diff --git a/ROMFS/px4fmu_common/init.d/airframes/10018_tbs_endurance b/ROMFS/px4fmu_common/init.d/airframes/10018_tbs_endurance
index 5188d861cc..e0a56b753e 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/10018_tbs_endurance
+++ b/ROMFS/px4fmu_common/init.d/airframes/10018_tbs_endurance
@@ -46,7 +46,7 @@ then
 
 	param set MPC_XY_VEL_MAX 2
 
-	param set PWM_MIN 1080
+	param set PWM_MAIN_MIN 1080
 fi
 
 set MIXER quad_w
diff --git a/ROMFS/px4fmu_common/init.d/airframes/13000_generic_vtol_standard b/ROMFS/px4fmu_common/init.d/airframes/13000_generic_vtol_standard
index f1908d58a1..5ed66b32ad 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/13000_generic_vtol_standard
+++ b/ROMFS/px4fmu_common/init.d/airframes/13000_generic_vtol_standard
@@ -27,7 +27,7 @@
 if [ $AUTOCNF = yes ]
 then
 	param set PWM_AUX_DIS5 950
-	param set PWM_RATE 400
+	param set PWM_MAIN_RATE 400
 
 	param set VT_TYPE 2
 	param set VT_MOT_ID 1234
diff --git a/ROMFS/px4fmu_common/init.d/airframes/13002_firefly6 b/ROMFS/px4fmu_common/init.d/airframes/13002_firefly6
index b6aaa1cba7..ef17798b67 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/13002_firefly6
+++ b/ROMFS/px4fmu_common/init.d/airframes/13002_firefly6
@@ -42,7 +42,7 @@ then
 	param set MC_YAWRATE_D 0
 	param set MC_YAWRATE_FF 0
 
-	param set PWM_RATE 400
+	param set PWM_MAIN_RATE 400
 
 	param set VT_FW_MOT_OFFID 34
 	param set VT_IDLE_PWM_MC 1080
diff --git a/ROMFS/px4fmu_common/init.d/airframes/13003_quad_tailsitter b/ROMFS/px4fmu_common/init.d/airframes/13003_quad_tailsitter
index 8bb2ce544c..4c92111fc9 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/13003_quad_tailsitter
+++ b/ROMFS/px4fmu_common/init.d/airframes/13003_quad_tailsitter
@@ -16,8 +16,8 @@
 
 if [ $AUTOCNF = yes ]
 then
-	param set PWM_MAX 2000
-	param set PWM_RATE 400
+	param set PWM_MAIN_MAX 2000
+	param set PWM_MAIN_RATE 400
 
 	param set VT_MOT_ID 1234
 	param set VT_IDLE_PWM_MC  1080
diff --git a/ROMFS/px4fmu_common/init.d/airframes/13004_quad+_tailsitter b/ROMFS/px4fmu_common/init.d/airframes/13004_quad+_tailsitter
index 8b744eb508..8a77cf0d17 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/13004_quad+_tailsitter
+++ b/ROMFS/px4fmu_common/init.d/airframes/13004_quad+_tailsitter
@@ -25,8 +25,8 @@
 
 if [ $AUTOCNF = yes ]
 then
-	param set PWM_MAX 2000
-	param set PWM_RATE 400
+	param set PWM_MAIN_MAX 2000
+	param set PWM_MAIN_RATE 400
 
 	param set VT_IDLE_PWM_MC  1080
 	param set VT_TYPE 0
diff --git a/ROMFS/px4fmu_common/init.d/airframes/13005_vtol_AAERT_quad b/ROMFS/px4fmu_common/init.d/airframes/13005_vtol_AAERT_quad
index 7897374264..112b539f9e 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/13005_vtol_AAERT_quad
+++ b/ROMFS/px4fmu_common/init.d/airframes/13005_vtol_AAERT_quad
@@ -28,7 +28,7 @@ if [ $AUTOCNF = yes ]
 then
 	param set PWM_AUX_DIS5 950
 
-	param set PWM_RATE 400
+	param set PWM_MAIN_RATE 400
 
 	param set MC_ROLL_P 6
 	param set MC_ROLLRATE_P 0.17
diff --git a/ROMFS/px4fmu_common/init.d/airframes/13006_vtol_standard_delta b/ROMFS/px4fmu_common/init.d/airframes/13006_vtol_standard_delta
index e7957724ed..30933013fa 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/13006_vtol_standard_delta
+++ b/ROMFS/px4fmu_common/init.d/airframes/13006_vtol_standard_delta
@@ -47,7 +47,7 @@ then
 	param set MPC_YAWRAUTO_MAX 20
 
 	param set PWM_AUX_DIS3 950
-	param set PWM_RATE 400
+	param set PWM_MAIN_RATE 400
 
 	param set VT_MOT_ID 1234
 	param set VT_FW_MOT_OFFID 1234
diff --git a/ROMFS/px4fmu_common/init.d/airframes/13007_vtol_AAVVT_quad b/ROMFS/px4fmu_common/init.d/airframes/13007_vtol_AAVVT_quad
index 6d890eea4d..778bd798c6 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/13007_vtol_AAVVT_quad
+++ b/ROMFS/px4fmu_common/init.d/airframes/13007_vtol_AAVVT_quad
@@ -36,7 +36,7 @@ then
 	param set MPC_YAWRAUTO_MAX 40
 
 	param set PWM_AUX_DIS5 950
-	param set PWM_RATE 400
+	param set PWM_MAIN_RATE 400
 
 	param set VT_F_TRANS_THR 0.75
 	param set VT_MOT_ID 1234
diff --git a/ROMFS/px4fmu_common/init.d/airframes/13008_QuadRanger b/ROMFS/px4fmu_common/init.d/airframes/13008_QuadRanger
index 2d3b54e746..ed33d7cc7d 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/13008_QuadRanger
+++ b/ROMFS/px4fmu_common/init.d/airframes/13008_QuadRanger
@@ -50,7 +50,7 @@ then
 	param set PWM_AUX_DIS5 950
 	param set PWM_AUX_REV1 1
 	param set PWM_AUX_REV2 1
-	param set PWM_RATE 400
+	param set PWM_MAIN_RATE 400
 
 	param set VT_ARSP_TRANS 15
 	param set VT_ARSP_BLEND 8
diff --git a/ROMFS/px4fmu_common/init.d/airframes/13009_vtol_spt_ranger b/ROMFS/px4fmu_common/init.d/airframes/13009_vtol_spt_ranger
index 4a234eadef..4892c292f9 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/13009_vtol_spt_ranger
+++ b/ROMFS/px4fmu_common/init.d/airframes/13009_vtol_spt_ranger
@@ -70,7 +70,7 @@ then
 
 	param set PWM_AUX_DIS5 950
 
-	param set PWM_RATE 400
+	param set PWM_MAIN_RATE 400
 
 	param set VT_ARSP_TRANS   15
 	param set VT_B_TRANS_DUR  4
diff --git a/ROMFS/px4fmu_common/init.d/airframes/13010_claire b/ROMFS/px4fmu_common/init.d/airframes/13010_claire
index 630a795383..0b8eaf0245 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/13010_claire
+++ b/ROMFS/px4fmu_common/init.d/airframes/13010_claire
@@ -21,8 +21,8 @@ then
 	param set PWM_AUX_MIN 1000
 	param set PWM_AUX_RATE 50
 
