diff --git a/libraries/AP_Compass/Compass.cpp b/libraries/AP_Compass/Compass.cpp
index 848de698d0..cb19e204a8 100644
--- a/libraries/AP_Compass/Compass.cpp
+++ b/libraries/AP_Compass/Compass.cpp
@@ -2,10 +2,10 @@
 #include "Compass.h"
 
 const AP_Param::GroupInfo Compass::var_info[] PROGMEM = {
-	{ AP_PARAM_MATRIX3F, "",     VAROFFSET(Compass, _orientation_matrix) },
-	{ AP_PARAM_VECTOR3F, "",     VAROFFSET(Compass, _offset) },
-	{ AP_PARAM_VECTOR3F, "DEC",  VAROFFSET(Compass, _declination) },
-	{ AP_PARAM_NONE, "" }
+    AP_GROUPINFO("ORIENT", Compass, _orientation_matrix),
+    AP_GROUPINFO("OFS",    Compass, _offset),
+    AP_GROUPINFO("DEC",    Compass, _declination),
+    AP_GROUPEND
 };
 
 // Default constructor.
diff --git a/libraries/AP_IMU/AP_IMU_INS.cpp b/libraries/AP_IMU/AP_IMU_INS.cpp
index 4a828da3d0..cc2694805e 100644
--- a/libraries/AP_IMU/AP_IMU_INS.cpp
+++ b/libraries/AP_IMU/AP_IMU_INS.cpp
@@ -22,8 +22,8 @@
 #include "AP_IMU_INS.h"
 
 const AP_Param::GroupInfo AP_IMU_INS::var_info[] PROGMEM = {
-	{ AP_PARAM_VECTOR3F, "",  VAROFFSET(AP_IMU_INS, _sensor_cal) },
-	{ AP_PARAM_NONE, "" }
+    AP_GROUPINFO("CAL", AP_IMU_INS, _sensor_cal),
+    AP_GROUPEND
 };
 
 void
diff --git a/libraries/PID/PID.cpp b/libraries/PID/PID.cpp
index 67922cb75d..f82a873242 100644
--- a/libraries/PID/PID.cpp
+++ b/libraries/PID/PID.cpp
@@ -8,11 +8,11 @@
 #include "PID.h"
 
 const AP_Param::GroupInfo PID::var_info[] PROGMEM = {
-	{ AP_PARAM_FLOAT, "P",    VAROFFSET(PID, _kp) },
-	{ AP_PARAM_FLOAT, "I",    VAROFFSET(PID, _ki) },
-	{ AP_PARAM_FLOAT, "D",    VAROFFSET(PID, _kd) },
-	{ AP_PARAM_INT16, "IMAX", VAROFFSET(PID, _imax) },
-	{ AP_PARAM_NONE, "" }
+	AP_GROUPINFO("P",    PID, _kp),
+	AP_GROUPINFO("I",    PID, _ki),
+	AP_GROUPINFO("D",    PID, _kd),
+	AP_GROUPINFO("IMAX", PID, _imax),
+	AP_GROUPEND
 };
 
 long
diff --git a/libraries/RC_Channel/RC_Channel.cpp b/libraries/RC_Channel/RC_Channel.cpp
index 4445f4d3bc..3ec1029246 100644
--- a/libraries/RC_Channel/RC_Channel.cpp
+++ b/libraries/RC_Channel/RC_Channel.cpp
@@ -25,12 +25,12 @@
 APM_RC_Class *RC_Channel::_apm_rc;
 
 const AP_Param::GroupInfo RC_Channel::var_info[] PROGMEM = {
-	{ AP_PARAM_INT16, "MIN",   VAROFFSET(RC_Channel, radio_min) },
-	{ AP_PARAM_INT16, "TRIM",  VAROFFSET(RC_Channel, radio_trim) },
-	{ AP_PARAM_INT16, "MAX",   VAROFFSET(RC_Channel, radio_max) },
-	{ AP_PARAM_INT8,  "REV",   VAROFFSET(RC_Channel, _reverse) },
-	{ AP_PARAM_INT16, "DZ",    VAROFFSET(RC_Channel, _dead_zone) },
-	{ AP_PARAM_NONE, "" }
+	AP_GROUPINFO("MIN",  RC_Channel, radio_min),
+	AP_GROUPINFO("TRIM", RC_Channel, radio_trim),
+	AP_GROUPINFO("MAX",  RC_Channel, radio_max),
+	AP_GROUPINFO("REV",  RC_Channel, _reverse),
+	AP_GROUPINFO("DZ",   RC_Channel, _dead_zone),
+	AP_GROUPEND
 };
 
 // setup the control preferences
diff --git a/libraries/RC_Channel/RC_Channel_aux.cpp b/libraries/RC_Channel/RC_Channel_aux.cpp
index 8071272cdf..b0d49df249 100644
--- a/libraries/RC_Channel/RC_Channel_aux.cpp
+++ b/libraries/RC_Channel/RC_Channel_aux.cpp
@@ -4,15 +4,11 @@
 #include "RC_Channel_aux.h"
 
 const AP_Param::GroupInfo RC_Channel_aux::var_info[] PROGMEM = {
-	{ AP_PARAM_INT16, "MIN",   VAROFFSET(RC_Channel_aux, radio_min) },
-	{ AP_PARAM_INT16, "TRIM",  VAROFFSET(RC_Channel_aux, radio_trim) },
-	{ AP_PARAM_INT16, "MAX",   VAROFFSET(RC_Channel_aux, radio_max) },
-	{ AP_PARAM_INT8,  "REV",   VAROFFSET(RC_Channel_aux, _reverse) },
-	{ AP_PARAM_INT16, "DZ",    VAROFFSET(RC_Channel_aux, _dead_zone) },
-	{ AP_PARAM_INT8,  "FUNCTION",  VAROFFSET(RC_Channel_aux, function) },
-	{ AP_PARAM_INT8,  "ANGLE_MIN", VAROFFSET(RC_Channel_aux, angle_min) },
-	{ AP_PARAM_INT8,  "ANGLE_MAX", VAROFFSET(RC_Channel_aux, angle_max) },
-	{ AP_PARAM_NONE, "" }
+	AP_NESTEDGROUPINFO(RC_Channel),
+	AP_GROUPINFO("FUNCTION",   RC_Channel_aux, function),
+	AP_GROUPINFO("ANGLE_MIN",  RC_Channel_aux, angle_min),
+	AP_GROUPINFO("ANGLE_MAX",  RC_Channel_aux, angle_max),
+	AP_GROUPEND
 };
 
 RC_Channel_aux* g_rc_function[RC_Channel_aux::k_nr_aux_servo_functions];	// the aux. servo ch. assigned to each function