diff --git a/Tools/Frame_params/Solo_AC36.param b/Tools/Frame_params/Solo_AC36.param
index 174a122b5a..c8a8bb325e 100644
--- a/Tools/Frame_params/Solo_AC36.param
+++ b/Tools/Frame_params/Solo_AC36.param
@@ -1,9 +1,8 @@
-# NOTE: 1/8/2018: Required parameters for a 3DR Solo with ArduCopter 3.6. Not for use on ArduCopter 3.5!
-ACCEL_Z_I,1.5
-ACCEL_Z_P,0.75
+# NOTE: 8/3/2018: Required parameters for a 3DR Solo with ArduCopter 3.6. Not for use on ArduCopter 3.5!
 ACRO_RP_P,4
 ACRO_THR_MID,0.4
 ACRO_YAW_P,1
+AHRS_EKF_TYPE,3
 AHRS_ORIENTATION,12
 ANGLE_MAX,2000
 ARMING_CHECK,7166
@@ -13,6 +12,7 @@ ATC_ACCEL_Y_MAX,7000
 ATC_ANG_PIT_P,10
 ATC_ANG_RLL_P,9
 ATC_ANG_YAW_P,6
+ATC_INPUT_TC,0.15
 ATC_RAT_PIT_D,0.006
 ATC_RAT_PIT_IMAX,0.444
 ATC_RAT_PIT_P,0.167
@@ -26,12 +26,17 @@ ATC_RAT_YAW_IMAX,0.222
 ATC_RAT_YAW_P,0.5
 ATC_SLEW_YAW,8000
 BATT_CAPACITY,5200
+BATT_CRT_MAH,0
+BATT_CRT_VOLT,13
+BATT_FS_CRT_ACT,2
+BATT_FS_LOW_ACT,2
+BATT_FS_VOLTSRC,1
+BATT_LOW_MAH,520
+BATT_LOW_TIMER,10
+BATT_LOW_VOLT,14
 BATT_MONITOR,5
-BATT_SERIAL_NUM,0
-BRD_IMU_TARGTEMP,45
 BRD_SAFETY_MASK,16368
 BRD_SAFETYENABLE,0
-BRD_SER1_RTSCTS,1
 CIRCLE_RADIUS,3000
 COMPASS_ORIENT,38
 COMPASS_ORIENT2,0
@@ -41,7 +46,10 @@ COMPASS_TYPEMASK,15392
 COMPASS_USE,1
 COMPASS_USE2,1
 COMPASS_USE3,0
-DISARM_DELAY,8
+DISARM_DELAY,10
+EK2_ENABLE,0
+EK3_ENABLE,1
+EK3_IMU_MASK,3
 FENCE_ACTION,0
 FENCE_ALT_MAX,122
 FENCE_ENABLE,1
@@ -55,9 +63,6 @@ FLTMODE5,5
 FLTMODE6,5
 FRAME_CLASS,1
 FRAME_TYPE,1
-FS_BATT_ENABLE,2
-FS_BATT_MAH,520
-FS_BATT_VOLTAGE,14
 FS_EKF_ACTION,2
 FS_THR_VALUE,950
 GND_EFFECT_COMP,1
@@ -66,12 +71,22 @@ GPS_NAVFILTER,6
 INS_ACC_BODYFIX,3
 INS_FAST_SAMPLE,3
 INS_TRIM_OPTION,2
+LAND_ALT_LOW,600
 LAND_SPEED,45
 LAND_SPEED_HIGH,220
+LGR_SERVO_DEPLOY,1100
+LGR_SERVO_RTRACT,1900
+LGR_STARTUP,0
 LOG_BACKEND_TYPE,3
 LOG_DISARMED,1
 LOG_FILE_BUFSIZE,8
 LOG_FILE_DSRMROT,1
+LOIT_ACC_MAX,200
+LOIT_ANG_MAX,30
+LOIT_BRK_ACCEL,175
+LOIT_BRK_DELAY,0.25
+LOIT_BRK_JERK,500
+LOIT_SPEED,1300
 MNT_ANGMAX_TIL,0
 MNT_ANGMIN_TIL,-9000
 MNT_RC_IN_TILT,6
@@ -86,7 +101,7 @@ MOT_SPIN_MIN,0.12
 MOT_SPOOL_TIME,1
 MOT_THST_EXPO,0.8
 NTF_OREO_THEME,1
-PHLD_BRAKE_ANGLE,2000
+PHLD_BRAKE_ANGLE,2500
 PHLD_BRAKE_RATE,6
 PILOT_ACCEL_Z,100
 PILOT_SPEED_UP,133
@@ -95,7 +110,8 @@ PILOT_THR_BHV,7
 PILOT_THR_FILT,2
 PILOT_TKOFF_ALT,214
 PILOT_TKOFF_DZ,250
-RC_FEEL_RP,20
+PSC_ACCZ_I,1.5
+PSC_ACCZ_P,0.75
 RC1_DZ,20
 RC1_MAX,2000
 RC1_MIN,1000
@@ -123,8 +139,9 @@ SERVO1_FUNCTION,33
 SERVO2_FUNCTION,34
 SERVO3_FUNCTION,35
 SERVO4_FUNCTION,36
+SR1_RAW_CTRL,2
+SR3_PARAMS,10
 THR_DZ,10
-VEL_XY_P,1.4
 WP_YAW_BEHAVIOR,3
 WPNAV_LOIT_MAXA,229
 WPNAV_LOIT_MINA,108