-	param set PWM_MAX 2000
-	param set PWM_RATE 400
+	param set PWM_MAIN_MAX 2000
+	param set PWM_MAIN_RATE 400
 
 	param set VT_MOT_ID 1234
 	param set VT_FW_MOT_OFFID 13
diff --git a/ROMFS/px4fmu_common/init.d/airframes/13012_convergence b/ROMFS/px4fmu_common/init.d/airframes/13012_convergence
index 06f64c6a85..b3a26c1b56 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/13012_convergence
+++ b/ROMFS/px4fmu_common/init.d/airframes/13012_convergence
@@ -61,7 +61,7 @@ then
 	param set MPC_TKO_SPEED 2.5
 	param set MPC_Z_VEL_MAX_UP 3
 
-	param set PWM_RATE 400
+	param set PWM_MAIN_RATE 400
 
 	param set SENS_BOARD_ROT 8
 
diff --git a/ROMFS/px4fmu_common/init.d/airframes/13013_deltaquad b/ROMFS/px4fmu_common/init.d/airframes/13013_deltaquad
index 68f70ecbcf..7bb7a3252e 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/13013_deltaquad
+++ b/ROMFS/px4fmu_common/init.d/airframes/13013_deltaquad
@@ -122,7 +122,7 @@ then
 	param set PWM_MAIN_DIS7 900
 	param set PWM_MAIN_DIS8 900
 
-	param set PWM_RATE 400
+	param set PWM_MAIN_RATE 400
 
 	param set SENS_BOARD_ROT 18
 
diff --git a/ROMFS/px4fmu_common/init.d/airframes/13014_vtol_babyshark b/ROMFS/px4fmu_common/init.d/airframes/13014_vtol_babyshark
index 4a9e0e636f..224994c462 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/13014_vtol_babyshark
+++ b/ROMFS/px4fmu_common/init.d/airframes/13014_vtol_babyshark
@@ -90,7 +90,7 @@ then
 
 	param set PWM_MAIN_DIS3 1000
 	param set PWM_MAIN_MIN3 1120
-	param set PWM_MIN 950
+	param set PWM_MAIN_MIN 950
 
 	param set SENS_BOARD_ROT 4
 
diff --git a/ROMFS/px4fmu_common/init.d/airframes/13050_generic_vtol_octo b/ROMFS/px4fmu_common/init.d/airframes/13050_generic_vtol_octo
index 2293d34398..497936162c 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/13050_generic_vtol_octo
+++ b/ROMFS/px4fmu_common/init.d/airframes/13050_generic_vtol_octo
@@ -29,7 +29,7 @@
 if [ $AUTOCNF = yes ]
 then
 	param set PWM_AUX_DIS5 950
-	param set PWM_RATE 400
+	param set PWM_MAIN_RATE 400
 
 	param set VT_TYPE 2
 	param set VT_MOT_ID 12345678
diff --git a/ROMFS/px4fmu_common/init.d/airframes/15001_coax_heli b/ROMFS/px4fmu_common/init.d/airframes/15001_coax_heli
index 5191b34f5b..7b05fbf986 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/15001_coax_heli
+++ b/ROMFS/px4fmu_common/init.d/airframes/15001_coax_heli
@@ -41,10 +41,10 @@ then
 	param set NAV_ACC_RAD 2
 
 	param set PWM_AUX_RATE 50
-	param set PWM_DISARMED 900
-	param set PWM_MIN 1075
-	param set PWM_MAX 1950
-	param set PWM_RATE 400
+	param set PWM_MAIN_DISARM 900
+	param set PWM_MAIN_MIN 1075
+	param set PWM_MAIN_MAX 1950
+	param set PWM_MAIN_RATE 400
 
 	param set RTL_RETURN_ALT 30
 	param set RTL_DESCEND_ALT 10
diff --git a/ROMFS/px4fmu_common/init.d/airframes/16001_helicopter b/ROMFS/px4fmu_common/init.d/airframes/16001_helicopter
index 02e217d66e..d22d4d21bf 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/16001_helicopter
+++ b/ROMFS/px4fmu_common/init.d/airframes/16001_helicopter
@@ -56,5 +56,5 @@ then
 	param set MPC_THR_MIN 0.06
 	param set MPC_MANTHR_MIN 0.06
 
-	param set PWM_MIN 1075
+	param set PWM_MAIN_MIN 1075
 fi
diff --git a/ROMFS/px4fmu_common/init.d/airframes/17002_TF-AutoG2 b/ROMFS/px4fmu_common/init.d/airframes/17002_TF-AutoG2
index b6db51403d..3887d288b2 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/17002_TF-AutoG2
+++ b/ROMFS/px4fmu_common/init.d/airframes/17002_TF-AutoG2
@@ -32,7 +32,7 @@ then
 	param set BAT_N_CELLS 3
 
 	param set PWM_AUX_RATE 50
-	param set PWM_RATE 50
+	param set PWM_MAIN_RATE 50
 
 	param set SENS_BOARD_ROT 8
 
diff --git a/ROMFS/px4fmu_common/init.d/airframes/17003_TF-G2 b/ROMFS/px4fmu_common/init.d/airframes/17003_TF-G2
index 328b180b30..0b9a95ab8f 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/17003_TF-G2
+++ b/ROMFS/px4fmu_common/init.d/airframes/17003_TF-G2
@@ -27,7 +27,7 @@ then
 	param set BAT_N_CELLS 3
 
 	param set PWM_AUX_RATE 50
-	param set PWM_RATE 50
+	param set PWM_MAIN_RATE 50
 
 	param set SENS_BOARD_ROT 4
 
diff --git a/ROMFS/px4fmu_common/init.d/airframes/2100_standard_plane b/ROMFS/px4fmu_common/init.d/airframes/2100_standard_plane
index 9a5346797b..a30883c1e0 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/2100_standard_plane
+++ b/ROMFS/px4fmu_common/init.d/airframes/2100_standard_plane
@@ -27,7 +27,7 @@
 if [ $AUTOCNF = yes ]
 then
 	param set PWM_AUX_RATE 50
-	param set PWM_RATE 50
+	param set PWM_MAIN_RATE 50
 fi
 
 set MIXER AETRFG
diff --git a/ROMFS/px4fmu_common/init.d/airframes/2105_maja b/ROMFS/px4fmu_common/init.d/airframes/2105_maja
index 8c60637989..24458feac8 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/2105_maja
+++ b/ROMFS/px4fmu_common/init.d/airframes/2105_maja
@@ -43,7 +43,7 @@ then
 	param set FW_W_RMAX 0
 
 	# set disarmed value for the ESC
-	param set PWM_DISARMED 1000
+	param set PWM_MAIN_DISARM 1000
 fi
 
 set MIXER AAERTWF
diff --git a/ROMFS/px4fmu_common/init.d/airframes/2106_albatross b/ROMFS/px4fmu_common/init.d/airframes/2106_albatross
index 074ceb1e82..19c8bab4e2 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/2106_albatross
+++ b/ROMFS/px4fmu_common/init.d/airframes/2106_albatross
@@ -43,7 +43,7 @@ then
 	param set FW_W_RMAX 0
 
