From 6cceeb927c1d3aeb5f1b18d8f8cedfa70c984698 Mon Sep 17 00:00:00 2001
From: Git bot <bot@noreply.github.com>
Date: Mon, 16 Dec 2024 01:02:57 +0000
Subject: [PATCH] Update metadata

---
 Copter-4.6/Parameters.html     | 170 ++++++++-
 Copter-4.6/Parameters.md       | 140 +++++++-
 Copter-4.6/Parameters.rst      |  74 ++++
 Copter-4.6/ParametersLatex.rst | 369 +++++++++++++++++++
 Copter-4.6/apm.pdef.json       | 178 ++++++++-
 Copter-4.6/apm.pdef.xml        |  95 ++++-
 Plane-4.6/Parameters.html      | 294 ++++++++++++++-
 Plane-4.6/Parameters.md        | 238 +++++++++++-
 Plane-4.6/Parameters.rst       | 361 +++++++++++++++++++
 Plane-4.6/ParametersLatex.rst  | 636 +++++++++++++++++++++++++++++++++
 Plane-4.6/apm.pdef.json        | 303 +++++++++++++++-
 Plane-4.6/apm.pdef.xml         | 161 ++++++++-
 Rover-4.6/Parameters.html      | 170 ++++++++-
 Rover-4.6/Parameters.md        | 140 +++++++-
 Rover-4.6/Parameters.rst       |  74 ++++
 Rover-4.6/ParametersLatex.rst  | 369 +++++++++++++++++++
 Rover-4.6/apm.pdef.json        | 178 ++++++++-
 Rover-4.6/apm.pdef.xml         |  95 ++++-
 18 files changed, 4033 insertions(+), 12 deletions(-)

diff --git a/Copter-4.6/Parameters.html b/Copter-4.6/Parameters.html
index 6b3479f..3d75721 100644
--- a/Copter-4.6/Parameters.html
+++ b/Copter-4.6/Parameters.html
@@ -1835,6 +1835,150 @@ <h2>Rover Quicktune RC function (RTUN_RC_FUNC)</h2>
 </ul>
 
 
+<h2>Camera1 Video Stream Camera Model (VID1_CAMMODEL)</h2>
+
+<p>Video stream camera model</p>
+<ul>
+<table><th>Value</th><th>Meaning</th>
+<tr><td>0</td><td>Unknown</td></tr>
+<tr><td>1</td><td>Siyi A8</td></tr>
+<tr><td>2</td><td>Siyi ZR10</td></tr>
+<tr><td>3</td><td>Siyi ZR30</td></tr>
+<tr><td>4</td><td>Siyi ZT30 Zoom</td></tr>
+<tr><td>5</td><td>Siyi ZT30 Wide</td></tr>
+<tr><td>6</td><td>Siyi ZT30 IR</td></tr>
+<tr><td>7</td><td>Siyi ZT6 RGB</td></tr>
+<tr><td>8</td><td>Siyi ZT6 IR</td></tr>
+<tr><td>9</td><td>Herelink WifiAP</td></tr>
+<tr><td>10</td><td>Herelink USB-tethering</td></tr>
+<tr><td>11</td><td>Topotek 1080p</td></tr>
+<tr><td>12</td><td>Topotek 480p</td></tr>
+<tr><td>13</td><td>Viewpro</td></tr>
+</table>
+</ul>
+
+
+<h2>Camera1 Video Stream Id (VID1_ID)</h2>
+
+<p>Video stream id</p>
+<ul>
+<li>Range: 0 50</li>
+</ul>
+
+
+<h2>Camera1 Video Stream Type (VID1_TYPE)</h2>
+
+<p>Video stream type</p>
+<ul>
+<table><th>Value</th><th>Meaning</th>
+<tr><td>0</td><td>RTSP</td></tr>
+<tr><td>1</td><td>RTPUDP</td></tr>
+<tr><td>2</td><td>TCP_MPEG</td></tr>
+<tr><td>3</td><td>MPEG_TS</td></tr>
+</table>
+</ul>
+
+
+<h2>Camera1 Video Stream Flags (VID1_FLAG)</h2>
+
+<p>Video stream flags</p>
+<ul>
+<li>Bitmask: 0:Running,1:Thermal,2:Thermal Range Enabled</li>
+</ul>
+
+
+<h2>Camera1 Video Stream Frame Rate (VID1_FRAME_RATE)</h2>
+
+<p>Video stream frame rate</p>
+<ul>
+<li>Range: 0 50</li>
+</ul>
+
+
+<h2>Camera1 Video Stream Horizontal Resolution (VID1_HRES)</h2>
+
+<p>Video stream horizontal resolution</p>
+<ul>
+<li>Range: 0 4096</li>
+</ul>
+
+
+<h2>Camera1 Video Stream Vertical Resolution (VID1_VRES)</h2>
+
+<p>Video stream vertical resolution</p>
+<ul>
+<li>Range: 0 4096</li>
+</ul>
+
+
+<h2>Camera1 Video Stream Bitrate (VID1_BITRATE)</h2>
+
+<p>Video stream bitrate</p>
+<ul>
+<li>Range: 0 10000</li>
+</ul>
+
+
+<h2>Camera1 Video Stream Horizontal FOV (VID1_HFOV)</h2>
+
+<p>Video stream horizontal FOV</p>
+<ul>
+<li>Range: 0 360</li>
+</ul>
+
+
+<h2>Camera1 Video Stream Encoding (VID1_ENCODING)</h2>
+
+<p>Video stream encoding</p>
+<ul>
+<table><th>Value</th><th>Meaning</th>
+<tr><td>0</td><td>Unknown</td></tr>
+<tr><td>1</td><td>H264</td></tr>
+<tr><td>2</td><td>H265</td></tr>
+</table>
+</ul>
+
+
+<h2>Camera1 Video Stream IP Address 0 (VID1_IPADDR0)</h2>
+
+<p>Video stream IP Address first octet</p>
+<ul>
+<li>Range: 0 255</li>
+</ul>
+
+
+<h2>Camera1 Video Stream IP Address 1 (VID1_IPADDR1)</h2>
+
+<p>Video stream IP Address second octet</p>
+<ul>
+<li>Range: 0 255</li>
+</ul>
+
+
+<h2>Camera1 Video Stream IP Address 2 (VID1_IPADDR2)</h2>
+
+<p>Video stream IP Address third octet</p>
+<ul>
+<li>Range: 0 255</li>
+</ul>
+
+
+<h2>Camera1 Video Stream IP Address 3 (VID1_IPADDR3)</h2>
+
+<p>Video stream IP Address fourth octet</p>
+<ul>
+<li>Range: 0 255</li>
+</ul>
+
+
+<h2>Camera1 Video Stream IP Address Port (VID1_IPPORT)</h2>
+
+<p>Video stream IP Address Port</p>
+<ul>
+<li>Range: 0 65535</li>
+</ul>
+
+
 <h2>WinchControl Rate Up (WINCH_RATE_UP)</h2>
 
