diff --git a/AntennaTracker/Parameters.cpp b/AntennaTracker/Parameters.cpp
index 79cece8e82..f4c32ae4f3 100644
--- a/AntennaTracker/Parameters.cpp
+++ b/AntennaTracker/Parameters.cpp
@@ -284,9 +284,11 @@ const AP_Param::Info Tracker::var_info[] = {
     // @Path: ../libraries/AP_Notify/AP_Notify.cpp
     GOBJECT(notify, "NTF_",  AP_Notify),
 
-    // @Path: RC_Channels.cpp
+    // @Group: RC
+    // @Path: ../libraries/RC_Channel/RC_Channels_VarInfo.h
     GOBJECT(rc_channels,     "RC", RC_Channels_Tracker),
 
+    // @Group: SERVO
     // @Path: ../libraries/SRV_Channel/SRV_Channels.cpp
     GOBJECT(servo_channels,     "SERVO", SRV_Channels),
     
@@ -321,6 +323,37 @@ const AP_Param::Info Tracker::var_info[] = {
     // @Description: Pitch axis controller D gain.  Compensates for short-term change in desired pitch angle vs actual pitch angle
     // @Range: 0.001 0.1
     // @Increment: 0.001
+    // @User: Standard
+
+    // @Param: PITCH2SRV_FF
+    // @DisplayName: Pitch axis controller feed forward
+    // @Description: Pitch axis controller feed forward
+    // @Range: 0 0.5
+    // @Increment: 0.001
+    // @User: Standard
+
+    // @Param: PITCH2SRV_FLTT
+    // @DisplayName: Pitch axis controller target frequency in Hz
+    // @Description: Pitch axis controller target frequency in Hz
+    // @Range: 1 50
+    // @Increment: 1
+    // @Units: Hz
+    // @User: Standard
+
+    // @Param: PITCH2SRV_FLTE
+    // @DisplayName: Pitch axis controller error frequency in Hz
+    // @Description: Pitch axis controller error frequency in Hz
+    // @Range: 1 100
+    // @Increment: 1
+    // @Units: Hz
+    // @User: Standard
+
+    // @Param: PITCH2SRV_FLTD
+    // @DisplayName: Pitch axis controller derivative frequency in Hz
+    // @Description: Pitch axis controller derivative frequency in Hz
+    // @Range: 1 100
+    // @Increment: 1
+    // @Units: Hz
     // @User: Standard
 	GGROUP(pidPitch2Srv,       "PITCH2SRV_", AC_PID),
 
@@ -351,6 +384,37 @@ const AP_Param::Info Tracker::var_info[] = {
     // @Description: Yaw axis controller D gain.  Compensates for short-term change in desired yaw angle (heading) vs actual yaw angle
     // @Range: 0.001 0.1
     // @Increment: 0.001
+    // @User: Standard
+
+    // @Param: YAW2SRV_FF
+    // @DisplayName: Yaw axis controller feed forward
+    // @Description: Yaw axis controller feed forward
+    // @Range: 0 0.5
+    // @Increment: 0.001
+    // @User: Standard
+
+    // @Param: YAW2SRV_FLTT
+    // @DisplayName: Yaw axis controller target frequency in Hz
+    // @Description: Yaw axis controller target frequency in Hz
+    // @Range: 1 50
+    // @Increment: 1
+    // @Units: Hz
+    // @User: Standard
+
+    // @Param: YAW2SRV_FLTE
+    // @DisplayName: Yaw axis controller error frequency in Hz
+    // @Description: Yaw axis controller error frequency in Hz
+    // @Range: 1 100
+    // @Increment: 1
+    // @Units: Hz
+    // @User: Standard
+
+    // @Param: YAW2SRV_FLTD
+    // @DisplayName: Yaw axis controller derivative frequency in Hz
+    // @Description: Yaw axis controller derivative frequency in Hz
+    // @Range: 1 100
+    // @Increment: 1
+    // @Units: Hz
     // @User: Standard
 	GGROUP(pidYaw2Srv,         "YAW2SRV_", AC_PID),
 
@@ -409,7 +473,7 @@ const AP_Param::Info Tracker::var_info[] = {
     // @User: Standard
     GSCALAR(disarm_pwm,              "SAFE_DISARM_PWM",        0),
 
-    // @Group: STAT_
+    // @Group: STAT
     // @Path: ../libraries/AP_Stats/AP_Stats.cpp
     GOBJECT(stats, "STAT",  AP_Stats),