 	# set disarmed value for the ESC
-	param set PWM_DISARMED 1000
+	param set PWM_MAIN_DISARM 1000
 fi
 
 set MIXER AAVVTWFF
diff --git a/ROMFS/px4fmu_common/init.d/airframes/2200_mini_talon b/ROMFS/px4fmu_common/init.d/airframes/2200_mini_talon
index d7c1f6d402..b02c794583 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/2200_mini_talon
+++ b/ROMFS/px4fmu_common/init.d/airframes/2200_mini_talon
@@ -44,7 +44,7 @@ then
 	param set FW_W_RMAX 0
 
 	# set disarmed value for the ESC
-	param set PWM_DISARMED 1000
+	param set PWM_MAIN_DISARM 1000
 fi
 
 # The Mini Talon does not have a wheel and
diff --git a/ROMFS/px4fmu_common/init.d/airframes/24001_dodeca_cox b/ROMFS/px4fmu_common/init.d/airframes/24001_dodeca_cox
index 243b11c107..c7e71a7ce4 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/24001_dodeca_cox
+++ b/ROMFS/px4fmu_common/init.d/airframes/24001_dodeca_cox
@@ -37,9 +37,9 @@ then
 	param set PWM_AUX_MIN 1075
 	param set PWM_AUX_MAX 1950
 
-	param set PWM_MIN 1075
-	param set PWM_MAX 1950
-	param set PWM_RATE 400
+	param set PWM_MAIN_MIN 1075
+	param set PWM_MAIN_MAX 1950
+	param set PWM_MAIN_RATE 400
 
 	param set RTL_DESCEND_ALT 10
 	param set RTL_RETURN_ALT 30
diff --git a/ROMFS/px4fmu_common/init.d/airframes/3030_io_camflyer b/ROMFS/px4fmu_common/init.d/airframes/3030_io_camflyer
index fb32401de2..bc38a74319 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/3030_io_camflyer
+++ b/ROMFS/px4fmu_common/init.d/airframes/3030_io_camflyer
@@ -44,7 +44,7 @@ then
 	param set FW_RR_IMAX 0.2
 	param set FW_RR_P 0.04
 
-	param set PWM_DISARMED 1000
+	param set PWM_MAIN_DISARM 1000
 fi
 
 set MIXER fw_generic_wing
diff --git a/ROMFS/px4fmu_common/init.d/airframes/3031_phantom b/ROMFS/px4fmu_common/init.d/airframes/3031_phantom
index 45c4e7b74b..38907b090b 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/3031_phantom
+++ b/ROMFS/px4fmu_common/init.d/airframes/3031_phantom
@@ -45,7 +45,7 @@ then
 	param set FW_R_LIM 50
 	param set FW_R_RMAX 50
 
-	param set PWM_DISARMED 1000
+	param set PWM_MAIN_DISARM 1000
 
 	# Bottom of bay and nominal zero-pitch attitude differ
 	# the payload bay is pitched up about 7 degrees
diff --git a/ROMFS/px4fmu_common/init.d/airframes/3033_wingwing b/ROMFS/px4fmu_common/init.d/airframes/3033_wingwing
index f6e67213f9..a7c71e0e62 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/3033_wingwing
+++ b/ROMFS/px4fmu_common/init.d/airframes/3033_wingwing
@@ -44,7 +44,7 @@ then
 	param set FW_RR_FF 0.6
 	param set FW_RR_P 0.04
 
-	param set PWM_DISARMED 1000
+	param set PWM_MAIN_DISARM 1000
 fi
 
 # Configure this as plane.
diff --git a/ROMFS/px4fmu_common/init.d/airframes/3036_pigeon b/ROMFS/px4fmu_common/init.d/airframes/3036_pigeon
index e5bf662cfb..ddd75b6882 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/3036_pigeon
+++ b/ROMFS/px4fmu_common/init.d/airframes/3036_pigeon
@@ -45,7 +45,7 @@ then
 	param set FW_R_RMAX 50
 	param set FW_R_TC 0.3
 
-	param set PWM_DISARMED 1000
+	param set PWM_MAIN_DISARM 1000
 
 	# Bottom of bay and nominal zero-pitch attitude differ
 	# the payload bay is pitched up about 7 degrees
diff --git a/ROMFS/px4fmu_common/init.d/airframes/3037_parrot_disco_mod b/ROMFS/px4fmu_common/init.d/airframes/3037_parrot_disco_mod
index 7105193779..26f9c22fe8 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/3037_parrot_disco_mod
+++ b/ROMFS/px4fmu_common/init.d/airframes/3037_parrot_disco_mod
@@ -85,7 +85,7 @@ then
 	# Roll Integrator Anti-Windup
 	param set FW_RR_IMAX 0.2
 
-	param set PWM_DISARMED 1000
+	param set PWM_MAIN_DISARM 1000
 fi
 
 set MIXER fw_generic_wing.main.mix
diff --git a/ROMFS/px4fmu_common/init.d/airframes/3100_tbs_caipirinha b/ROMFS/px4fmu_common/init.d/airframes/3100_tbs_caipirinha
index 1ccee1c144..7482a9c015 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/3100_tbs_caipirinha
+++ b/ROMFS/px4fmu_common/init.d/airframes/3100_tbs_caipirinha
@@ -61,8 +61,8 @@ then
 
 	param set PWM_MAIN_REV1 1
 	param set PWM_MAIN_REV2 1
-	param set PWM_MIN 900
-	param set PWM_MAX 2100
+	param set PWM_MAIN_MIN 900
+	param set PWM_MAIN_MAX 2100
 fi
 
 set MIXER caipi
diff --git a/ROMFS/px4fmu_common/init.d/airframes/4003_qavr5 b/ROMFS/px4fmu_common/init.d/airframes/4003_qavr5
index a7c5c6d6cd..c4c2ccc9cf 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/4003_qavr5
+++ b/ROMFS/px4fmu_common/init.d/airframes/4003_qavr5
@@ -34,5 +34,5 @@ then
 	param set MPC_THR_MIN 0.06
 	param set MPC_MANTHR_MIN 0.06
 
-	param set PWM_MIN 1075
+	param set PWM_MAIN_MIN 1075
 fi
diff --git a/ROMFS/px4fmu_common/init.d/airframes/4009_qav250 b/ROMFS/px4fmu_common/init.d/airframes/4009_qav250
index 02f2c8be0a..66a9c56fe8 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/4009_qav250
+++ b/ROMFS/px4fmu_common/init.d/airframes/4009_qav250
@@ -37,5 +37,5 @@ then
 	param set MC_YAWRATE_D 0
 	param set MPC_THR_MIN 0.06
 
-	param set PWM_MIN 1075
+	param set PWM_MAIN_MIN 1075
 fi
diff --git a/ROMFS/px4fmu_common/init.d/airframes/4010_dji_f330 b/ROMFS/px4fmu_common/init.d/airframes/4010_dji_f330
index 6fd2e0d802..e82faa6b5c 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/4010_dji_f330
+++ b/ROMFS/px4fmu_common/init.d/airframes/4010_dji_f330
@@ -29,5 +29,5 @@ then
 	param set MC_YAWRATE_D 0
 
 	# DJI ESCs do not support calibration and need a higher min
-	param set PWM_MIN 1230
+	param set PWM_MAIN_MIN 1230
 fi
diff --git a/ROMFS/px4fmu_common/init.d/airframes/4011_dji_f450 b/ROMFS/px4fmu_common/init.d/airframes/4011_dji_f450
index 463b39d8f3..5e8d318a45 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/4011_dji_f450
+++ b/ROMFS/px4fmu_common/init.d/airframes/4011_dji_f450
@@ -29,5 +29,5 @@ then
 	param set MC_YAWRATE_D 0
 
