diff --git a/ArduSub/Parameters.cpp b/ArduSub/Parameters.cpp
index da023cde39..905d13e6aa 100644
--- a/ArduSub/Parameters.cpp
+++ b/ArduSub/Parameters.cpp
@@ -452,17 +452,41 @@ const AP_Param::Info Sub::var_info[] = {
     // @Path: GCS_Mavlink.cpp
     GOBJECTN(_gcs.chan_parameters[0],  gcs0,       "SR0_",     GCS_MAVLINK_Parameters),
 
+#if MAVLINK_COMM_NUM_BUFFERS >= 2
     // @Group: SR1_
     // @Path: GCS_Mavlink.cpp
     GOBJECTN(_gcs.chan_parameters[1],  gcs1,       "SR1_",     GCS_MAVLINK_Parameters),
+#endif
 
+#if MAVLINK_COMM_NUM_BUFFERS >= 3
     // @Group: SR2_
     // @Path: GCS_Mavlink.cpp
     GOBJECTN(_gcs.chan_parameters[2],  gcs2,       "SR2_",     GCS_MAVLINK_Parameters),
+#endif
 
+#if MAVLINK_COMM_NUM_BUFFERS >= 4
     // @Group: SR3_
     // @Path: GCS_Mavlink.cpp
     GOBJECTN(_gcs.chan_parameters[3],  gcs3,       "SR3_",     GCS_MAVLINK_Parameters),
+#endif
+
+#if MAVLINK_COMM_NUM_BUFFERS >= 5
+    // @Group: SR4_
+    // @Path: GCS_Mavlink.cpp
+    GOBJECTN(_gcs.chan_parameters[4],  gcs4,       "SR4_",     GCS_MAVLINK_Parameters),
+#endif
+
+#if MAVLINK_COMM_NUM_BUFFERS >= 6
+    // @Group: SR5_
+    // @Path: GCS_Mavlink.cpp
+    GOBJECTN(_gcs.chan_parameters[5],  gcs5,       "SR5_",     GCS_MAVLINK_Parameters),
+#endif
+
+#if MAVLINK_COMM_NUM_BUFFERS >= 7
+    // @Group: SR6_
+    // @Path: GCS_Mavlink.cpp
+    GOBJECTN(_gcs.chan_parameters[6],  gcs6,       "SR6_",     GCS_MAVLINK_Parameters),
+#endif
 
     // @Group: AHRS_
     // @Path: ../libraries/AP_AHRS/AP_AHRS.cpp
diff --git a/ArduSub/Parameters.h b/ArduSub/Parameters.h
index 475b498cd7..063f405049 100644
--- a/ArduSub/Parameters.h
+++ b/ArduSub/Parameters.h
@@ -206,6 +206,10 @@ public:
         // RC_Mapper Library
         k_param_rcmap, // Disabled
 
+        k_param_gcs4,
+        k_param_gcs5,
+        k_param_gcs6,
+
         k_param_cam_slew_limit = 237, // deprecated
         k_param_lights_steps,
         k_param_pilot_speed_dn,