diff --git a/libraries/SITL/SIM_ADSB.cpp b/libraries/SITL/SIM_ADSB.cpp
index 784d032902..2168b92294 100644
--- a/libraries/SITL/SIM_ADSB.cpp
+++ b/libraries/SITL/SIM_ADSB.cpp
@@ -164,7 +164,7 @@ void ADSB::send_report(const class Aircraft &aircraft)
 {
     if (AP_HAL::millis() < 10000) {
         // simulated aircraft don't appear until 10s after startup. This avoids a windows
-        // threading issue with non-blocking sockets and the initial wait on uartA
+        // threading issue with non-blocking sockets and the initial wait on SERIAL0
         return;
     }
 
diff --git a/libraries/SITL/SIM_AIS.cpp b/libraries/SITL/SIM_AIS.cpp
index 4372cabd5d..6aae9c3717 100644
--- a/libraries/SITL/SIM_AIS.cpp
+++ b/libraries/SITL/SIM_AIS.cpp
@@ -14,7 +14,7 @@
  */
 /*
     Dump logged AIS data to the serial port
-    ./Tools/autotest/sim_vehicle.py -v Rover -A --uartF=sim:AIS --custom-location 51.58689798356386,-3.9044570193067965,0,0
+    ./Tools/autotest/sim_vehicle.py -v Rover -A --serial5=sim:AIS --custom-location 51.58689798356386,-3.9044570193067965,0,0
 
     param set SERIAL5_PROTOCOL 40
     param set AIS_TYPE 1
diff --git a/libraries/SITL/SIM_AIS.h b/libraries/SITL/SIM_AIS.h
index 14bc6c9015..395f0f11e5 100644
--- a/libraries/SITL/SIM_AIS.h
+++ b/libraries/SITL/SIM_AIS.h
@@ -14,7 +14,7 @@
  */
 /*
     Dump logged AIS data to the serial port
-    ./Tools/autotest/sim_vehicle.py -v Rover --no-mavproxy -A --uartF=sim:AIS --custom-location 51.58689798356386,-3.9044570193067965,0,0
+    ./Tools/autotest/sim_vehicle.py -v Rover --no-mavproxy -A --serial5=sim:AIS --custom-location 51.58689798356386,-3.9044570193067965,0,0
 
     param set SERIAL5_PROTOCOL 40
     param set AIS_TYPE 1
diff --git a/libraries/SITL/SIM_CRSF.h b/libraries/SITL/SIM_CRSF.h
index bd02e92dde..c4fcda7efa 100644
--- a/libraries/SITL/SIM_CRSF.h
+++ b/libraries/SITL/SIM_CRSF.h
@@ -15,7 +15,7 @@
 /*
   Simulated CRSF device
 
-./Tools/autotest/sim_vehicle.py --gdb --debug -v ArduCopter -A --uartF=sim:crsf --speedup=1
+./Tools/autotest/sim_vehicle.py --gdb --debug -v ArduCopter -A --serial5=sim:crsf --speedup=1
 
 param set SERIAL5_PROTOCOL 23
 reboot
diff --git a/libraries/SITL/SIM_EFI_Hirth.h b/libraries/SITL/SIM_EFI_Hirth.h
index cfc32517e6..8ccbb8286a 100644
--- a/libraries/SITL/SIM_EFI_Hirth.h
+++ b/libraries/SITL/SIM_EFI_Hirth.h
@@ -15,7 +15,7 @@
 /*
   simulate Hirth EFI system
 
-./Tools/autotest/sim_vehicle.py --gdb --debug -v ArduPlane -A --uartF=sim:hirth --speedup=1
+./Tools/autotest/sim_vehicle.py --gdb --debug -v ArduPlane -A --serial5=sim:hirth --speedup=1
 param set SERIAL5_PROTOCOL 24
 param set SIM_EFI_TYPE 6
 param set EFI_TYPE 6
diff --git a/libraries/SITL/SIM_EFI_MegaSquirt.h b/libraries/SITL/SIM_EFI_MegaSquirt.h
index 813e22e5e6..352fbd4458 100644
--- a/libraries/SITL/SIM_EFI_MegaSquirt.h
+++ b/libraries/SITL/SIM_EFI_MegaSquirt.h
@@ -15,7 +15,7 @@
 /*
   simulate MegaSquirt EFI system
 
-./Tools/autotest/sim_vehicle.py --gdb --debug -v ArduPlane -A --uartF=sim:megasquirt --speedup=1
+./Tools/autotest/sim_vehicle.py --gdb --debug -v ArduPlane -A --serial5=sim:megasquirt --speedup=1
 param set SERIAL5_PROTOCOL 24
 param set SIM_EFI_TYPE 1
 param set EFI_TYPE 1
diff --git a/libraries/SITL/SIM_FETtecOneWireESC.h b/libraries/SITL/SIM_FETtecOneWireESC.h
index 2d983e3b0e..a434d06698 100644
--- a/libraries/SITL/SIM_FETtecOneWireESC.h
+++ b/libraries/SITL/SIM_FETtecOneWireESC.h
@@ -15,7 +15,7 @@
 /*
   Simulator for the FETtecOneWire ESCs
 