 	# DJI ESCs do not support calibration and need a higher min
-	param set PWM_MIN 1230
+	param set PWM_MAIN_MIN 1230
 fi
diff --git a/ROMFS/px4fmu_common/init.d/airframes/4016_holybro_px4vision b/ROMFS/px4fmu_common/init.d/airframes/4016_holybro_px4vision
index d4eaf2a540..7e5ddeb2c3 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/4016_holybro_px4vision
+++ b/ROMFS/px4fmu_common/init.d/airframes/4016_holybro_px4vision
@@ -104,11 +104,11 @@ then
 	param set NAV_ACC_RAD 2
 
 	# PWM and RC Parameters
-	param set PWM_MAX 1950
-	param set PWM_MIN 1075
+	param set PWM_MAIN_MAX 1950
+	param set PWM_MAIN_MIN 1075
 
 	# use oneshot motor output protocol
-	param set PWM_RATE 0
+	param set PWM_MAIN_RATE 0
 
 	# RTL Parameters
 	param set RTL_DESCEND_ALT 5
diff --git a/ROMFS/px4fmu_common/init.d/airframes/4020_hk_micro_pcb b/ROMFS/px4fmu_common/init.d/airframes/4020_hk_micro_pcb
index d59650c80f..46d0fffa85 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/4020_hk_micro_pcb
+++ b/ROMFS/px4fmu_common/init.d/airframes/4020_hk_micro_pcb
@@ -37,5 +37,5 @@ then
 	param set MC_YAWRATE_I 0.1
 	param set MC_YAWRATE_D 0
 
-	param set PWM_MIN 1200
+	param set PWM_MAIN_MIN 1200
 fi
diff --git a/ROMFS/px4fmu_common/init.d/airframes/4040_reaper b/ROMFS/px4fmu_common/init.d/airframes/4040_reaper
index 474c4123bb..e8cd64dfb1 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/4040_reaper
+++ b/ROMFS/px4fmu_common/init.d/airframes/4040_reaper
@@ -37,9 +37,9 @@ then
 
 	param set PWM_AUX_DISARMED 950
 	param set PWM_AUX_RATE 50
-	param set PWM_MIN 1100
-	param set PWM_MAX 1900
-	param set PWM_RATE 50
+	param set PWM_MAIN_MIN 1100
+	param set PWM_MAIN_MAX 1900
+	param set PWM_MAIN_RATE 50
 
 	param set RTL_RETURN_ALT 30
 	param set RTL_DESCEND_ALT 10
diff --git a/ROMFS/px4fmu_common/init.d/airframes/4050_generic_250 b/ROMFS/px4fmu_common/init.d/airframes/4050_generic_250
index 963fe986c4..0cfe7ae48f 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/4050_generic_250
+++ b/ROMFS/px4fmu_common/init.d/airframes/4050_generic_250
@@ -41,9 +41,9 @@ then
 	# use thrust curve factor (instead of TPA)
 	param set THR_MDL_FAC 0.3
 
-	param set PWM_MIN 1075
+	param set PWM_MAIN_MIN 1075
 	# enable one-shot
-	param set PWM_RATE 0
+	param set PWM_MAIN_RATE 0
 
 	# enable high-rate logging profile (helps with tuning)
 	param set SDLOG_PROFILE 19
diff --git a/ROMFS/px4fmu_common/init.d/airframes/4051_s250aq b/ROMFS/px4fmu_common/init.d/airframes/4051_s250aq
index 40d4614644..5b648850ba 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/4051_s250aq
+++ b/ROMFS/px4fmu_common/init.d/airframes/4051_s250aq
@@ -55,5 +55,5 @@ then
 	param set MPC_THR_MIN 0.06
 	param set MPC_MANTHR_MIN 0.06
 
-	param set PWM_MIN 1075
+	param set PWM_MAIN_MIN 1075
 fi
diff --git a/ROMFS/px4fmu_common/init.d/airframes/4052_holybro_qav250 b/ROMFS/px4fmu_common/init.d/airframes/4052_holybro_qav250
index 1a7b4d924c..e2b033f9b0 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/4052_holybro_qav250
+++ b/ROMFS/px4fmu_common/init.d/airframes/4052_holybro_qav250
@@ -50,10 +50,10 @@ then
 	param set MPC_THR_MIN 0.05
 	param set MPC_Z_VEL_I_ACC 1.7
 
-	param set PWM_MAX 1950
-	param set PWM_MIN 1050
+	param set PWM_MAIN_MAX 1950
+	param set PWM_MAIN_MIN 1050
 
-	param set PWM_RATE 0
+	param set PWM_MAIN_RATE 0
 	param set THR_MDL_FAC 0.3
 fi
 
diff --git a/ROMFS/px4fmu_common/init.d/airframes/4060_dji_matrice_100 b/ROMFS/px4fmu_common/init.d/airframes/4060_dji_matrice_100
index 72b220ff52..f240de6b8c 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/4060_dji_matrice_100
+++ b/ROMFS/px4fmu_common/init.d/airframes/4060_dji_matrice_100
@@ -33,5 +33,5 @@ then
 	param set MC_YAWRATE_I 0
 	param set MC_YAWRATE_D 0
 
-	param set PWM_MIN 1200
+	param set PWM_MAIN_MIN 1200
 fi
diff --git a/ROMFS/px4fmu_common/init.d/airframes/4071_ifo b/ROMFS/px4fmu_common/init.d/airframes/4071_ifo
index d82ee30e9f..f6356d7d0f 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/4071_ifo
+++ b/ROMFS/px4fmu_common/init.d/airframes/4071_ifo
@@ -65,9 +65,9 @@ then
 	#param set THR_MDL_FAC 0.25
 
 	# System
-	param set PWM_MAX 1950
-	param set PWM_MIN 1100
-	param set PWM_RATE 0
+	param set PWM_MAIN_MAX 1950
+	param set PWM_MAIN_MIN 1100
+	param set PWM_MAIN_RATE 0
 
 	#param set SYS_FMU_TASK 1
 	param set SENS_BOARD_ROT 10
diff --git a/ROMFS/px4fmu_common/init.d/airframes/4072_draco b/ROMFS/px4fmu_common/init.d/airframes/4072_draco
index 4541937873..8a8def2c0b 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/4072_draco
+++ b/ROMFS/px4fmu_common/init.d/airframes/4072_draco
@@ -67,11 +67,11 @@ then
 	param set THR_MDL_FAC 0.3
 
 	# System
-	param set PWM_MAX 1950
-	param set PWM_MIN 1180
+	param set PWM_MAIN_MAX 1950
+	param set PWM_MAIN_MIN 1180
 
 	# enable one-shot
-	param set PWM_RATE 0
+	param set PWM_MAIN_RATE 0
 
 	param set SENS_BOARD_ROT 2
 
diff --git a/ROMFS/px4fmu_common/init.d/airframes/4073_ifo-s b/ROMFS/px4fmu_common/init.d/airframes/4073_ifo-s
index fefc1c02ad..e2f4ce70b7 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/4073_ifo-s
+++ b/ROMFS/px4fmu_common/init.d/airframes/4073_ifo-s
@@ -61,9 +61,9 @@ then
 	#param set THR_MDL_FAC 0.25
 
