diff --git a/Tools/Frame_params/Parrot_Bebop.param b/Tools/Frame_params/Parrot_Bebop.param
index b6695263eb..3306e515bb 100644
--- a/Tools/Frame_params/Parrot_Bebop.param
+++ b/Tools/Frame_params/Parrot_Bebop.param
@@ -9,22 +9,22 @@ MOT_THST_EXPO,0.05
 MOT_THST_MAX,1.00
 MOT_YAW_HEADROOM,200
 POS_XY_P,1
-RATE_PIT_D,0.0022
-RATE_PIT_FILT_HZ,40
-RATE_PIT_I,0.126
-RATE_PIT_IMAX,2000
-RATE_PIT_P,0.126
-RATE_RLL_D,0.0005
-RATE_RLL_FILT_HZ,40
-RATE_RLL_I,0.11
-RATE_RLL_IMAX,2000
-RATE_RLL_P,0.11
-RATE_YAW_D,0
-RATE_YAW_FILT_HZ,3.0
-RATE_YAW_I,0.103
-RATE_YAW_IMAX,1000
-RATE_YAW_P,1.03
-STB_PIT_P,15
-STB_RLL_P,10
-STB_YAW_P,12
+ATC_RAT_PIT_D,0.0022
+ATC_RAT_PIT_FILT,40
+ATC_RAT_PIT_I,0.126
+ATC_RAT_PIT_IMAX,2000
+ATC_RAT_PIT_P,0.126
+ATC_RAT_RLL_D,0.0005
+ATC_RAT_RLL_FILT,40
+ATC_RAT_RLL_I,0.11
+ATC_RAT_RLL_IMAX,2000
+ATC_RAT_RLL_P,0.11
+ATC_RAT_YAW_D,0
+ATC_RAT_YAW_FILT,3.0
+ATC_RAT_YAW_I,0.103
+ATC_RAT_YAW_IMAX,1000
+ATC_RAT_YAW_P,1.03
+ATC_ANG_PIT_P,15
+ATC_ANG_RLL_P,10
+ATC_ANG_YAW_P,12
 THR_MIN,130
diff --git a/Tools/Frame_params/Parrot_Bebop2.param b/Tools/Frame_params/Parrot_Bebop2.param
index d7c8e76c3c..428dc0498d 100644
--- a/Tools/Frame_params/Parrot_Bebop2.param
+++ b/Tools/Frame_params/Parrot_Bebop2.param
@@ -12,16 +12,16 @@ INS_ACCEL_FILTER,20
 INS_GYRO_FILTER,20
 MOT_THST_EXPO,0.3
 MOT_THST_MAX,1
-RATE_PIT_D,0.0007353554
-RATE_PIT_I,0.09863888
-RATE_PIT_P,0.09863888
-RATE_RLL_D,0.0004876749
-RATE_RLL_I,0.1183951
-RATE_RLL_P,0.1183951
-RATE_YAW_D,0
-RATE_YAW_FILT_HZ,1.001376
-RATE_YAW_I,0.09345812
-RATE_YAW_P,0.9345812
-STB_PIT_P,15
-STB_RLL_P,15
-STB_YAW_P,14.25551
+ATC_RAT_PIT_D,0.0007353554
+ATC_RAT_PIT_I,0.09863888
+ATC_RAT_PIT_P,0.09863888
+ATC_RAT_RLL_D,0.0004876749
+ATC_RAT_RLL_I,0.1183951
+ATC_RAT_RLL_P,0.1183951
+ATC_RAT_YAW_D,0
+ATC_RAT_YAW_FILT,1.001376
+ATC_RAT_YAW_I,0.09345812
+ATC_RAT_YAW_P,0.9345812
+ATC_ANG_PIT_P,15
+ATC_ANG_RLL_P,15
+ATC_ANG_YAW_P,14.25551