-./Tools/autotest/sim_vehicle.py --gdb --debug -v ArduCopter -A --uartF=sim:fetteconewireesc --speedup=1 --console
+./Tools/autotest/sim_vehicle.py --gdb --debug -v ArduCopter -A --serial5=sim:fetteconewireesc --speedup=1 --console
 
 param set SERIAL5_PROTOCOL 38
 param set SERIAL5_BAUD 500000
diff --git a/libraries/SITL/SIM_Frsky_D.h b/libraries/SITL/SIM_Frsky_D.h
index 5d5c8fa96a..eccd37db32 100644
--- a/libraries/SITL/SIM_Frsky_D.h
+++ b/libraries/SITL/SIM_Frsky_D.h
@@ -15,7 +15,7 @@
 /*
   Simulated Frsky D device
 
-./Tools/autotest/sim_vehicle.py --gdb --debug -v ArduCopter -A --uartF=sim:frsky-d --speedup=1
+./Tools/autotest/sim_vehicle.py --gdb --debug -v ArduCopter -A --serial5=sim:frsky-d --speedup=1
 
 param set SERIAL5_PROTOCOL 3
 reboot
diff --git a/libraries/SITL/SIM_GPS.h b/libraries/SITL/SIM_GPS.h
index 334ea2e0a0..87eafb00c4 100644
--- a/libraries/SITL/SIM_GPS.h
+++ b/libraries/SITL/SIM_GPS.h
@@ -18,7 +18,7 @@
   Usage example:
 param set SERIAL5_PROTOCOL 5
 
-     sim_vehicle.py -D --console --map -A --uartB=sim:gps:2
+     sim_vehicle.py -D --console --map -A --serial5=sim:gps:2
 */
 
 #pragma once
diff --git a/libraries/SITL/SIM_Gimbal.cpp b/libraries/SITL/SIM_Gimbal.cpp
index a1997dd00f..5aede11b3b 100644
--- a/libraries/SITL/SIM_Gimbal.cpp
+++ b/libraries/SITL/SIM_Gimbal.cpp
@@ -258,7 +258,7 @@ void Gimbal::send_report(void)
     if (now < 10000) {
         // don't send gimbal reports until 10s after startup. This
         // avoids a windows threading issue with non-blocking sockets
-        // and the initial wait on uartA
+        // and the initial wait on SERIAL0
         return;
     }
     if (!mavlink.connected && mav_socket.connect(target_address, target_port)) {
diff --git a/libraries/SITL/SIM_IntelligentEnergy24.h b/libraries/SITL/SIM_IntelligentEnergy24.h
index 68d8782937..794addc7a9 100644
--- a/libraries/SITL/SIM_IntelligentEnergy24.h
+++ b/libraries/SITL/SIM_IntelligentEnergy24.h
@@ -15,7 +15,7 @@
 /*
   Simulator for the IntelligentEnergy 2.4kW FuelCell
 
-./Tools/autotest/sim_vehicle.py --gdb --debug -v ArduCopter -A --uartF=sim:ie24 --speedup=1 --console
+./Tools/autotest/sim_vehicle.py --gdb --debug -v ArduCopter -A --serial5=sim:ie24 --speedup=1 --console
 
 param set SERIAL5_PROTOCOL 30  # Generator
 param set SERIAL5_BAUD 115200
diff --git a/libraries/SITL/SIM_Morse.cpp b/libraries/SITL/SIM_Morse.cpp
index 81ba8ce349..221c6c1abe 100644
--- a/libraries/SITL/SIM_Morse.cpp
+++ b/libraries/SITL/SIM_Morse.cpp
@@ -602,7 +602,7 @@ void Morse::send_report(void)
     if (now < 10000) {
         // don't send lidar reports until 10s after startup. This
         // avoids a windows threading issue with non-blocking sockets
-        // and the initial wait on uartA
+        // and the initial wait on SERIAL0
         return;
     }
 #endif
diff --git a/libraries/SITL/SIM_PS_LightWare_SF45B.h b/libraries/SITL/SIM_PS_LightWare_SF45B.h
index 901a6c7988..16fd995573 100644
--- a/libraries/SITL/SIM_PS_LightWare_SF45B.h
+++ b/libraries/SITL/SIM_PS_LightWare_SF45B.h
@@ -15,7 +15,7 @@
 /*
   Simulator for the LightWare S45B proximity sensor
 