 	# Obsolete
-	#param set PWM_MAX 1950
-	#param set PWM_MIN 1100
-	#param set PWM_RATE 0
+	#param set PWM_MAIN_MAX 1950
+	#param set PWM_MAIN_MIN 1100
+	#param set PWM_MAIN_RATE 0
 
 	# Sensors
 	param set SENS_BOARD_ROT 10
diff --git a/ROMFS/px4fmu_common/init.d/airframes/4080_zmr250 b/ROMFS/px4fmu_common/init.d/airframes/4080_zmr250
index 71f15a6154..771f0489d1 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/4080_zmr250
+++ b/ROMFS/px4fmu_common/init.d/airframes/4080_zmr250
@@ -42,7 +42,7 @@ then
 
 	# param set NAV_RCL_ACT 6 # Lockdown
 
-	param set PWM_MIN 1075
-	param set PWM_RATE 400
-	param set PWM_DISARMED 900
+	param set PWM_MAIN_MIN 1075
+	param set PWM_MAIN_RATE 400
+	param set PWM_MAIN_DISARM 900
 fi
diff --git a/ROMFS/px4fmu_common/init.d/airframes/4090_nanomind b/ROMFS/px4fmu_common/init.d/airframes/4090_nanomind
index ed075cd2d2..e5947e78cc 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/4090_nanomind
+++ b/ROMFS/px4fmu_common/init.d/airframes/4090_nanomind
@@ -38,7 +38,7 @@ then
 	param set MC_YAWRATE_I 0.1
 	param set MC_YAWRATE_D 0
 
-	param set PWM_DISARMED 0
-	param set PWM_MIN 500
-	param set PWM_MAX 2200
+	param set PWM_MAIN_DISARM 0
+	param set PWM_MAIN_MIN 500
+	param set PWM_MAIN_MAX 2200
 fi
diff --git a/ROMFS/px4fmu_common/init.d/airframes/4250_teal b/ROMFS/px4fmu_common/init.d/airframes/4250_teal
index ae1c9de06e..a84d950a84 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/4250_teal
+++ b/ROMFS/px4fmu_common/init.d/airframes/4250_teal
@@ -171,11 +171,11 @@ then
 	param set NAV_RCL_ACT 1
 
 	# pwm control
-	param set PWM_DISARMED 900
-	param set PWM_MAX 1850
-	param set PWM_MIN 1075
+	param set PWM_MAIN_DISARM 900
+	param set PWM_MAIN_MAX 1850
+	param set PWM_MAIN_MIN 1075
 	# Oneshot125
-	param set PWM_RATE 0
+	param set PWM_MAIN_RATE 0
 
 	# rtl
 	param set RTL_DESCEND_ALT 5
diff --git a/ROMFS/px4fmu_common/init.d/airframes/4900_crazyflie b/ROMFS/px4fmu_common/init.d/airframes/4900_crazyflie
index 4b8b45bb1e..57dc6d7848 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/4900_crazyflie
+++ b/ROMFS/px4fmu_common/init.d/airframes/4900_crazyflie
@@ -60,12 +60,12 @@ then
 
 	param set NAV_RCL_ACT 3
 
-	param set PWM_DISARMED 0
-	param set PWM_MIN 0
-	param set PWM_MAX 255
+	param set PWM_MAIN_DISARM 0
+	param set PWM_MAIN_MIN 0
+	param set PWM_MAIN_MAX 255
 
 	# Run the motors at 328.125 kHz (recommended)
-	param set PWM_RATE 3921
+	param set PWM_MAIN_RATE 3921
 
 	param set SDLOG_PROFILE 1
 
@@ -73,9 +73,9 @@ then
 
 fi
 
-set PWM_DISARMED none
-set PWM_MAX none
-set PWM_MIN none
+set PWM_MAIN_DISARM none
+set PWM_MAIN_MAX none
+set PWM_MAIN_MIN none
 
 syslink start
 mavlink start -d /dev/bridge0 -b 57600 -m osd -r 40000
diff --git a/ROMFS/px4fmu_common/init.d/airframes/4901_crazyflie21 b/ROMFS/px4fmu_common/init.d/airframes/4901_crazyflie21
index 968f1f6a76..2435312c19 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/4901_crazyflie21
+++ b/ROMFS/px4fmu_common/init.d/airframes/4901_crazyflie21
@@ -59,12 +59,12 @@ then
 
 	param set NAV_RCL_ACT 3
 
-	param set PWM_DISARMED 0
-	param set PWM_MIN 0
-	param set PWM_MAX 255
+	param set PWM_MAIN_DISARM 0
+	param set PWM_MAIN_MIN 0
+	param set PWM_MAIN_MAX 255
 
 	# Run the motors at 328.125 kHz (recommended)
-	param set PWM_RATE 3921
+	param set PWM_MAIN_RATE 3921
 
 	param set SDLOG_PROFILE 1
 
@@ -73,9 +73,9 @@ then
 
 fi
 
-set PWM_DISARMED none
-set PWM_MAX none
-set PWM_MIN none
+set PWM_MAIN_DISARM none
+set PWM_MAIN_MAX none
+set PWM_MAIN_MIN none
 
 syslink start
 mavlink start -d /dev/bridge0 -b 57600 -m osd -r 40000
diff --git a/ROMFS/px4fmu_common/init.d/airframes/50000_generic_ground_vehicle b/ROMFS/px4fmu_common/init.d/airframes/50000_generic_ground_vehicle
index 18518915d7..db15429244 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/50000_generic_ground_vehicle
+++ b/ROMFS/px4fmu_common/init.d/airframes/50000_generic_ground_vehicle
@@ -50,9 +50,9 @@ then
 	param set NAV_ACC_RAD 0.5
 
 	# Provide ESC a constant 1500 us pulse
-	param set PWM_DISARMED 1500
-	param set PWM_MAX 2000
-	param set PWM_MIN 1000
+	param set PWM_MAIN_DISARM 1500
+	param set PWM_MAIN_MAX 2000
+	param set PWM_MAIN_MIN 1000
 fi
 
 # Configure this as rover
diff --git a/ROMFS/px4fmu_common/init.d/airframes/50003_aion_robotics_r1_rover b/ROMFS/px4fmu_common/init.d/airframes/50003_aion_robotics_r1_rover
index 2abf85c25f..7ab3d3df6a 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/50003_aion_robotics_r1_rover
+++ b/ROMFS/px4fmu_common/init.d/airframes/50003_aion_robotics_r1_rover
@@ -62,11 +62,11 @@ then
 
 	# Provide ESC a constant 1500 us pulse, which corresponds to
 	# idle on the Roboclaw motor controller on the Aion R1
-	param set PWM_DISARMED 1500
+	param set PWM_MAIN_DISARM 1500
 	param set PWM_MAIN_DIS0 1500
 	param set PWM_MAIN_DIS1 1500
-	param set PWM_MAX 2000
-	param set PWM_MIN 1000
+	param set PWM_MAIN_MAX 2000
+	param set PWM_MAIN_MIN 1000
 
 	# Enable Airspeed check circuit breaker because Rovers will have no airspeed sensor
 	param set CBRK_AIRSPD_CHK 162128
diff --git a/ROMFS/px4fmu_common/init.d/airframes/50004_nxpcup_car_dfrobot_gpx b/ROMFS/px4fmu_common/init.d/airframes/50004_nxpcup_car_dfrobot_gpx
index 2ef1b50588..472334f0b0 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/50004_nxpcup_car_dfrobot_gpx
+++ b/ROMFS/px4fmu_common/init.d/airframes/50004_nxpcup_car_dfrobot_gpx
@@ -56,13 +56,13 @@ then
 	param set NAV_ACC_RAD 0.5
 
