diff --git a/Tools/Frame_params/Solo_Copter-4.param b/Tools/Frame_params/Solo_Copter-4.param
index 58d435e666..b1ecf7c488 100644
--- a/Tools/Frame_params/Solo_Copter-4.param
+++ b/Tools/Frame_params/Solo_Copter-4.param
@@ -19,11 +19,16 @@ ATC_RAT_PIT_D,0.0088
 ATC_RAT_PIT_I,0.103
 ATC_RAT_PIT_IMAX,0.666
 ATC_RAT_PIT_P,0.103
+ATC_RAT_PIT_FLTT,20
+ATC_RAT_PIT_FLTD,20
+ATC_RAT_PIT_FLTE,0
 ATC_RAT_RLL_D,0.0065
 ATC_RAT_RLL_I,0.091
 ATC_RAT_RLL_IMAX,0.666
 ATC_RAT_RLL_P,0.091
-ATC_RAT_YAW_FILT,7.6
+ATC_RAT_RLL_FLTT,20
+ATC_RAT_RLL_FLTD,20
+ATC_RAT_RLL_FLTE,0
 ATC_RAT_YAW_FLTE,7.6
 ATC_RAT_YAW_I,0.0594
 ATC_RAT_YAW_IMAX,0.222
@@ -39,7 +44,7 @@ BATT_LOW_MAH,520
 BATT_LOW_TIMER,10
 BATT_LOW_VOLT,14
 BATT_MONITOR,5
-PWM_VOLT_SEL,1
+BRD_PWM_VOLT_SEL,1
 BRD_SAFETY_MASK,16368
 BRD_SAFETYENABLE,0
 BRD_TYPE,3
@@ -64,12 +69,15 @@ FLTMODE6,5
 FRAME_CLASS,1
 FRAME_TYPE,1
 FS_EKF_ACTION,2
+FS_GCS_ENABLE,0
 FS_THR_VALUE,950
 GPS_HDOP_GOOD,200
 GPS_NAVFILTER,6
 GPS_TYPE,1
 INS_ACC_BODYFIX,3
 INS_FAST_SAMPLE,3
+INS_GYR_FILTER,40
+INS_ACCEL_FILTER,10
 INS_HNTCH_ATT,40
 INS_HNTCH_ENABLE,1
 INS_HNTCH_REF,0.26
@@ -97,7 +105,7 @@ MNT_RC_IN_TILT,6
 MNT_TYPE,2
 MOT_BAT_CURR_MAX,40
 MOT_BAT_VOLT_MAX,16.8
-MOT_BAT_VOLT_MIN,12
+MOT_BAT_VOLT_MIN,13.2
 MOT_PWM_MAX,1900
 MOT_PWM_MIN,1000
 MOT_SLEW_UP_TIME,0.25
@@ -105,7 +113,7 @@ MOT_SPIN_ARM,0.08
 MOT_SPIN_MIN,0.12
 MOT_SPIN_MAX,0.965
 MOT_THST_EXPO,0.8
-NTF_LED_TYPES,215
+NTF_LED_TYPES,22
 NTF_OREO_THEME,1
 PHLD_BRAKE_ANGLE,2500
 PHLD_BRAKE_RATE,6
@@ -144,7 +152,7 @@ SERVO1_FUNCTION,33
 SERVO2_FUNCTION,34
 SERVO3_FUNCTION,35
 SERVO4_FUNCTION,36
-SR1_PARAMS,30
+SR1_PARAMS,100
 THR_DZ,10
 WP_YAW_BEHAVIOR,3
 WPNAV_SPEED,300
diff --git a/Tools/Frame_params/Solo_Copter-4_GreenCube.param b/Tools/Frame_params/Solo_Copter-4_GreenCube.param
index dd73f7ebbd..f58d904ef6 100644
