diff --git a/Tools/Frame_params/Holybro-QAV250-bdshot.param b/Tools/Frame_params/Holybro-QAV250-bdshot.param
new file mode 100644
index 0000000000..5ee424b27b
--- /dev/null
+++ b/Tools/Frame_params/Holybro-QAV250-bdshot.param
@@ -0,0 +1,55 @@
+ANGLE_MAX        7500
+ATC_ACCEL_P_MAX  247932.2
+ATC_ACCEL_R_MAX  280459.7
+ATC_ACCEL_Y_MAX  70449.61
+ATC_ANG_PIT_P    20.62971
+ATC_ANG_RLL_P    21.77228
+ATC_ANG_YAW_P    12.07662
+ATC_RAT_PIT_D    0.001443983
+ATC_RAT_PIT_FLTD 40
+ATC_RAT_PIT_FLTT 40
+ATC_RAT_PIT_I    0.05448329
+ATC_RAT_PIT_P    0.05448329
+ATC_RAT_PIT_SMAX 30
+ATC_RAT_RLL_D    0.001218464
+ATC_RAT_RLL_FLTD 40
+ATC_RAT_RLL_FLTT 40
+ATC_RAT_RLL_I    0.03652912
+ATC_RAT_RLL_P    0.03652912
+ATC_RAT_RLL_SMAX 30
+ATC_RAT_YAW_D    0.004205064
+ATC_RAT_YAW_FLTD 20
+ATC_RAT_YAW_FLTE 2
+ATC_RAT_YAW_I    0.02155114
+ATC_RAT_YAW_P    0.2155114
+ATC_RAT_YAW_SMAX 30
+INS_HNTC2_ATT    40
+INS_HNTC2_BW     8
+INS_HNTC2_ENABLE 1
+INS_HNTC2_FM_RAT 1
+INS_HNTC2_FREQ   47
+INS_HNTC2_HMNCS  3
+INS_HNTC2_MODE   1
+INS_HNTC2_OPTS   16
+INS_HNTC2_REF    1
+INS_HNTCH_ATT    40
+INS_HNTCH_BW     20
+INS_HNTCH_ENABLE 1
+INS_HNTCH_FM_RAT 1
+INS_HNTCH_FREQ   80
+INS_HNTCH_HMNCS  1
+INS_HNTCH_MODE   3
+INS_HNTCH_OPTS   22
+INS_HNTCH_REF    1
+MOT_BAT_VOLT_MAX 16.8
+MOT_BAT_VOLT_MIN 13.2
+MOT_PWM_TYPE     6
+MOT_SPIN_ARM     0.06
+MOT_SPIN_MIN     0.08
+MOT_THST_EXPO    0.55
+MOT_THST_HOVER   0.125
+PSC_ACCZ_I       0.168
+PSC_ACCZ_P       0.084
+SERVO_BLH_AUTO   1
+SERVO_DSHOT_ESC  2
+SERVO_DSHOT_RATE 3
diff --git a/Tools/Frame_params/Holybro-QAV250.param b/Tools/Frame_params/Holybro-QAV250.param
new file mode 100644
index 0000000000..af5072de6d
--- /dev/null
+++ b/Tools/Frame_params/Holybro-QAV250.param
@@ -0,0 +1,54 @@
+ANGLE_MAX        7500
+ATC_ACCEL_P_MAX  278477.8
+ATC_ACCEL_R_MAX  344115.3
+ATC_ACCEL_Y_MAX  51274.09
+ATC_ANG_PIT_P    25.66075
+ATC_ANG_RLL_P    28.50734
+ATC_ANG_YAW_P    8.258418
+ATC_RAT_PIT_D    0.001949416
+ATC_RAT_PIT_FLTD 40
+ATC_RAT_PIT_FLTT 40
+ATC_RAT_PIT_I    0.07421205
+ATC_RAT_PIT_P    0.07421205
+ATC_RAT_PIT_SMAX 30
+ATC_RAT_RLL_D    0.00120043
+ATC_RAT_RLL_FLTD 40
+ATC_RAT_RLL_FLTT 40