 	# Provide ESC a constant 1500 us pulse to idle
-	param set PWM_DISARMED 1500
+	param set PWM_MAIN_DISARM 1500
 	param set PWM_MAIN_DIS3 1485
 	param set PWM_MAIN_DIS4 1485
 	param set PWM_MAIN_FAIL3 1485
 	param set PWM_MAIN_FAIL4 1485
-	param set PWM_MAX 2000
-	param set PWM_MIN 1000
+	param set PWM_MAIN_MAX 2000
+	param set PWM_MAIN_MIN 1000
 	param set PWM_MAIN_MIN3 970
 	param set PWM_MAIN_MIN4 970
 
diff --git a/ROMFS/px4fmu_common/init.d/airframes/6002_draco_r b/ROMFS/px4fmu_common/init.d/airframes/6002_draco_r
index 20e8a5ce33..e4e2eae66d 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/6002_draco_r
+++ b/ROMFS/px4fmu_common/init.d/airframes/6002_draco_r
@@ -83,8 +83,8 @@ then
 	param set THR_MDL_FAC 0.25
 
 	# System
-	param set PWM_MAX 1950
-	param set PWM_MIN 1100
+	param set PWM_MAIN_MAX 1950
+	param set PWM_MAIN_MIN 1100
 	param set PWM_MAIN_DIS5 980
 	param set PWM_MAIN_DIS6 980
 
@@ -115,7 +115,7 @@ then
 	param set COM_DISARM_LAND 3
 
 	# PWM ONESHOT
-	param set PWM_RATE 0
+	param set PWM_MAIN_RATE 0
 
 	# Battery
 	param set BAT_SOURCE 0
diff --git a/ROMFS/px4fmu_common/init.d/rc.boat_defaults b/ROMFS/px4fmu_common/init.d/rc.boat_defaults
index 5c8e952bc9..237aac9546 100644
--- a/ROMFS/px4fmu_common/init.d/rc.boat_defaults
+++ b/ROMFS/px4fmu_common/init.d/rc.boat_defaults
@@ -33,7 +33,7 @@ set PWM_OUT 1234
 # PWM Hz - 50 Hz is the normal rate in RC cars, higher rates
 # may damage analog servos.
 #
-set PWM_RATE 50
+set PWM_MAIN_RATE 50
 
 #
 # This is the gimbal pass mixer.
diff --git a/ROMFS/px4fmu_common/init.d/rc.fw_defaults b/ROMFS/px4fmu_common/init.d/rc.fw_defaults
index aacd9ffa8d..8e12dbb61d 100644
--- a/ROMFS/px4fmu_common/init.d/rc.fw_defaults
+++ b/ROMFS/px4fmu_common/init.d/rc.fw_defaults
@@ -45,7 +45,7 @@ then
 	param set MIS_LTRMIN_ALT 25
 	param set MIS_TAKEOFF_ALT 25
 
-	param set PWM_RATE 50
+	param set PWM_MAIN_RATE 50
 
 	#
 	# FW takeoff acceleration can easily exceed ublox GPS 2G default.
diff --git a/ROMFS/px4fmu_common/init.d/rc.interface b/ROMFS/px4fmu_common/init.d/rc.interface
index 7e597fdb31..61a096dc5d 100644
--- a/ROMFS/px4fmu_common/init.d/rc.interface
+++ b/ROMFS/px4fmu_common/init.d/rc.interface
@@ -254,9 +254,9 @@ then
 	if [ $PWM_OUT != none ]
 	then
 		# Set PWM output frequency.
-		if [ $PWM_RATE != none ]
+		if [ $PWM_MAIN_RATE != none ]
 		then
-			pwm rate -c ${PWM_OUT} -r ${PWM_RATE}
+			pwm rate -c ${PWM_OUT} -r ${PWM_MAIN_RATE}
 		fi
 	fi
 fi
diff --git a/ROMFS/px4fmu_common/init.d/rc.mc_defaults b/ROMFS/px4fmu_common/init.d/rc.mc_defaults
index 362cf60c05..7baf262862 100644
--- a/ROMFS/px4fmu_common/init.d/rc.mc_defaults
+++ b/ROMFS/px4fmu_common/init.d/rc.mc_defaults
@@ -14,9 +14,9 @@ then
 	param set RTL_RETURN_ALT 30
 	param set RTL_DESCEND_ALT 10
 
-	param set PWM_MAX 1950
-	param set PWM_MIN 1075
-	param set PWM_RATE 400
+	param set PWM_MAIN_MAX 1950
+	param set PWM_MAIN_MIN 1075
+	param set PWM_MAIN_RATE 400
 
 	param set GPS_UBX_DYNMODEL 6
 fi
diff --git a/ROMFS/px4fmu_common/init.d/rc.rover_defaults b/ROMFS/px4fmu_common/init.d/rc.rover_defaults
index 5c8e952bc9..237aac9546 100644
--- a/ROMFS/px4fmu_common/init.d/rc.rover_defaults
+++ b/ROMFS/px4fmu_common/init.d/rc.rover_defaults
@@ -33,7 +33,7 @@ set PWM_OUT 1234
 # PWM Hz - 50 Hz is the normal rate in RC cars, higher rates
 # may damage analog servos.
 #
-set PWM_RATE 50
+set PWM_MAIN_RATE 50
 
 #
 # This is the gimbal pass mixer.
diff --git a/ROMFS/px4fmu_common/init.d/rc.uuv_defaults b/ROMFS/px4fmu_common/init.d/rc.uuv_defaults
index 804e41e3f1..600eabef49 100644
--- a/ROMFS/px4fmu_common/init.d/rc.uuv_defaults
+++ b/ROMFS/px4fmu_common/init.d/rc.uuv_defaults
@@ -9,9 +9,9 @@ set VEHICLE_TYPE uuv
 
 if [ $AUTOCNF = yes ]
 then
-        param set PWM_MAX 1950
-        param set PWM_MIN 1050
-        param set PWM_DISARMED 1500
+        param set PWM_MAIN_MAX 1950
+        param set PWM_MAIN_MIN 1050
+        param set PWM_MAIN_DISARM 1500
 
 fi
 
@@ -19,13 +19,11 @@ fi
 # PWM Hz - 50 Hz is the normal rate in RC cars, boats etc,
 # higher rates may damage analog servos.
 #
-set PWM_RATE 50
+set PWM_MAIN_RATE 50
 