-./Tools/autotest/sim_vehicle.py --gdb --debug -v ArduCopter -A --uartF=sim:sf45b --speedup=1 -l 51.8752066,14.6487840,54.15,0
+./Tools/autotest/sim_vehicle.py --gdb --debug -v ArduCopter -A --serial5=sim:sf45b --speedup=1 -l 51.8752066,14.6487840,54.15,0
 
 param set SERIAL5_PROTOCOL 11  # proximity
 param set PRX1_TYPE 8  # s45b
diff --git a/libraries/SITL/SIM_PS_RPLidar.h b/libraries/SITL/SIM_PS_RPLidar.h
index bf2444f5cd..bb694a7bab 100644
--- a/libraries/SITL/SIM_PS_RPLidar.h
+++ b/libraries/SITL/SIM_PS_RPLidar.h
@@ -17,7 +17,7 @@
 /*
   Simulator for the RPLidarA2 proximity sensor
 
-./Tools/autotest/sim_vehicle.py --gdb --debug -v ArduCopter -A --uartF=sim:rplidara2 --speedup=1 -l 51.8752066,14.6487840,54.15,0 --map
+./Tools/autotest/sim_vehicle.py --gdb --debug -v ArduCopter -A --serial5=sim:rplidara2 --speedup=1 -l 51.8752066,14.6487840,54.15,0 --map
 
 param set SERIAL5_PROTOCOL 11
 param set PRX1_TYPE 5
diff --git a/libraries/SITL/SIM_PS_RPLidarA1.h b/libraries/SITL/SIM_PS_RPLidarA1.h
index d374354e6b..ca0b625270 100644
--- a/libraries/SITL/SIM_PS_RPLidarA1.h
+++ b/libraries/SITL/SIM_PS_RPLidarA1.h
@@ -15,7 +15,7 @@
 /*
   Simulator for the RPLidarA2 proximity sensor
 
-./Tools/autotest/sim_vehicle.py --gdb --debug -v ArduCopter -A --uartF=sim:rplidara1 --speedup=1 -l 51.8752066,14.6487840,0,0 --map
+./Tools/autotest/sim_vehicle.py --gdb --debug -v ArduCopter -A --serial5=sim:rplidara1 --speedup=1 -l 51.8752066,14.6487840,0,0 --map
 
 param set SERIAL5_PROTOCOL 11
 param set PRX1_TYPE 5
diff --git a/libraries/SITL/SIM_PS_RPLidarA2.h b/libraries/SITL/SIM_PS_RPLidarA2.h
index b5beb50f3c..785c2bd6bc 100644
--- a/libraries/SITL/SIM_PS_RPLidarA2.h
+++ b/libraries/SITL/SIM_PS_RPLidarA2.h
@@ -15,7 +15,7 @@
 /*
   Simulator for the RPLidarA2 proximity sensor
 
-./Tools/autotest/sim_vehicle.py --gdb --debug -v ArduCopter -A --uartF=sim:rplidara2 --speedup=1 -l 51.8752066,14.6487840,0,0 --map
+./Tools/autotest/sim_vehicle.py --gdb --debug -v ArduCopter -A --serial5=sim:rplidara2 --speedup=1 -l 51.8752066,14.6487840,0,0 --map
 
 param set SERIAL5_PROTOCOL 11
 param set PRX1_TYPE 5
diff --git a/libraries/SITL/SIM_PS_TeraRangerTower.h b/libraries/SITL/SIM_PS_TeraRangerTower.h
index f17f491bce..71b0798d52 100644
--- a/libraries/SITL/SIM_PS_TeraRangerTower.h
+++ b/libraries/SITL/SIM_PS_TeraRangerTower.h
@@ -15,7 +15,7 @@
 /*
   Simulator for the TeraRangerTower proximity sensor
 
-./Tools/autotest/sim_vehicle.py --gdb --debug -v ArduCopter -A --uartF=sim:terarangertower --speedup=1 -l 51.8752066,14.6487840,54.15,0
+./Tools/autotest/sim_vehicle.py --gdb --debug -v ArduCopter -A --serial5=sim:terarangertower --speedup=1 -l 51.8752066,14.6487840,54.15,0
 
 param set SERIAL5_PROTOCOL 11
 param set PRX1_TYPE 3  # terarangertower
diff --git a/libraries/SITL/SIM_RF_BLping.h b/libraries/SITL/SIM_RF_BLping.h
index 7c76b31d1f..762e5de961 100644
--- a/libraries/SITL/SIM_RF_BLping.h
+++ b/libraries/SITL/SIM_RF_BLping.h
@@ -15,7 +15,7 @@
 /*
   Simulator for the BLping rangefinder
 