+ATC_RAT_RLL_I    0.04598495
+ATC_RAT_RLL_P    0.04598495
+ATC_RAT_RLL_SMAX 30
+ATC_RAT_YAW_D    0.009076501
+ATC_RAT_YAW_FLTD 40
+ATC_RAT_YAW_FLTE 1.3176
+ATC_RAT_YAW_I    0.02884508
+ATC_RAT_YAW_P    0.2884507
+ATC_RAT_YAW_SMAX 30
+INS_HNTC2_ATT    40
+INS_HNTC2_BW     8
+INS_HNTC2_ENABLE 1
+INS_HNTC2_FM_RAT 1
+INS_HNTC2_FREQ   47
+INS_HNTC2_HMNCS  1
+INS_HNTC2_MODE   1
+INS_HNTC2_OPTS   16
+INS_HNTC2_REF    1
+INS_HNTCH_ATT    40
+INS_HNTCH_BW     75
+INS_HNTCH_ENABLE 1
+INS_HNTCH_FM_RAT 0.7
+INS_HNTCH_FREQ   150
+INS_HNTCH_HMNCS  3
+INS_HNTCH_MODE   1
+INS_HNTCH_OPTS   0
+INS_HNTCH_REF    0.125
+MOT_BAT_VOLT_MAX 16.8
+MOT_BAT_VOLT_MIN 13.2
+MOT_PWM_TYPE     5
+MOT_SPIN_ARM     0.06
+MOT_SPIN_MIN     0.08
+MOT_THST_EXPO    0.55
+MOT_THST_HOVER   0.125
+PSC_ACCZ_I       0.168
+PSC_ACCZ_P       0.084
+SERVO_DSHOT_ESC  2
+SERVO_DSHOT_RATE 3
diff --git a/Tools/Frame_params/Holybro-X500v2-bdshot.param b/Tools/Frame_params/Holybro-X500v2-bdshot.param
new file mode 100644
index 0000000000..51f8733d21
--- /dev/null
+++ b/Tools/Frame_params/Holybro-X500v2-bdshot.param
@@ -0,0 +1,44 @@
+ANGLE_MAX        3500
+ATC_ACCEL_P_MAX  165167.5
+ATC_ACCEL_R_MAX  176726.4
+ATC_ACCEL_Y_MAX  35955.46
+ATC_ANG_PIT_P    21.2236
+ATC_ANG_RLL_P    26.35878
+ATC_ANG_YAW_P    8.53887
+ATC_RAT_PIT_D    0.005201788
+ATC_RAT_PIT_FLTD 21
+ATC_RAT_PIT_FLTT 21
+ATC_RAT_PIT_I    0.1466683
+ATC_RAT_PIT_P    0.1466683
+ATC_RAT_RLL_D    0.004905871
+ATC_RAT_RLL_FLTD 21
+ATC_RAT_RLL_FLTT 21
+ATC_RAT_RLL_I    0.1255951
+ATC_RAT_RLL_P    0.1255951
+ATC_RAT_YAW_D    0.02224096
+ATC_RAT_YAW_FLTD 10
+ATC_RAT_YAW_FLTE 1.3176
+ATC_RAT_YAW_FLTT 21
+ATC_RAT_YAW_I    0.1204564
+ATC_RAT_YAW_P    1.204564
+INS_HNTCH_ATT    40
+INS_HNTCH_BW     40
+INS_HNTCH_ENABLE 1
+INS_HNTCH_FM_RAT 1
+INS_HNTCH_FREQ   80
+INS_HNTCH_HMNCS  3
+INS_HNTCH_MODE   3
+INS_HNTCH_OPTS   22
+INS_HNTCH_REF    1
+MOT_BAT_VOLT_MAX 16.8
+MOT_BAT_VOLT_MIN 13.2
+MOT_SPIN_ARM     0.07
+MOT_SPIN_MIN     0.09
+MOT_THST_HOVER   0.2905434
+PSC_ACCZ_I       0.6
+PSC_ACCZ_P       0.3
+SERVO_BLH_AUTO   1
+SERVO_BLH_MASK   3840
+SERVO_BLH_OTYPE  5
+SERVO_DSHOT_ESC  2
+TKOFF_RPM_MIN    1000