 #
 # Enable servo output on pins 1-4
 set PWM_OUT 1234
-set PWM_DISARMED 1500
-
 
 #
 # This is the gimbal pass mixer.
diff --git a/ROMFS/px4fmu_common/init.d/rc.vtol_defaults b/ROMFS/px4fmu_common/init.d/rc.vtol_defaults
index 9517b77a24..663c57997b 100644
--- a/ROMFS/px4fmu_common/init.d/rc.vtol_defaults
+++ b/ROMFS/px4fmu_common/init.d/rc.vtol_defaults
@@ -31,7 +31,7 @@ then
 	param set NAV_ACC_RAD 3
 
 	param set PWM_AUX_RATE 50
-	param set PWM_RATE 400
+	param set PWM_MAIN_RATE 400
 
 	param set RTL_TYPE 1
 
diff --git a/ROMFS/px4fmu_common/init.d/rcS b/ROMFS/px4fmu_common/init.d/rcS
index ebb4262162..c8960c08b0 100644
--- a/ROMFS/px4fmu_common/init.d/rcS
+++ b/ROMFS/px4fmu_common/init.d/rcS
@@ -41,19 +41,10 @@ set MK_MODE none
 set MKBLCTRL_ARG ""
 set OUTPUT_MODE none
 set PARAM_FILE /fs/microsd/params
-set PWM_DISARMED p:PWM_DISARMED
-set PWM_MAX p:PWM_MAX
-set PWM_MIN p:PWM_MIN
 set PWM_OUT none
-set PWM_RATE p:PWM_RATE
-set PWM_AUX_DISARMED p:PWM_AUX_DISARMED
-set PWM_AUX_MAX p:PWM_AUX_MAX
-set PWM_AUX_MIN p:PWM_AUX_MIN
+set PWM_MAIN_RATE p:PWM_MAIN_RATE
 set PWM_AUX_OUT none
 set PWM_AUX_RATE p:PWM_AUX_RATE
-set PWM_EXTRA_DISARMED p:PWM_EXTRA_DISARMED
-set PWM_EXTRA_MAX p:PWM_EXTRA_MAX
-set PWM_EXTRA_MIN p:PWM_EXTRA_MIN
 set PWM_EXTRA_OUT none
 set PWM_EXTRA_RATE p:PWM_EXTRA_RATE
 set EXTRA_MIXER_MODE none
@@ -598,16 +589,12 @@ unset MKBLCTRL_ARG
 unset OUTPUT_MODE
 unset PARAM_DEFAULTS_VER
 unset PARAM_FILE
-unset PWM_AUX_DISARMED
-unset PWM_AUX_MAX
-unset PWM_AUX_MIN
 unset PWM_AUX_OUT
 unset PWM_AUX_RATE
-unset PWM_DISARMED
-unset PWM_MAX
-unset PWM_MIN
+unset PWM_MAIN_RATE
 unset PWM_OUT
-unset PWM_RATE
+unset PWM_EXTRA_OUT
+unset PWM_EXTRA_RATE
 unset RC_INPUT_ARGS
 unset SDCARD_MIXERS_PATH
 unset STARTUP_TUNE
diff --git a/posix-configs/bbblue/px4.config b/posix-configs/bbblue/px4.config
index afde6b6f66..ed127ef660 100644
--- a/posix-configs/bbblue/px4.config
+++ b/posix-configs/bbblue/px4.config
@@ -22,8 +22,8 @@ param set SYS_AUTOSTART 4011
 # http://www.dji.com/e2000/info indicates E2000 Operating Pulse Width: 1120 to 1920 μs
 # It seems that all latest DJI ESC have the same range.
 # Note that the setting here applies to all PWM channels.
-# param set PWM_MIN 1120
-# param set PWM_MAX 1920
+# param set PWM_MAIN_MIN 1120
+# param set PWM_MAIN_MAX 1920
 # Not using DJI 430 LITE ESC anymore due to its hiccups:
 #    each random motor stop would cause a scary flip in the fly
 # Replacing with 4 BLHeli32 (Wraith32 V2) ESCs solved the main problem in BBBlue porting
diff --git a/posix-configs/bbblue/px4_fw.config b/posix-configs/bbblue/px4_fw.config
index 707dc9991c..11ec56d554 100644
--- a/posix-configs/bbblue/px4_fw.config
+++ b/posix-configs/bbblue/px4_fw.config
@@ -22,8 +22,8 @@ param set SYS_AUTOSTART 4011
 # http://www.dji.com/e2000/info indicates E2000 Operating Pulse Width: 1120 to 1920 μs
 # It seems that all latest DJI ESC have the same range.
 # Note that the setting here applies to all PWM channels.
-# param set PWM_MIN 1120
-# param set PWM_MAX 1920
+# param set PWM_MAIN_MIN 1120
+# param set PWM_MAIN_MAX 1920
 # Not using DJI 430 LITE ESC anymore due to its hiccups:
 #    each random motor stop would cause a scary flip in the fly
 # Replacing with 4 BLHeli32 (Wraith32 V2) ESCs solved the main problem in BBBlue porting
diff --git a/src/drivers/linux_pwm_out/linux_pwm_out.cpp b/src/drivers/linux_pwm_out/linux_pwm_out.cpp
index ebf6d5c054..fd360187f6 100644
--- a/src/drivers/linux_pwm_out/linux_pwm_out.cpp
+++ b/src/drivers/linux_pwm_out/linux_pwm_out.cpp
@@ -559,9 +559,9 @@ int linux_pwm_out_main(int argc, char *argv[])
 	}
 
 	/** gets the parameters for the esc's pwm */
-	param_get(param_find("PWM_DISARMED"), &linux_pwm_out::_pwm_disarmed);
-	param_get(param_find("PWM_MIN"), &linux_pwm_out::_pwm_min);
-	param_get(param_find("PWM_MAX"), &linux_pwm_out::_pwm_max);
+	param_get(param_find("PWM_MAIN_DISARM"), &linux_pwm_out::_pwm_disarmed);
+	param_get(param_find("PWM_MAIN_MIN"), &linux_pwm_out::_pwm_min);
+	param_get(param_find("PWM_MAIN_MAX"), &linux_pwm_out::_pwm_max);
 
 	/*
 	 * Start/load the driver.
diff --git a/src/drivers/pca9685_pwm_out/main.cpp b/src/drivers/pca9685_pwm_out/main.cpp
index 6522bb3de9..cd4d2a7b28 100644
--- a/src/drivers/pca9685_pwm_out/main.cpp
+++ b/src/drivers/pca9685_pwm_out/main.cpp
@@ -185,25 +185,25 @@ void PCA9685Wrapper::updatePWMParams()
 		default_pwm_fail = PWM_DEFAULT_MIN,
 		default_pwm_dis = PWM_MOTOR_OFF;
 
-	param_t param_h = param_find("PWM_MAX");
+	param_t param_h = param_find("PWM_MAIN_MAX");
 
 	if (param_h != PARAM_INVALID) {
 		param_get(param_h, &default_pwm_max);
 
 	} else {
-		PX4_DEBUG("PARAM_INVALID: %s", "PWM_MAX");
+		PX4_DEBUG("PARAM_INVALID: %s", "PWM_MAIN_MAX");
 	}
 
-	param_h = param_find("PWM_MIN");
+	param_h = param_find("PWM_MAIN_MIN");
 
 	if (param_h != PARAM_INVALID) {
 		param_get(param_h, &default_pwm_min);
 
 	} else {
-		PX4_DEBUG("PARAM_INVALID: %s", "PWM_MIN");
+		PX4_DEBUG("PARAM_INVALID: %s", "PWM_MAIN_MIN");
 	}
 
-	param_h = param_find("PWM_RATE");
+	param_h = param_find("PWM_MAIN_RATE");
 
 	if (param_h != PARAM_INVALID) {
 		int32_t pval = 0;
@@ -215,7 +215,7 @@ void PCA9685Wrapper::updatePWMParams()
 		}
 