-./Tools/autotest/sim_vehicle.py --gdb --debug -v ArduSub -A --uartF=sim:blping --speedup=1 -l 33.810313,-118.393867,0,185
+./Tools/autotest/sim_vehicle.py --gdb --debug -v ArduSub -A --serial5=sim:blping --speedup=1 -l 33.810313,-118.393867,0,185
 
 param set SERIAL5_PROTOCOL 9
 param set RNGFND1_TYPE 23
diff --git a/libraries/SITL/SIM_RF_Benewake_TF02.h b/libraries/SITL/SIM_RF_Benewake_TF02.h
index fac8443f6b..3d9604559c 100644
--- a/libraries/SITL/SIM_RF_Benewake_TF02.h
+++ b/libraries/SITL/SIM_RF_Benewake_TF02.h
@@ -15,7 +15,7 @@
 /*
   Simulator for the Benewake TF02 RangeFinder
 
-./Tools/autotest/sim_vehicle.py --gdb --debug -v ArduCopter -A --uartF=sim:benewake_tf02 --speedup=1
+./Tools/autotest/sim_vehicle.py --gdb --debug -v ArduCopter -A --serial5=sim:benewake_tf02 --speedup=1
 
 param set SERIAL5_PROTOCOL 9
 param set RNGFND1_TYPE 19
diff --git a/libraries/SITL/SIM_RF_Benewake_TF03.h b/libraries/SITL/SIM_RF_Benewake_TF03.h
index f8d86fdbd5..cd01419e33 100644
--- a/libraries/SITL/SIM_RF_Benewake_TF03.h
+++ b/libraries/SITL/SIM_RF_Benewake_TF03.h
@@ -15,7 +15,7 @@
 /*
   Simulator for the Benewake TF03 RangeFinder
 
-./Tools/autotest/sim_vehicle.py --gdb --debug -v ArduCopter -A --uartF=sim:benewake_tf03 --speedup=1
+./Tools/autotest/sim_vehicle.py --gdb --debug -v ArduCopter -A --serial5=sim:benewake_tf03 --speedup=1
 
 param set SERIAL5_PROTOCOL 9
 param set RNGFND1_TYPE 27
diff --git a/libraries/SITL/SIM_RF_Benewake_TFmini.h b/libraries/SITL/SIM_RF_Benewake_TFmini.h
index b204fb6bf0..5589b5f303 100644
--- a/libraries/SITL/SIM_RF_Benewake_TFmini.h
+++ b/libraries/SITL/SIM_RF_Benewake_TFmini.h
@@ -15,7 +15,7 @@
 /*
   Simulator for the TFMini RangeFinder
 
-./Tools/autotest/sim_vehicle.py --gdb --debug -v ArduCopter -A --uartF=sim:benewake_tfmini --speedup=1
+./Tools/autotest/sim_vehicle.py --gdb --debug -v ArduCopter -A --serial5=sim:benewake_tfmini --speedup=1
 
 param set SERIAL5_PROTOCOL 9
 param set RNGFND1_TYPE 20
diff --git a/libraries/SITL/SIM_RF_GYUS42v2.h b/libraries/SITL/SIM_RF_GYUS42v2.h
index 308123dd18..7188cd30f9 100644
--- a/libraries/SITL/SIM_RF_GYUS42v2.h
+++ b/libraries/SITL/SIM_RF_GYUS42v2.h
@@ -15,7 +15,7 @@
 /*
   Simulator for the GY-US42-v2 serial rangefinder
 
-./Tools/autotest/sim_vehicle.py --gdb --debug -v ArduCopter -A --uartF=sim:gyus42v2 --speedup=1
+./Tools/autotest/sim_vehicle.py --gdb --debug -v ArduCopter -A --serial5=sim:gyus42v2 --speedup=1
 
 param set SERIAL5_PROTOCOL 9
 param set RNGFND1_TYPE 31
diff --git a/libraries/SITL/SIM_RF_JRE.h b/libraries/SITL/SIM_RF_JRE.h
index d10c77a525..4dbdbfe2c0 100644
--- a/libraries/SITL/SIM_RF_JRE.h
+++ b/libraries/SITL/SIM_RF_JRE.h
@@ -15,7 +15,7 @@
 /*
   Simulator for the JAE JRE radio altimiter
 
-./Tools/autotest/sim_vehicle.py --gdb --debug -v ArduCopter -A --uartF=sim:jre --speedup=1 -L KalaupapaCliffs --map
+./Tools/autotest/sim_vehicle.py --gdb --debug -v ArduCopter -A --serial5=sim:jre --speedup=1 -L KalaupapaCliffs --map
 
 param set SERIAL5_PROTOCOL 9
 param set RNGFND1_TYPE 38
diff --git a/libraries/SITL/SIM_RF_Lanbao.h b/libraries/SITL/SIM_RF_Lanbao.h
index a3bc74e87e..d773287a3e 100644
--- a/libraries/SITL/SIM_RF_Lanbao.h
+++ b/libraries/SITL/SIM_RF_Lanbao.h
@@ -15,7 +15,7 @@
 /*
   Simulator for the Lanbao rangefinder
 
