diff --git a/posix-configs/eagle/200qx/px4-flight-v1-board.config b/posix-configs/eagle/200qx/px4-flight-v1-board.config
index 681eed39de6..f07aa5d0269 100644
--- a/posix-configs/eagle/200qx/px4-flight-v1-board.config
+++ b/posix-configs/eagle/200qx/px4-flight-v1-board.config
@@ -55,11 +55,11 @@ param set MPU_GYRO_LPF_ENM 4
 param set MPU_ACC_LPF_ENM 4
 param set MPU_SAMPLE_R_ENM 2
 param set UART_ESC_MODEL 0
-param set UART_ESC_BAUDRATE 250000
-param set UART_ESC_PX4MOTOR1 2
-param set UART_ESC_PX4MOTOR2 4
-param set UART_ESC_PX4MOTOR3 1
-param set UART_ESC_PX4MOTOR4 3
+param set UART_ESC_BAUD 250000
+param set UART_ESC_MOTOR1 2
+param set UART_ESC_MOTOR2 4
+param set UART_ESC_MOTOR3 1
+param set UART_ESC_MOTOR4 3
 sleep 1
 commander start
 rc_receiver start -D /dev/tty-1
diff --git a/posix-configs/eagle/200qx/px4-flight-v2-board.config b/posix-configs/eagle/200qx/px4-flight-v2-board.config
index 61aabe58cc5..90fb8c2a0c7 100644
--- a/posix-configs/eagle/200qx/px4-flight-v2-board.config
+++ b/posix-configs/eagle/200qx/px4-flight-v2-board.config
@@ -55,11 +55,11 @@ param set MPU_GYRO_LPF_ENM 4
 param set MPU_ACC_LPF_ENM 4
 param set MPU_SAMPLE_R_ENM 2
 param set UART_ESC_MODEL 0
-param set UART_ESC_BAUDRATE 250000
-param set UART_ESC_PX4MOTOR1 2
-param set UART_ESC_PX4MOTOR2 4
-param set UART_ESC_PX4MOTOR3 1
-param set UART_ESC_PX4MOTOR4 3
+param set UART_ESC_BAUD 250000
+param set UART_ESC_MOTOR1 2
+param set UART_ESC_MOTOR2 4
+param set UART_ESC_MOTOR3 1
+param set UART_ESC_MOTOR4 3
 sleep 1
 commander start
 rc_receiver start -D /dev/tty-1
diff --git a/posix-configs/eagle/210qc/px4-flight.config b/posix-configs/eagle/210qc/px4-flight.config
index 94964f9a28c..0a83b68faeb 100644
--- a/posix-configs/eagle/210qc/px4-flight.config
+++ b/posix-configs/eagle/210qc/px4-flight.config
@@ -72,11 +72,11 @@ param set ACC0_YSCALE 0.9974
 param set ACC0_ZSCALE 0.9951
 param set RC_RECEIVER_TYPE 1
 param set UART_ESC_MODEL 2
-param set UART_ESC_BAUDRATE 250000
-param set UART_ESC_PX4MOTOR1 4
-param set UART_ESC_PX4MOTOR2 2
-param set UART_ESC_PX4MOTOR3 1
-param set UART_ESC_PX4MOTOR4 3
+param set UART_ESC_BAUD 250000
+param set UART_ESC_MOTOR1 4
+param set UART_ESC_MOTOR2 2
+param set UART_ESC_MOTOR3 1
+param set UART_ESC_MOTOR4 3
 sleep 1
 commander start
 rc_receiver start -D /dev/tty-1
diff --git a/src/platforms/qurt/fc_addon/uart_esc/uart_esc_main.cpp b/src/platforms/qurt/fc_addon/uart_esc/uart_esc_main.cpp
index 606e8535b80..ebeefcd8936 100644
--- a/src/platforms/qurt/fc_addon/uart_esc/uart_esc_main.cpp
+++ b/src/platforms/qurt/fc_addon/uart_esc/uart_esc_main.cpp
@@ -131,14 +131,14 @@ struct {
 void parameters_init()
 {
 	_parameter_handles.model 		= param_find("UART_ESC_MODEL");
-	_parameter_handles.baudrate = param_find("UART_ESC_BAUDRATE");
+	_parameter_handles.baudrate = param_find("UART_ESC_BAUD");
 
 	/* PX4 motor mapping parameters */
 	for (unsigned int i = 0; i < UART_ESC_MAX_MOTORS; i++) {
 		char nbuf[20];
 
 		/* min values */
-		sprintf(nbuf, "UART_ESC_PX4MOTOR%d", i + 1);
+		sprintf(nbuf, "UART_ESC_MOTOR%d", i + 1);
 		_parameter_handles.px4_motor_mapping[i] = param_find(nbuf);
 	}
 
@@ -157,13 +157,13 @@ void parameters_update()
 
 	if (param_get(_parameter_handles.baudrate, &v_int) == 0) {
 		_parameters.baudrate = v_int;
-		PX4_WARN("UART_ESC_BAUDRATE %d", _parameters.baudrate);
+		PX4_WARN("UART_ESC_BAUD %d", _parameters.baudrate);
 	}
 