 	} else {
-		PX4_DEBUG("PARAM_INVALID: %s", "PWM_RATE");
+		PX4_DEBUG("PARAM_INVALID: %s", "PWM_MAIN_RATE");
 	}
 
 	for (int i = 0; i < PCA9685_PWM_CHANNEL_COUNT; i++) {
diff --git a/src/drivers/pwm_out/PWMOut.cpp b/src/drivers/pwm_out/PWMOut.cpp
index e9241c751b..45f07466ae 100644
--- a/src/drivers/pwm_out/PWMOut.cpp
+++ b/src/drivers/pwm_out/PWMOut.cpp
@@ -572,17 +572,17 @@ void PWMOut::update_params()
 	if (_class_instance == CLASS_DEVICE_PRIMARY) {
 		prefix = "PWM_MAIN";
 
-		param_get(param_find("PWM_MIN"), &pwm_min_default);
-		param_get(param_find("PWM_MAX"), &pwm_max_default);
-		param_get(param_find("PWM_DISARMED"), &pwm_disarmed_default);
-		param_get(param_find("PWM_RATE"), &pwm_rate_default);
+		param_get(param_find("PWM_MAIN_MIN"), &pwm_min_default);
+		param_get(param_find("PWM_MAIN_MAX"), &pwm_max_default);
+		param_get(param_find("PWM_MAIN_DISARM"), &pwm_disarmed_default);
+		param_get(param_find("PWM_MAIN_RATE"), &pwm_rate_default);
 
 	} else if (_class_instance == CLASS_DEVICE_SECONDARY) {
 		prefix = "PWM_AUX";
 
 		param_get(param_find("PWM_AUX_MIN"), &pwm_min_default);
 		param_get(param_find("PWM_AUX_MAX"), &pwm_max_default);
-		param_get(param_find("PWM_AUX_DISARMED"), &pwm_disarmed_default);
+		param_get(param_find("PWM_AUX_DISARM"), &pwm_disarmed_default);
 		param_get(param_find("PWM_AUX_RATE"), &pwm_rate_default);
 
 	} else if (_class_instance == CLASS_DEVICE_TERTIARY) {
diff --git a/src/drivers/pwm_out/pwm_aux_params.yaml b/src/drivers/pwm_out/pwm_aux_params.yaml
index 32e8cefe28..bb9d939d7c 100644
--- a/src/drivers/pwm_out/pwm_aux_params.yaml
+++ b/src/drivers/pwm_out/pwm_aux_params.yaml
@@ -40,7 +40,7 @@ parameters:
             max: 2200
             default: 2000
 
-        PWM_AUX_DISARMED:
+        PWM_AUX_DISARM:
             description:
                 short: PWM aux disarmed value
                 long: |
diff --git a/src/drivers/pwm_out/pwm_main_params.yaml b/src/drivers/pwm_out/pwm_main_params.yaml
index 28f5414dc0..d17dc69466 100644
--- a/src/drivers/pwm_out/pwm_main_params.yaml
+++ b/src/drivers/pwm_out/pwm_main_params.yaml
@@ -6,7 +6,7 @@ parameters:
     - group: PWM Outputs
       definitions:
 
-        PWM_RATE:
+        PWM_MAIN_RATE:
             description:
                 short: PWM main output frequency
                 long: |
@@ -40,7 +40,7 @@ parameters:
             max: 2200
             default: 2000
 
-        PWM_DISARMED:
+        PWM_MAIN_DISARM:
             description:
                 short: PWM main disarmed value
                 long: |
diff --git a/src/drivers/px4io/px4io.cpp b/src/drivers/px4io/px4io.cpp
index 9b8f837beb..370c0755f8 100644
--- a/src/drivers/px4io/px4io.cpp
+++ b/src/drivers/px4io/px4io.cpp
@@ -1206,10 +1206,10 @@ void PX4IO::update_params()
 
 	const char *prefix = "PWM_MAIN";
 
-	param_get(param_find("PWM_MIN"), &pwm_min_default);
-	param_get(param_find("PWM_MAX"), &pwm_max_default);
-	param_get(param_find("PWM_DISARMED"), &pwm_disarmed_default);
-	param_get(param_find("PWM_RATE"), &pwm_rate_default);
+	param_get(param_find("PWM_MAIN_MIN"), &pwm_min_default);
+	param_get(param_find("PWM_MAIN_MAX"), &pwm_max_default);
+	param_get(param_find("PWM_MAIN_DISARM"), &pwm_disarmed_default);
+	param_get(param_find("PWM_MAIN_RATE"), &pwm_rate_default);
 
 	char str[17];
 
diff --git a/src/drivers/snapdragon_pwm_out/snapdragon_pwm_out.cpp b/src/drivers/snapdragon_pwm_out/snapdragon_pwm_out.cpp
index 3eb739ed0f..883a94d8df 100644
--- a/src/drivers/snapdragon_pwm_out/snapdragon_pwm_out.cpp
+++ b/src/drivers/snapdragon_pwm_out/snapdragon_pwm_out.cpp
@@ -557,9 +557,9 @@ int snapdragon_pwm_out_main(int argc, char *argv[])
 	}
 
 	// gets the parameters for the esc's pwm
-	param_get(param_find("PWM_DISARMED"), &snapdragon_pwm::_pwm_disarmed);
-	param_get(param_find("PWM_MIN"), &snapdragon_pwm::_pwm_min);
-	param_get(param_find("PWM_MAX"), &snapdragon_pwm::_pwm_max);
+	param_get(param_find("PWM_MAIN_DISARM"), &snapdragon_pwm::_pwm_disarmed);
+	param_get(param_find("PWM_MAIN_MIN"), &snapdragon_pwm::_pwm_min);
+	param_get(param_find("PWM_MAIN_MAX"), &snapdragon_pwm::_pwm_max);
 
 	/*
 	 * Start/load the driver.
diff --git a/src/lib/parameters/param_translation.cpp b/src/lib/parameters/param_translation.cpp
index 3a5d9aae31..cc1621a4a1 100644
--- a/src/lib/parameters/param_translation.cpp
+++ b/src/lib/parameters/param_translation.cpp
@@ -141,6 +141,29 @@ bool param_modify_on_import(bson_node_t node)
 		}
 	}
 
+	// 2021-01-31 (v1.12 alpha): translate PWM_MIN/PWM_MAX/PWM_DISARMED to PWM_MAIN
+	{
+		if (strcmp("PWM_MIN", node->name) == 0) {
+			strcpy(node->name, "PWM_MAIN_MIN");
+			PX4_INFO("copying %s -> %s", "PWM_MIN", "PWM_MAIN_MIN");
+		}
+
+		if (strcmp("PWM_MAX", node->name) == 0) {
+			strcpy(node->name, "PWM_MAIN_MAX");
+			PX4_INFO("copying %s -> %s", "PWM_MAX", "PWM_MAIN_MAX");
+		}
+
+		if (strcmp("PWM_RATE", node->name) == 0) {
+			strcpy(node->name, "PWM_MAIN_RATE");
+			PX4_INFO("copying %s -> %s", "PWM_RATE", "PWM_MAIN_RATE");
+		}
+
+		if (strcmp("PWM_DISARMED", node->name) == 0) {
+			strcpy(node->name, "PWM_MAIN_DISARM");
+			PX4_INFO("copying %s -> %s", "PWM_DISARMED", "PWM_MAIN_DISARM");
+		}
+	}
+
 	// translate (SPI) calibration ID parameters. This can be removed after the next release (current release=1.10)
 
 	if (node->type != BSON_INT32) {