diff --git a/src/modules/sensors/sensor_params.c b/src/modules/sensors/sensor_params.c
index 7b3932638b..83568c0069 100644
--- a/src/modules/sensors/sensor_params.c
+++ b/src/modules/sensors/sensor_params.c
@@ -1401,3 +1401,86 @@ PARAM_DEFINE_INT32(RC_RSSI_PWM_MAX, 1000);
  *
  */
 PARAM_DEFINE_INT32(RC_RSSI_PWM_MIN, 2000);
+
+/**
+ * Enable Lidar-Lite (LL40LS) pwm driver
+ *
+ * @min 0
+ * @max 1
+ * @group Sensor Enable
+ */
+PARAM_DEFINE_INT32(SENS_EN_LL40LS, 0);
+
+/**
+ * Set the minimum PWM for the MAIN outputs
+ *
+ * Set to 1000 for default or 900 to increase servo travel
+ *
+ * @min 800
+ * @max 1400
+ * @unit microseconds
+ * @group PWM Outputs
+ */
+PARAM_DEFINE_INT32(PWM_MIN, 1000);
+
+/**
+ * Set the maximum PWM for the MAIN outputs
+ *
+ * Set to 2000 for default or 2100 to increase servo travel
+ *
+ * @min 1600
+ * @max 2200
+ * @unit microseconds
+ * @group PWM Outputs
+ */
+PARAM_DEFINE_INT32(PWM_MAX, 2000);
+
+/**
+ * Set the disarmed PWM for MAIN outputs
+ *
+ * This is the PWM pulse the autopilot is outputting if not armed.
+ * The main use of this parameter is to silence ESCs when they are disarmed.
+ *
+ * @min 0
+ * @max 2200
+ * @unit microseconds
+ * @group PWM Outputs
+ */
+PARAM_DEFINE_INT32(PWM_DISARMED, 0);
+
+/**
+ * Set the minimum PWM for the MAIN outputs
+ *
+ * Set to 1000 for default or 900 to increase servo travel
+ *
+ * @min 800
+ * @max 1400
+ * @unit microseconds
+ * @group PWM Outputs
+ */
+PARAM_DEFINE_INT32(PWM_AUX_MIN, 1000);
+
+/**
+ * Set the maximum PWM for the MAIN outputs
+ *
+ * Set to 2000 for default or 2100 to increase servo travel
+ *
+ * @min 1600
+ * @max 2200
+ * @unit microseconds
+ * @group PWM Outputs
+ */
+PARAM_DEFINE_INT32(PWM_AUX_MAX, 2000);
+
+/**
+ * Set the disarmed PWM for AUX outputs
+ *
+ * This is the PWM pulse the autopilot is outputting if not armed.
+ * The main use of this parameter is to silence ESCs when they are disarmed.
+ *
+ * @min 0
+ * @max 2200
+ * @unit microseconds
+ * @group PWM Outputs
+ */
+PARAM_DEFINE_INT32(PWM_AUX_DISARMED, 1000);
diff --git a/src/modules/sensors/sensors.cpp b/src/modules/sensors/sensors.cpp
index 1e831becd9..0c7b0467f7 100644
--- a/src/modules/sensors/sensors.cpp
+++ b/src/modules/sensors/sensors.cpp
@@ -634,6 +634,12 @@ Sensors::Sensors() :
 	(void)param_find("CAL_MAG2_ROT");
 	(void)param_find("SYS_PARAM_VER");
 	(void)param_find("SYS_AUTOSTART");
+	(void)param_find("PWM_MIN");
+	(void)param_find("PWM_MAX");
+	(void)param_find("PWM_DISARMED");
+	(void)param_find("PWM_AUX_MIN");
+	(void)param_find("PWM_AUX_MAX");
+	(void)param_find("PWM_AUX_DISARMED");
 	
 	/* fetch initial parameter values */
 	parameters_update();
diff --git a/src/systemcmds/pwm/pwm.c b/src/systemcmds/pwm/pwm.c
index 6bb9f235cb..168a1d8603 100644
--- a/src/systemcmds/pwm/pwm.c
+++ b/src/systemcmds/pwm/pwm.c
@@ -59,6 +59,7 @@
 
 #include "systemlib/systemlib.h"
 #include "systemlib/err.h"
+#include "systemlib/param/param.h"
 #include "drivers/drv_pwm_output.h"
 
 static void	usage(const char *reason);
@@ -187,10 +188,35 @@ pwm_main(int argc, char *argv[])
 			break;
 
 		case 'p':
-			pwm_value = strtoul(optarg, &ep, 0);
+			{
+				/* check if this is a param name */
+				if (strncmp("p:", optarg, 2) == 0) {
 
-			if (*ep != '\0') {
-				usage("BAD PWM VAL");
+					char buf[32];
+					strncpy(buf, optarg + 2, 16);
+					/* user wants to use a param name */
+					param_t parm = param_find(buf);
+
+					if (parm != PARAM_INVALID) {
+						int32_t pwm_parm;
+						int gret = param_get(parm, &pwm_parm);
+
+						if (gret == 0) {
+							pwm_value = pwm_parm;
+						} else {
+							usage("PARAM LOAD FAIL");
+						}
+					} else {
+						usage("PARAM NAME NOT FOUND");
+					}
+				} else {
+
+					pwm_value = strtoul(optarg, &ep, 0);
+				}
+
+				if (*ep != '\0') {
+					usage("BAD PWM VAL");
+				}
 			}
 
 			break;