERVO4_FUNCTION,36
-SR1_RAW_CTRL,2
-SR3_PARAMS,10
+SR1_PARAMS,30
 THR_DZ,10
 WPNAV_LOIT_MAXA,229
 WPNAV_LOIT_MINA,108
diff --git a/Tools/Frame_params/Solo_Copter-3.7_BlackCube.param b/Tools/Frame_params/Solo_Copter-3.7_BlackCube.param
index b76da82e61..fafe191e4d 100644
--- a/Tools/Frame_params/Solo_Copter-3.7_BlackCube.param
+++ b/Tools/Frame_params/Solo_Copter-3.7_BlackCube.param
@@ -29,9 +29,9 @@ ATC_RAT_YAW_I,0.0594
 ATC_RAT_YAW_IMAX,0.222
 ATC_RAT_YAW_P,0.5949
 BATT_ARM_MAH,250
-BATT_ARM_VOLT,13.3
+BATT_ARM_VOLT,13.5
 BATT_CRT_MAH,250
-BATT_CRT_VOLT,13.3
+BATT_CRT_VOLT,13.5
 BATT_FS_CRT_ACT,2
 BATT_FS_LOW_ACT,2
 BATT_FS_VOLTSRC,1
@@ -134,7 +134,7 @@ SERVO1_FUNCTION,33
 SERVO2_FUNCTION,34
 SERVO3_FUNCTION,35
 SERVO4_FUNCTION,36
-SR3_PARAMS,2
+SR1_PARAMS,30
 THR_DZ,10
 WP_YAW_BEHAVIOR,3
 WPNAV_SPEED,300
diff --git a/Tools/Frame_params/Solo_Copter-3.7_GreenCube.param b/Tools/Frame_params/Solo_Copter-3.7_GreenCube.param
index d638fac269..adcb6d0dbd 100644
--- a/Tools/Frame_params/Solo_Copter-3.7_GreenCube.param
+++ b/Tools/Frame_params/Solo_Copter-3.7_GreenCube.param
@@ -29,9 +29,9 @@ ATC_RAT_YAW_I,0.05
 ATC_RAT_YAW_IMAX,0.222
 ATC_RAT_YAW_P,0.5
 BATT_ARM_MAH,250
-BATT_ARM_VOLT,13.3
+BATT_ARM_VOLT,13.5
 BATT_CRT_MAH,250
-BATT_CRT_VOLT,13.3
+BATT_CRT_VOLT,13.5
 BATT_FS_CRT_ACT,2
 BATT_FS_LOW_ACT,2
 BATT_FS_VOLTSRC,1
@@ -134,7 +134,7 @@ SERVO1_FUNCTION,33
 SERVO2_FUNCTION,34
 SERVO3_FUNCTION,35
 SERVO4_FUNCTION,36
-SR3_PARAMS,2
+SR1_PARAMS,30
 THR_DZ,10
 WP_YAW_BEHAVIOR,3
 WPNAV_SPEED,300