diff --git a/Tools/ArdupilotMegaPlanner/Firmware/firmware2.xml b/Tools/ArdupilotMegaPlanner/Firmware/firmware2.xml
index 178955920a..f63cb06b42 100644
--- a/Tools/ArdupilotMegaPlanner/Firmware/firmware2.xml
+++ b/Tools/ArdupilotMegaPlanner/Firmware/firmware2.xml
@@ -47,78 +47,66 @@
     <url>http://meee146-planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-Quad-1280.hex</url>
     <url2560>http://meee146-planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-Quad-2560.hex</url2560>
     <url2560-2>http://meee146-planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-Quad-2560-2.hex</url2560-2>
-    <name>ArduCopter V2.5.3 Quad</name>
+    <name>ArduCopter V2.5.4 Quad</name>
     <desc>
 #define FRAME_CONFIG QUAD_FRAME
 
 </desc>
-    <format_version>117</format_version>
+    <format_version>118</format_version>
   </Firmware>
   <Firmware>
     <url>http://meee146-planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-Tri-1280.hex</url>
     <url2560>http://meee146-planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-Tri-2560.hex</url2560>
     <url2560-2>http://meee146-planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-Tri-2560-2.hex</url2560-2>
-    <name>ArduCopter V2.5.3 Tri</name>
+    <name>ArduCopter V2.5.4 Tri</name>
     <desc>
 #define FRAME_CONFIG TRI_FRAME
 
 </desc>
-    <format_version>117</format_version>
+    <format_version>118</format_version>
   </Firmware>
   <Firmware>
     <url>http://meee146-planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-Hexa-1280.hex</url>
     <url2560>http://meee146-planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-Hexa-2560.hex</url2560>
     <url2560-2>http://meee146-planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-Hexa-2560-2.hex</url2560-2>
-    <name>ArduCopter V2.5.3 Hexa X</name>
+    <name>ArduCopter V2.5.4 Hexa X</name>
     <desc>
 #define FRAME_CONFIG HEXA_FRAME
 
 </desc>
-    <format_version>117</format_version>
-  </Firmware>
-  <Firmware>
-    <url>http://meee146-planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-Y6-1280.hex</url>
-    <url2560>http://meee146-planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-Y6-2560.hex</url2560>
-    <url2560-2>http://meee146-planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-Y6-2560-2.hex</url2560-2>
-    <name>ArduCopter V2.5.3 Y6</name>
-    <desc>
-#define FRAME_CONFIG Y6_FRAME
-
-</desc>
-    <format_version>117</format_version>
+    <format_version>118</format_version>
   </Firmware>
   <Firmware>
     <url>http://meee146-planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-Octav-1280.hex</url>
     <url2560>http://meee146-planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-Octav-2560.hex</url2560>
     <url2560-2>http://meee146-planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-Octav-2560-2.hex</url2560-2>
-    <name>ArduCopter V2.5.3 Octa V</name>
+    <name>ArduCopter V2.5.4 Octa V</name>
     <desc>
 #define FRAME_CONFIG OCTA_FRAME
 #define FRAME_ORIENTATION V_FRAME
 
 </desc>
-    <format_version>117</format_version>
+    <format_version>118</format_version>
   </Firmware>
   <Firmware>
     <url>http://meee146-planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-Octa-1280.hex</url>
     <url2560>http://meee146-planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-Octa-2560.hex</url2560>
     <url2560-2>http://meee146-planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-Octa-2560-2.hex</url2560-2>
-    <name>ArduCopter V2.5.3 Octa X</name>
+    <name>ArduCopter V2.5.4 Octa X</name>
     <desc>
 #define FRAME_CONFIG OCTA_FRAME
 
 </desc>
-    <format_version>117</format_version>
+    <format_version>118</format_version>
   </Firmware>
   <Firmware>
     <url>http://meee146-planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-Heli-1280.hex</url>
     <url2560>http://meee146-planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-Heli-2560.hex</url2560>
     <url2560-2>http://meee146-planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-Heli-2560-2.hex</url2560-2>
-    <name>ArduCopter V2.5.3 Heli (2560 only)</name>
+    <name>ArduCopter V2.5.4 Heli (2560 only)</name>
     <desc>
 #define AUTO_RESET_LOITER 0
 #define FRAME_CONFIG HELI_FRAME
-#define INSTANT_PWM ENABLED
 
 // DEFAULT PIDS
 
@@ -156,13 +144,13 @@
 #define NAV_LOITER_IMAX  10
 
 </desc>
-    <format_version>117</format_version>
+    <format_version>118</format_version>
   </Firmware>
   <Firmware>
     <url>http://meee146-planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-QUADHIL-1280.hex</url>
     <url2560>http://meee146-planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-QUADHIL-2560.hex</url2560>
     <url2560-2>http://meee146-planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-QUADHIL-2560-2.hex</url2560-2>
-    <name>ArduCopter V2.5.3 Quad Hil</name>
+    <name>ArduCopter V2.5.4 Quad Hil</name>
     <desc>
 #define FRAME_CONFIG QUAD_FRAME
 #define FRAME_ORIENTATION PLUS_FRAME
@@ -172,13 +160,13 @@
 
 
 </desc>
-    <format_version>117</format_version>
+    <format_version>118</format_version>
   </Firmware>
   <Firmware>
     <url>http://meee146-planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-HELHIL-1280.hex</url>
     <url2560>http://meee146-planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-HELHIL-2560.hex</url2560>
     <url2560-2>http://meee146-planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-HELHIL-2560-2.hex</url2560-2>
-    <name>ArduCopter V2.5.3 Heli Hil</name>
+    <name>ArduCopter V2.5.4 Heli Hil</name>
     <desc>
 
 #define HIL_MODE            HIL_MODE_ATTITUDE
@@ -224,6 +212,6 @@
 
 
 </desc>
-    <format_version>117</format_version>
+    <format_version>118</format_version>
   </Firmware>
 </options>