-./Tools/autotest/sim_vehicle.py --gdb --debug -v ArduCopter -A --uartF=sim:lanbao --speedup=1
+./Tools/autotest/sim_vehicle.py --gdb --debug -v ArduCopter -A --serial5=sim:lanbao --speedup=1
 
 param set SERIAL5_PROTOCOL 9
 param set RNGFND1_TYPE 26
diff --git a/libraries/SITL/SIM_RF_LeddarOne.h b/libraries/SITL/SIM_RF_LeddarOne.h
index ad54ce3899..21f74ac8a7 100644
--- a/libraries/SITL/SIM_RF_LeddarOne.h
+++ b/libraries/SITL/SIM_RF_LeddarOne.h
@@ -15,7 +15,7 @@
 /*
   Simulator for the LeddarOne rangefinder
 
-./Tools/autotest/sim_vehicle.py --gdb --debug -v ArduCopter -A --uartF=sim:leddarone --speedup=1
+./Tools/autotest/sim_vehicle.py --gdb --debug -v ArduCopter -A --serial5=sim:leddarone --speedup=1
 
 param set SERIAL5_PROTOCOL 9
 param set RNGFND1_TYPE 12
diff --git a/libraries/SITL/SIM_RF_LightWareSerial.h b/libraries/SITL/SIM_RF_LightWareSerial.h
index 4591fa4a5c..686b448bcf 100644
--- a/libraries/SITL/SIM_RF_LightWareSerial.h
+++ b/libraries/SITL/SIM_RF_LightWareSerial.h
@@ -15,7 +15,7 @@
 /*
   Simulator for the serial LightWare rangefinder
 
-./Tools/autotest/sim_vehicle.py --gdb --debug -v ArduCopter -A --uartF=sim:lightwareserial --speedup=1
+./Tools/autotest/sim_vehicle.py --gdb --debug -v ArduCopter -A --serial5=sim:lightwareserial --speedup=1
 
 param set SERIAL5_PROTOCOL 9
 param set RNGFND1_TYPE 8
diff --git a/libraries/SITL/SIM_RF_LightWareSerialBinary.h b/libraries/SITL/SIM_RF_LightWareSerialBinary.h
index 992a7b160a..0454fb2890 100644
--- a/libraries/SITL/SIM_RF_LightWareSerialBinary.h
+++ b/libraries/SITL/SIM_RF_LightWareSerialBinary.h
@@ -15,7 +15,7 @@
 /*
   Simulator for the serial LightWare rangefinder - binary mode
 
-./Tools/autotest/sim_vehicle.py --gdb --debug -v ArduCopter -A --uartF=sim:lightwareserial-binary --speedup=1
+./Tools/autotest/sim_vehicle.py --gdb --debug -v ArduCopter -A --serial5=sim:lightwareserial-binary --speedup=1
 
 param set SERIAL5_PROTOCOL 9
 param set RNGFND1_TYPE 8
diff --git a/libraries/SITL/SIM_RF_MAVLink.h b/libraries/SITL/SIM_RF_MAVLink.h
index 23b04bdaf0..9d901ba75a 100644
--- a/libraries/SITL/SIM_RF_MAVLink.h
+++ b/libraries/SITL/SIM_RF_MAVLink.h
@@ -15,7 +15,7 @@
 /*
   Simulator for the NMEA serial rangefinder
 
-./Tools/autotest/sim_vehicle.py --gdb --debug -v ArduCopter -A --uartF=sim:rf_mavlink --speedup=1
+./Tools/autotest/sim_vehicle.py --gdb --debug -v ArduCopter -A --serial5=sim:rf_mavlink --speedup=1
 
 param set SERIAL5_PROTOCOL 1
 param set RNGFND1_TYPE 10
diff --git a/libraries/SITL/SIM_RF_MaxsonarSerialLV.h b/libraries/SITL/SIM_RF_MaxsonarSerialLV.h
index 6397637f33..d23a865f7f 100644
--- a/libraries/SITL/SIM_RF_MaxsonarSerialLV.h
+++ b/libraries/SITL/SIM_RF_MaxsonarSerialLV.h
@@ -15,7 +15,7 @@
 /*
   Simulator for the MaxsonarSerialLV rangefinder
 
-./Tools/autotest/sim_vehicle.py --gdb --debug -v ArduCopter -A --uartF=sim:maxsonarseriallv --speedup=1
+./Tools/autotest/sim_vehicle.py --gdb --debug -v ArduCopter -A --serial5=sim:maxsonarseriallv --speedup=1
 
 param set SERIAL5_PROTOCOL 9
 param set RNGFND1_TYPE 13
diff --git a/libraries/SITL/SIM_RF_NMEA.h b/libraries/SITL/SIM_RF_NMEA.h
index d9dbb8079b..4ba8feaf61 100644
--- a/libraries/SITL/SIM_RF_NMEA.h
+++ b/libraries/SITL/SIM_RF_NMEA.h
@@ -15,7 +15,7 @@
 /*
   Simulator for the NMEA serial rangefinder
 