 	for (unsigned int i = 0; i < UART_ESC_MAX_MOTORS; i++) {
 		if (param_get(_parameter_handles.px4_motor_mapping[i], &v_int) == 0) {
 			_parameters.px4_motor_mapping[i] = v_int;
-			PX4_WARN("UART_ESC_PX4MOTOR%d %d", i + 1, _parameters.px4_motor_mapping[i]);
+			PX4_WARN("UART_ESC_MOTOR%d %d", i + 1, _parameters.px4_motor_mapping[i]);
 		}
 	}
 }
diff --git a/src/platforms/qurt/fc_addon/uart_esc/uart_esc_params.c b/src/platforms/qurt/fc_addon/uart_esc/uart_esc_params.c
index 1d4ee103747..ca1ca273b7a 100644
--- a/src/platforms/qurt/fc_addon/uart_esc/uart_esc_params.c
+++ b/src/platforms/qurt/fc_addon/uart_esc/uart_esc_params.c
@@ -44,11 +44,12 @@
  *
  * See esc_model_t enum definition in uart_esc_dev.h for all supported ESC
  * model enum values.
- * ESC_200QX = 0
- * ESC_350QX = 1
- * ESC_210QC = 2
  *
- * Default is 210QC
+ * @value 0 ESC_200QX
+ * @value 1 ESC_350QX
+ * @value 2 ESC_210QC
+ *
+ * @group Snapdragon UART ESC
  */
 PARAM_DEFINE_INT32(UART_ESC_MODEL, 2);
 
@@ -56,8 +57,9 @@ PARAM_DEFINE_INT32(UART_ESC_MODEL, 2);
  * ESC UART baud rate
  *
  * Default rate is 250Kbps, whic is used in off-the-shelf QRP ESC products.
+ * @group Snapdragon UART ESC
  */
-PARAM_DEFINE_INT32(UART_ESC_BAUDRATE, 250000);
+PARAM_DEFINE_INT32(UART_ESC_BAUD, 250000);
 
 /**
  * The PX4 default motor mappings are
@@ -74,10 +76,10 @@ PARAM_DEFINE_INT32(UART_ESC_BAUDRATE, 250000);
  * [front]
  *         3     2
  */
-// PARAM_DEFINE_INT32(UART_ESC_PX4MOTOR1, 1);
-// PARAM_DEFINE_INT32(UART_ESC_PX4MOTOR2, 2);
-// PARAM_DEFINE_INT32(UART_ESC_PX4MOTOR3, 3);
-// PARAM_DEFINE_INT32(UART_ESC_PX4MOTOR4, 4);
+// PARAM_DEFINE_INT32(UART_ESC_MOTOR1, 1);
+// PARAM_DEFINE_INT32(UART_ESC_MOTOR2, 2);
+// PARAM_DEFINE_INT32(UART_ESC_MOTOR3, 3);
+// PARAM_DEFINE_INT32(UART_ESC_MOTOR4, 4);
 
 /**
  * Motor mappings for 350QX
@@ -85,10 +87,10 @@ PARAM_DEFINE_INT32(UART_ESC_BAUDRATE, 250000);
  * [front]
  *         1     2
  */
-// PARAM_DEFINE_INT32(UART_ESC_PX4MOTOR1, 4);
-// PARAM_DEFINE_INT32(UART_ESC_PX4MOTOR2, 2);
-// PARAM_DEFINE_INT32(UART_ESC_PX4MOTOR3, 1);
-// PARAM_DEFINE_INT32(UART_ESC_PX4MOTOR4, 3);
+// PARAM_DEFINE_INT32(UART_ESC_MOTOR1, 4);
+// PARAM_DEFINE_INT32(UART_ESC_MOTOR2, 2);
+// PARAM_DEFINE_INT32(UART_ESC_MOTOR3, 1);
+// PARAM_DEFINE_INT32(UART_ESC_MOTOR4, 3);
 
 /**
  * Motor mappings for 200QX
@@ -96,10 +98,10 @@ PARAM_DEFINE_INT32(UART_ESC_BAUDRATE, 250000);
  * [front]
  *         1     4
  */
-// PARAM_DEFINE_INT32(UART_ESC_PX4MOTOR1, 2);
-// PARAM_DEFINE_INT32(UART_ESC_PX4MOTOR2, 4);
-// PARAM_DEFINE_INT32(UART_ESC_PX4MOTOR3, 1);
-// PARAM_DEFINE_INT32(UART_ESC_PX4MOTOR4, 3);
+// PARAM_DEFINE_INT32(UART_ESC_MOTOR1, 2);
+// PARAM_DEFINE_INT32(UART_ESC_MOTOR2, 4);
+// PARAM_DEFINE_INT32(UART_ESC_MOTOR3, 1);
+// PARAM_DEFINE_INT32(UART_ESC_MOTOR4, 3);
 
 /**
  * Motor mappings for 210QC
@@ -107,8 +109,31 @@ PARAM_DEFINE_INT32(UART_ESC_BAUDRATE, 250000);
  * [front]
  *         1     2
  */
-PARAM_DEFINE_INT32(UART_ESC_PX4MOTOR1, 4);
-PARAM_DEFINE_INT32(UART_ESC_PX4MOTOR2, 2);
-PARAM_DEFINE_INT32(UART_ESC_PX4MOTOR3, 1);
-PARAM_DEFINE_INT32(UART_ESC_PX4MOTOR4, 3);
 
+/**
+ * Motor 1 Mapping
+ *
+ * @group Snapdragon UART ESC
+ */
+PARAM_DEFINE_INT32(UART_ESC_MOTOR1, 4);
+
+/**
+ * Motor 2 Mapping
+ *
+ * @group Snapdragon UART ESC
+ */
+PARAM_DEFINE_INT32(UART_ESC_MOTOR2, 2);
+
+/**
+ * Motor 3 Mapping
+ *
+ * @group Snapdragon UART ESC
+ */
+PARAM_DEFINE_INT32(UART_ESC_MOTOR3, 1);
+
+/**
+ * Motor 4 Mapping
+ *
+ * @group Snapdragon UART ESC
+ */
+PARAM_DEFINE_INT32(UART_ESC_MOTOR4, 3);