diff --git a/Tools/Frame_params/Solo_Copter-3.6_GreenCube.param b/Tools/Frame_params/Solo_Copter-3.6_GreenCube.param
index 17b56fc09c..12bf3dec49 100644
--- a/Tools/Frame_params/Solo_Copter-3.6_GreenCube.param
+++ b/Tools/Frame_params/Solo_Copter-3.6_GreenCube.param
@@ -96,10 +96,11 @@ MNT_TYPE,2
 MOT_BAT_CURR_MAX,50
 MOT_BAT_VOLT_MAX,16.8
 MOT_BAT_VOLT_MIN,12
-MOT_PWM_MAX,1869
+MOT_PWM_MAX,1900
 MOT_PWM_MIN,1000
 MOT_SPIN_ARM,0.08
 MOT_SPIN_MIN,0.12
+MOT_SPIN_MAX,0.965
 MOT_SPOOL_TIME,1
 MOT_THST_EXPO,0.8
 NTF_OREO_THEME,1
diff --git a/Tools/Frame_params/Solo_Copter-3.7_BlackCube.param b/Tools/Frame_params/Solo_Copter-3.7_BlackCube.param
index 0b38efcdeb..b76da82e61 100644
--- a/Tools/Frame_params/Solo_Copter-3.7_BlackCube.param
+++ b/Tools/Frame_params/Solo_Copter-3.7_BlackCube.param
@@ -1,4 +1,4 @@
-# 3DR Solo with stock or black cube on Copter 3.7 only
+# 3DR Solo with stock or black cube on Copter 3.7 only
 ACRO_RP_P,4
 ACRO_THR_MID,0.4
 ACRO_YAW_P,1
@@ -16,14 +16,14 @@ ATC_ANG_PIT_P,8
 ATC_ANG_RLL_P,9.5
 ATC_ANG_YAW_P,7
 ATC_INPUT_TC,0.25
-ATC_RAT_PIT_D,0.0065
-ATC_RAT_PIT_I,0.08
+ATC_RAT_PIT_D,0.0088
+ATC_RAT_PIT_I,0.103
 ATC_RAT_PIT_IMAX,0.666
-ATC_RAT_PIT_P,0.08
-ATC_RAT_RLL_D,0.0035
-ATC_RAT_RLL_I,0.085
+ATC_RAT_PIT_P,0.103
+ATC_RAT_RLL_D,0.0065
+ATC_RAT_RLL_I,0.091
 ATC_RAT_RLL_IMAX,0.666
-ATC_RAT_RLL_P,0.085
+ATC_RAT_RLL_P,0.091
 ATC_RAT_YAW_FILT,7.6
 ATC_RAT_YAW_I,0.0594
 ATC_RAT_YAW_IMAX,0.222
@@ -41,6 +41,7 @@ BATT_LOW_VOLT,14
 BATT_MONITOR,5
 BRD_SAFETY_MASK,16368
 BRD_SAFETYENABLE,0
+BRD_TYPE,3
 CIRCLE_RADIUS,3000
 COMPASS_ORIENT,38
 COMPASS_TYPEMASK,15392
@@ -87,11 +88,12 @@ MNT_TYPE,2
 MOT_BAT_CURR_MAX,40
 MOT_BAT_VOLT_MAX,16.8
 MOT_BAT_VOLT_MIN,12
-MOT_PWM_MAX,1869
+MOT_PWM_MAX,1900
 MOT_PWM_MIN,1000
-MOT_SLEW_TIME,0.275
+MOT_SLEW_UP_TIME,0.25
 MOT_SPIN_ARM,0.08
 MOT_SPIN_MIN,0.12
+MOT_SPIN_MAX,0.965
 MOT_THST_EXPO,0.8
 NTF_LED_TYPES,215
 NTF_OREO_THEME,1
@@ -119,7 +121,7 @@ RC4_MAX,2000
 RC4_MIN,1000
 RC6_MAX,1520
 RC6_MIN,1000
-RC6_TRIM,1000
+RC6_TRIM,1260
 RC7_MAX,2000
 RC7_MIN,1000
 RTL_ALT,4500
diff --git a/Tools/Frame_params/Solo_Copter-3.7_GreenCube.param b/Tools/Frame_params/Solo_Copter-3.7_GreenCube.param
index bd7bf8d290..d638fac269 100644
--- a/Tools/Frame_params/Solo_Copter-3.7_GreenCube.param
+++ b/Tools/Frame_params/Solo_Copter-3.7_GreenCube.param
@@ -87,11 +87,13 @@ MNT_TYPE,2
 MOT_BAT_CURR_MAX,50
 MOT_BAT_VOLT_MAX,16.8
 MOT_BAT_VOLT_MIN,12
-MOT_PWM_MAX,1869
+MOT_PWM_MAX,1900
 MOT_PWM_MIN,1000
-MOT_SLEW_TIME,0
+MOT_SLEW_UP_TIME,0
+MOT_SLEW_DN_TIME,0
 MOT_SPIN_ARM,0.08
 MOT_SPIN_MIN,0.12
+MOT_SPIN_MAX,0.965
 MOT_THST_EXPO,0.8
 NTF_LED_TYPES,215
 NTF_OREO_THEME,1
@@ -119,7 +121,7 @@ RC4_MAX,2000
 RC4_MIN,1000
 RC6_MAX,1520
 RC6_MIN,1000
-RC6_TRIM,1000
+RC6_TRIM,1260
 RC7_MAX,2000
 RC7_MIN,1000
 RTL_ALT,4500