--- a/Tools/Frame_params/Solo_Copter-4_GreenCube.param
+++ b/Tools/Frame_params/Solo_Copter-4_GreenCube.param
@@ -19,12 +19,17 @@ ATC_RAT_PIT_D,0.0075
 ATC_RAT_PIT_I,0.270
 ATC_RAT_PIT_IMAX,0.444
 ATC_RAT_PIT_P,0.270
+ATC_RAT_PIT_FLTT,20
+ATC_RAT_PIT_FLTD,20
+ATC_RAT_PIT_FLTE,0
 ATC_RAT_RLL_D,0.005
 ATC_RAT_RLL_I,0.200
 ATC_RAT_RLL_IMAX,0.444
 ATC_RAT_RLL_P,0.200
-ATC_RAT_YAW_FILT,5
-ATC_RAT_YAW_FLTE,5
+ATC_RAT_RLL_FLTT,20
+ATC_RAT_RLL_FLTD,20
+ATC_RAT_RLL_FLTE,0
+ATC_RAT_YAW_FLTE,7.6
 ATC_RAT_YAW_I,0.05
 ATC_RAT_YAW_IMAX,0.222
 ATC_RAT_YAW_P,0.5
@@ -39,7 +44,7 @@ BATT_LOW_MAH,520
 BATT_LOW_TIMER,10
 BATT_LOW_VOLT,14
 BATT_MONITOR,5
-PWM_VOLT_SEL,1
+BRD_PWM_VOLT_SEL,1
 BRD_SAFETY_MASK,16368
 BRD_SAFETYENABLE,0
 CIRCLE_RADIUS,3000
@@ -63,12 +68,15 @@ FLTMODE6,5
 FRAME_CLASS,1
 FRAME_TYPE,1
 FS_EKF_ACTION,2
+FS_GCS_ENABLE,0
 FS_THR_VALUE,950
 GPS_HDOP_GOOD,200
 GPS_NAVFILTER,6
 GPS_TYPE,1
 INS_ACC_BODYFIX,3
 INS_FAST_SAMPLE,3
+INS_GYR_FILTER,40
+INS_ACCEL_FILTER,10
 INS_HNTCH_ATT,40
 INS_HNTCH_ENABLE,1
 INS_HNTCH_REF,0.26
@@ -96,7 +104,7 @@ MNT_RC_IN_TILT,6
 MNT_TYPE,2
 MOT_BAT_CURR_MAX,50
 MOT_BAT_VOLT_MAX,16.8
-MOT_BAT_VOLT_MIN,12
+MOT_BAT_VOLT_MIN,13.2
 MOT_PWM_MAX,1900
 MOT_PWM_MIN,1000
 MOT_SLEW_UP_TIME,0
@@ -105,7 +113,7 @@ MOT_SPIN_ARM,0.08
 MOT_SPIN_MIN,0.12
 MOT_SPIN_MAX,0.965
 MOT_THST_EXPO,0.8
-NTF_LED_TYPES,215
+NTF_LED_TYPES,22
 NTF_OREO_THEME,1
 PHLD_BRAKE_ANGLE,2500
 PHLD_BRAKE_RATE,6
@@ -116,8 +124,8 @@ PILOT_THR_BHV,7
 PILOT_THR_FILT,2
 PILOT_TKOFF_ALT,214
 PILOT_TKOFF_DZ,250
-PSC_ACCZ_I,1.5
-PSC_ACCZ_P,0.75
+PSC_ACCZ_I,1.0
+PSC_ACCZ_P,0.5
 PSC_VELXY_I,0.51
 PSC_VELXY_P,1.41
 RC1_MAX,2000
@@ -144,7 +152,7 @@ SERVO1_FUNCTION,33
 SERVO2_FUNCTION,34
 SERVO3_FUNCTION,35
 SERVO4_FUNCTION,36
-SR1_PARAMS,30
+SR1_PARAMS,100
 THR_DZ,10
 WP_YAW_BEHAVIOR,3
 WPNAV_SPEED,300