-./Tools/autotest/sim_vehicle.py --gdb --debug -v ArduCopter -A --uartF=sim:nmea --speedup=1
+./Tools/autotest/sim_vehicle.py --gdb --debug -v ArduCopter -A --serial5=sim:nmea --speedup=1
 
 param set SERIAL5_PROTOCOL 9
 param set SERIAL5_BAUD 9600
diff --git a/libraries/SITL/SIM_RF_RDS02UF.h b/libraries/SITL/SIM_RF_RDS02UF.h
index a96bb9b565..44a387370d 100644
--- a/libraries/SITL/SIM_RF_RDS02UF.h
+++ b/libraries/SITL/SIM_RF_RDS02UF.h
@@ -15,7 +15,7 @@
 /*
   Simulator for the RDS02UF rangefinder
 
-./Tools/autotest/sim_vehicle.py --gdb --debug -v ArduCopter -A --uartF=sim:rds02uf --speedup=1
+./Tools/autotest/sim_vehicle.py --gdb --debug -v ArduCopter -A --serial5=sim:rds02uf --speedup=1
 
 param set SERIAL5_PROTOCOL 9
 param set RNGFND1_TYPE 36
diff --git a/libraries/SITL/SIM_RF_TeraRanger_Serial.h b/libraries/SITL/SIM_RF_TeraRanger_Serial.h
index 314460699f..31544f9138 100644
--- a/libraries/SITL/SIM_RF_TeraRanger_Serial.h
+++ b/libraries/SITL/SIM_RF_TeraRanger_Serial.h
@@ -12,7 +12,7 @@
  */
 /*
   Simulator for the TeraRanger NEO RangeFinder
-./Tools/autotest/sim_vehicle.py --gdb --debug -v ArduCopter -A --uartF=sim:teraranger_serial --speedup=1
+./Tools/autotest/sim_vehicle.py --gdb --debug -v ArduCopter -A --serial5=sim:teraranger_serial --speedup=1
 param set SERIAL5_PROTOCOL 9
 param set RNGFND1_TYPE 35
 graph RANGEFINDER.distance
diff --git a/libraries/SITL/SIM_RF_USD1_v0.h b/libraries/SITL/SIM_RF_USD1_v0.h
index 866c5a8ea3..7a3498adb6 100644
--- a/libraries/SITL/SIM_RF_USD1_v0.h
+++ b/libraries/SITL/SIM_RF_USD1_v0.h
@@ -15,7 +15,7 @@
 /*
   Simulator for the USD1 v0 Serial RangeFinder
 
-./Tools/autotest/sim_vehicle.py --gdb --debug -v ArduCopter -A --uartF=sim:USD1_v0 --speedup=1
+./Tools/autotest/sim_vehicle.py --gdb --debug -v ArduCopter -A --serial5=sim:USD1_v0 --speedup=1
 
 param set SERIAL5_PROTOCOL 9
 param set RNGFND1_TYPE 11
diff --git a/libraries/SITL/SIM_RF_USD1_v1.h b/libraries/SITL/SIM_RF_USD1_v1.h
index 2b3b4901d1..d2982e2cb8 100644
--- a/libraries/SITL/SIM_RF_USD1_v1.h
+++ b/libraries/SITL/SIM_RF_USD1_v1.h
@@ -15,7 +15,7 @@
 /*
   Simulator for the USD1 v1 Serial RangeFinder
 
-./Tools/autotest/sim_vehicle.py --gdb --debug -v ArduCopter -A --uartF=sim:USD1_v1 --speedup=1
+./Tools/autotest/sim_vehicle.py --gdb --debug -v ArduCopter -A --serial5=sim:USD1_v1 --speedup=1
 
 param set SERIAL5_PROTOCOL 9
 param set RNGFND1_TYPE 11
diff --git a/libraries/SITL/SIM_RF_Wasp.h b/libraries/SITL/SIM_RF_Wasp.h
index e52d9aba98..a1e9b37acf 100644
--- a/libraries/SITL/SIM_RF_Wasp.h
+++ b/libraries/SITL/SIM_RF_Wasp.h
@@ -15,7 +15,7 @@
 /*
   Simulator for the Wasp serial rangefinder
 
