diff --git a/libraries/AC_PID/AC_PID.cpp b/libraries/AC_PID/AC_PID.cpp
index 15554312b9..b68c79d005 100755
--- a/libraries/AC_PID/AC_PID.cpp
+++ b/libraries/AC_PID/AC_PID.cpp
@@ -7,10 +7,10 @@
 #include "AC_PID.h"
 
 const AP_Param::GroupInfo AC_PID::var_info[] PROGMEM = {
-	AP_GROUPINFO("P",    AC_PID, _kp),
-	AP_GROUPINFO("I",    AC_PID, _ki),
-	AP_GROUPINFO("D",    AC_PID, _kd),
-	AP_GROUPINFO("IMAX", AC_PID, _imax),
+	AP_GROUPINFO("P",    0, AC_PID, _kp),
+	AP_GROUPINFO("I",    1, AC_PID, _ki),
+	AP_GROUPINFO("D",    2, AC_PID, _kd),
+	AP_GROUPINFO("IMAX", 3, AC_PID, _imax),
 	AP_GROUPEND
 };
 
diff --git a/libraries/APM_PI/APM_PI.cpp b/libraries/APM_PI/APM_PI.cpp
index d0c3ae0eef..ed4bbd64de 100644
--- a/libraries/APM_PI/APM_PI.cpp
+++ b/libraries/APM_PI/APM_PI.cpp
@@ -8,9 +8,9 @@
 #include "APM_PI.h"
 
 const AP_Param::GroupInfo APM_PI::var_info[] PROGMEM = {
-	AP_GROUPINFO("P",    APM_PI, _kp),
-	AP_GROUPINFO("I",    APM_PI, _ki),
-	AP_GROUPINFO("IMAX", APM_PI, _imax),
+	AP_GROUPINFO("P",    0, APM_PI, _kp),
+	AP_GROUPINFO("I",    1, APM_PI, _ki),
+	AP_GROUPINFO("IMAX", 2, APM_PI, _imax),
 	AP_GROUPEND
 };
 
diff --git a/libraries/AP_Compass/Compass.cpp b/libraries/AP_Compass/Compass.cpp
index cb19e204a8..db3bd2eef5 100644
--- a/libraries/AP_Compass/Compass.cpp
+++ b/libraries/AP_Compass/Compass.cpp
@@ -2,9 +2,9 @@
 #include "Compass.h"
 
 const AP_Param::GroupInfo Compass::var_info[] PROGMEM = {
-    AP_GROUPINFO("ORIENT", Compass, _orientation_matrix),
-    AP_GROUPINFO("OFS",    Compass, _offset),
-    AP_GROUPINFO("DEC",    Compass, _declination),
+    AP_GROUPINFO("ORIENT", 0, Compass, _orientation_matrix),
+    AP_GROUPINFO("OFS",    1, Compass, _offset),
+    AP_GROUPINFO("DEC",    2, Compass, _declination),
     AP_GROUPEND
 };
 
diff --git a/libraries/AP_IMU/AP_IMU_INS.cpp b/libraries/AP_IMU/AP_IMU_INS.cpp
index cc2694805e..9c8befd235 100644
--- a/libraries/AP_IMU/AP_IMU_INS.cpp
+++ b/libraries/AP_IMU/AP_IMU_INS.cpp
@@ -22,7 +22,7 @@
 #include "AP_IMU_INS.h"
 
 const AP_Param::GroupInfo AP_IMU_INS::var_info[] PROGMEM = {
-    AP_GROUPINFO("CAL", AP_IMU_INS, _sensor_cal),
+    AP_GROUPINFO("CAL", 0, AP_IMU_INS, _sensor_cal),
     AP_GROUPEND
 };
 
diff --git a/libraries/PID/PID.cpp b/libraries/PID/PID.cpp
index 8e8499ea14..56a054729f 100644
--- a/libraries/PID/PID.cpp
+++ b/libraries/PID/PID.cpp
@@ -8,10 +8,10 @@
 #include "PID.h"
 
 const AP_Param::GroupInfo PID::var_info[] PROGMEM = {
-	AP_GROUPINFO("P",    PID, _kp),
-	AP_GROUPINFO("I",    PID, _ki),
-	AP_GROUPINFO("D",    PID, _kd),
-	AP_GROUPINFO("IMAX", PID, _imax),
+	AP_GROUPINFO("P",    0, PID, _kp),
+	AP_GROUPINFO("I",    1, PID, _ki),
+	AP_GROUPINFO("D",    2, PID, _kd),
+	AP_GROUPINFO("IMAX", 3, PID, _imax),
 	AP_GROUPEND
 };
 
diff --git a/libraries/RC_Channel/RC_Channel.cpp b/libraries/RC_Channel/RC_Channel.cpp
index 3ec1029246..62f456a45f 100644
--- a/libraries/RC_Channel/RC_Channel.cpp
+++ b/libraries/RC_Channel/RC_Channel.cpp
@@ -25,11 +25,11 @@
 APM_RC_Class *RC_Channel::_apm_rc;
 
 const AP_Param::GroupInfo RC_Channel::var_info[] PROGMEM = {
-	AP_GROUPINFO("MIN",  RC_Channel, radio_min),
-	AP_GROUPINFO("TRIM", RC_Channel, radio_trim),
-	AP_GROUPINFO("MAX",  RC_Channel, radio_max),
-	AP_GROUPINFO("REV",  RC_Channel, _reverse),
-	AP_GROUPINFO("DZ",   RC_Channel, _dead_zone),
+	AP_GROUPINFO("MIN",  0, RC_Channel, radio_min),
+	AP_GROUPINFO("TRIM", 1, RC_Channel, radio_trim),
+	AP_GROUPINFO("MAX",  2, RC_Channel, radio_max),
+	AP_GROUPINFO("REV",  3, RC_Channel, _reverse),
+	AP_GROUPINFO("DZ",   4, RC_Channel, _dead_zone),
 	AP_GROUPEND
 };
 
diff --git a/libraries/RC_Channel/RC_Channel_aux.cpp b/libraries/RC_Channel/RC_Channel_aux.cpp
index b0d49df249..ac3e06e3bc 100644
--- a/libraries/RC_Channel/RC_Channel_aux.cpp
+++ b/libraries/RC_Channel/RC_Channel_aux.cpp
@@ -4,10 +4,10 @@
 #include "RC_Channel_aux.h"
 
 const AP_Param::GroupInfo RC_Channel_aux::var_info[] PROGMEM = {
-	AP_NESTEDGROUPINFO(RC_Channel),
-	AP_GROUPINFO("FUNCTION",   RC_Channel_aux, function),
-	AP_GROUPINFO("ANGLE_MIN",  RC_Channel_aux, angle_min),
-	AP_GROUPINFO("ANGLE_MAX",  RC_Channel_aux, angle_max),
+	AP_NESTEDGROUPINFO(RC_Channel, 0),
+	AP_GROUPINFO("FUNCTION",       1, RC_Channel_aux, function),
+	AP_GROUPINFO("ANGLE_MIN",      2, RC_Channel_aux, angle_min),
+	AP_GROUPINFO("ANGLE_MAX",      3, RC_Channel_aux, angle_max),
 	AP_GROUPEND
 };