-./Tools/autotest/sim_vehicle.py --gdb --debug -v ArduCopter -A --uartF=sim:wasp --speedup=1
+./Tools/autotest/sim_vehicle.py --gdb --debug -v ArduCopter -A --serial5=sim:wasp --speedup=1
 
 param set SERIAL5_PROTOCOL 9
 param set RNGFND1_TYPE 18
diff --git a/libraries/SITL/SIM_RichenPower.h b/libraries/SITL/SIM_RichenPower.h
index f0d604c605..1fa763fcf2 100644
--- a/libraries/SITL/SIM_RichenPower.h
+++ b/libraries/SITL/SIM_RichenPower.h
@@ -15,7 +15,7 @@
 /*
   Simulator for the RichenPower Hybrid generators
 
-./Tools/autotest/sim_vehicle.py --gdb --debug -v ArduCopter -A --uartF=sim:richenpower --speedup=1 --console
+./Tools/autotest/sim_vehicle.py --gdb --debug -v ArduCopter -A --serial5=sim:richenpower --speedup=1 --console
 
 param set SERIAL5_PROTOCOL 30
 param set SERIAL5_BAUD 9600
diff --git a/libraries/SITL/SIM_VectorNav.h b/libraries/SITL/SIM_VectorNav.h
index 436e19cd22..589539e5d9 100644
--- a/libraries/SITL/SIM_VectorNav.h
+++ b/libraries/SITL/SIM_VectorNav.h
@@ -20,7 +20,7 @@
      AHRS_EKF_TYPE = 11
      EAHRS_TYPE=1
 
-     sim_vehicle.py -D --console --map -A --uartF=sim:VectorNav
+     sim_vehicle.py -D --console --map -A --serial5=sim:VectorNav
 */
 
 #pragma once
diff --git a/libraries/SITL/examples/Airsim/follow-copter.sh b/libraries/SITL/examples/Airsim/follow-copter.sh
index 29fe62d0b7..47625999c8 100755
--- a/libraries/SITL/examples/Airsim/follow-copter.sh
+++ b/libraries/SITL/examples/Airsim/follow-copter.sh
@@ -46,7 +46,7 @@ BASE_DEFAULTS="$ROOTDIR/Tools/autotest/default_params/copter.parm,$ROOTDIR/Tools
 }
 
 # start up main copter in the current directory
-$COPTER --model airsim-copter --uartA udpclient:$GCS_IP --uartC mcast:$MCAST_IP_PORT --defaults $BASE_DEFAULTS &
+$COPTER --model airsim-copter --serial0 udpclient:$GCS_IP --serial1 mcast:$MCAST_IP_PORT --defaults $BASE_DEFAULTS &
 
 # Set number of extra copters to be simulated, change this for increasing the count
 NCOPTERS="1"
@@ -71,7 +71,7 @@ FOLL_SYSID $FOLL_SYSID
 FOLL_DIST_MAX 1000
 EOF
     pushd copter$i
-    $COPTER --model airsim-copter --uartA tcp:0 --uartC mcast:$MCAST_IP_PORT --instance $i --defaults $BASE_DEFAULTS,follow.parm &
+    $COPTER --model airsim-copter --serial0 tcp:0 --serial1 mcast:$MCAST_IP_PORT --instance $i --defaults $BASE_DEFAULTS,follow.parm &
     popd
 done
 wait
diff --git a/libraries/SITL/examples/Airsim/multi_vehicle.sh b/libraries/SITL/examples/Airsim/multi_vehicle.sh
index 4fdd203017..f02717e6fc 100755
--- a/libraries/SITL/examples/Airsim/multi_vehicle.sh
+++ b/libraries/SITL/examples/Airsim/multi_vehicle.sh
@@ -28,7 +28,7 @@ BASE_DEFAULTS="$ROOTDIR/Tools/autotest/default_params/copter.parm,$ROOTDIR/Tools
 }
 
 # start up main copter in the current directory
-$COPTER --model airsim-copter --uartA udpclient:$GCS_IP:14550 --uartB tcp:0 --defaults $BASE_DEFAULTS &
+$COPTER --model airsim-copter --serial0 udpclient:$GCS_IP:14550 --serial3 tcp:0 --defaults $BASE_DEFAULTS &
 
 # Set number of "extra" copters to be simulated, change this for increasing the count
 NCOPTERS="1"
@@ -49,7 +49,7 @@ SYSID_THISMAV $SYSID
 EOF
 
     pushd copter$i
-    $COPTER --model airsim-copter --uartA udpclient:$GCS_IP:$UDP_PORT --uartB tcp:$i \
+    $COPTER --model airsim-copter --serial0 udpclient:$GCS_IP:$UDP_PORT --serial3 tcp:$i \
             --instance $i --defaults $BASE_DEFAULTS,identity.parm &
     popd
 done
diff --git a/libraries/SITL/examples/Follow/plane_quad.sh b/libraries/SITL/examples/Follow/plane_quad.sh
index 49dd4fd02a..171bcdff20 100755
--- a/libraries/SITL/examples/Follow/plane_quad.sh
+++ b/libraries/SITL/examples/Follow/plane_quad.sh
@@ -13,14 +13,14 @@ PLANE=$ROOTDIR/build/sitl/bin/arduplane
 }
 
 # setup for either TCP or multicast
-#UARTA="tcp:0"
-UARTA="mcast:"
+#SERIAL0="tcp:0"
+SERIAL0="mcast:"
 
 PLANE_DEFAULTS="$ROOTDIR/Tools/autotest/models/plane.parm"
 COPTER_DEFAULTS="$ROOTDIR/Tools/autotest/default_params/copter.parm"
 
 mkdir -p swarm/plane swarm/copter
-(cd swarm/plane && $PLANE --model plane --uartA $UARTA --defaults $PLANE_DEFAULTS) &
+(cd swarm/plane && $PLANE --model plane --serial0 $SERIAL0 --defaults $PLANE_DEFAULTS) &
 
 # create default parameter file for the follower
 cat <<EOF > swarm/copter/follow.parm
@@ -32,5 +32,5 @@ FOLL_SYSID 1
 FOLL_DIST_MAX 1000
 EOF
 
-(cd swarm/copter && $COPTER --model quad --uartA $UARTA --instance 1 --defaults $COPTER_DEFAULTS,follow.parm) &
+(cd swarm/copter && $COPTER --model quad --serial0 $SERIAL0 --instance 1 --defaults $COPTER_DEFAULTS,follow.parm) &
 wait
diff --git a/libraries/SITL/examples/Morse/start_follow.sh b/libraries/SITL/examples/Morse/start_follow.sh
index 7e5300fcaa..e213eaeb8d 100755
--- a/libraries/SITL/examples/Morse/start_follow.sh
+++ b/libraries/SITL/examples/Morse/start_follow.sh
@@ -9,7 +9,7 @@ GCS_IP=192.168.2.48
 BASE_DEFAULTS="$ROOTDIR/Tools/autotest/default_params/rover.parm,$ROOTDIR/Tools/autotest/default_params/rover-skid.parm"
 
 # start up main rover in the current directory
-$ROVER --model morse-skid --uartA udpclient:$GCS_IP --uartC mcast: --defaults $BASE_DEFAULTS &
+$ROVER --model morse-skid --serial0 udpclient:$GCS_IP --serial1 mcast: --defaults $BASE_DEFAULTS &
 
 # now start 2 rovers to follow the first, using
 # a separate directory for each to keep the eeprom.bin
@@ -37,7 +37,7 @@ FOLL_SYSID $FOLL_SYSID
 FOLL_DIST_MAX 1000
 EOF
     pushd rov$i
-    $ROVER --model "morse-skid:127.0.0.1:$port1:$port2" --uartA tcp:0 --uartC mcast: --instance $i --defaults $BASE_DEFAULTS,follow.parm &
+    $ROVER --model "morse-skid:127.0.0.1:$port1:$port2" --serial0 tcp:0 --serial1 mcast: --instance $i --defaults $BASE_DEFAULTS,follow.parm &
     popd
 done
 wait
diff --git a/libraries/SITL/examples/follow-copter.sh b/libraries/SITL/examples/follow-copter.sh
index 8806700171..8dbeebc75f 100755
--- a/libraries/SITL/examples/follow-copter.sh
+++ b/libraries/SITL/examples/follow-copter.sh
@@ -75,7 +75,7 @@ AUTO_OPTIONS 7
 EOF
 
 pushd copter1
-$COPTER --model quad --home=$HOMELAT,$HOMELONG,$HOMEALT,0 --uartA udpclient:$GCS_IP --uartC mcast:$MCAST_IP_PORT --defaults $BASE_DEFAULTS,leader.parm &
+$COPTER --model quad --home=$HOMELAT,$HOMELONG,$HOMEALT,0 --serial0 udpclient:$GCS_IP --serial1 mcast:$MCAST_IP_PORT --defaults $BASE_DEFAULTS,leader.parm &
 popd
 
 # now start other copters to follow the first, using
@@ -103,7 +103,7 @@ EOF
     pushd copter$i
     LAT=$(echo "$HOMELAT + 0.0005*$i" | bc -l)
     LONG=$(echo "$HOMELONG + 0.0005*$i" | bc -l)
-    $COPTER --model quad --home=$LAT,$LONG,$HOMEALT,0 --uartA tcp:0 --uartC mcast:$MCAST_IP_PORT --instance $i --defaults $BASE_DEFAULTS,follow.parm &
+    $COPTER --model quad --home=$LAT,$LONG,$HOMEALT,0 --serial0 tcp:0 --serial1 mcast:$MCAST_IP_PORT --instance $i --defaults $BASE_DEFAULTS,follow.parm &
     popd
 done
 wait