 <p>Maximum rate when retracting line</p>
@@ -15468,6 +15612,14 @@ <h2>Bitrate of CANFD interface (CAN_P1_FDBITRATE)</h2><em>Note: This parameter i
 </ul>
 
 
+<h2>CAN per-interface options (CAN_P1_OPTIONS)</h2><em>Note: This parameter is for advanced users</em><br>
+
+<p>CAN per-interface options</p>
+<ul>
+<li>Bitmask: 0:LogAllFrames</li>
+</ul>
+
+
 <h1>CAN_P2_ Parameters</h1>
 
 
@@ -15507,6 +15659,14 @@ <h2>Bitrate of CANFD interface (CAN_P2_FDBITRATE)</h2><em>Note: This parameter i
 </ul>
 
 
+<h2>CAN per-interface options (CAN_P2_OPTIONS)</h2><em>Note: This parameter is for advanced users</em><br>
+
+<p>CAN per-interface options</p>
+<ul>
+<li>Bitmask: 0:LogAllFrames</li>
+</ul>
+
+
 <h1>CAN_P3_ Parameters</h1>
 
 
@@ -15546,6 +15706,14 @@ <h2>Bitrate of CANFD interface (CAN_P3_FDBITRATE)</h2><em>Note: This parameter i
 </ul>
 
 
+<h2>CAN per-interface options (CAN_P3_OPTIONS)</h2><em>Note: This parameter is for advanced users</em><br>
+
+<p>CAN per-interface options</p>
+<ul>
+<li>Bitmask: 0:LogAllFrames</li>
+</ul>
+
+
 <h1>CAN_SLCAN_ Parameters</h1>
 
 
@@ -43527,7 +43695,7 @@ <h2>Scripting Debug Level (SCR_DEBUG_OPTS)</h2><em>Note: This parameter is for a
 
 <p>Debugging options</p>
 <ul>
-<li>Bitmask: 0: No Scripts to run message if all scripts have stopped, 1: Runtime messages for memory usage and execution time, 2: Suppress logging scripts to dataflash, 3: log runtime memory usage and execution time, 4: Disable pre-arm check, 5: Save CRC of current scripts to loaded and running checksum parameters enabling pre-arm</li>
+<li>Bitmask: 0: No Scripts to run message if all scripts have stopped, 1: Runtime messages for memory usage and execution time, 2: Suppress logging scripts to dataflash, 3: log runtime memory usage and execution time, 4: Disable pre-arm check, 5: Save CRC of current scripts to loaded and running checksum parameters enabling pre-arm, 6: Disable heap expansion on allocation failure</li>
 </ul>
 
 
diff --git a/Copter-4.6/Parameters.md b/Copter-4.6/Parameters.md
index b4f15c1..cd651e2 100644
--- a/Copter-4.6/Parameters.md
+++ b/Copter-4.6/Parameters.md
@@ -1684,6 +1684,120 @@ RCn_OPTION number to use to control tuning stop/start/save
 |306|Scripting7|
 |307|Scripting8|
 
+## VID1_CAMMODEL: Camera1 Video Stream Camera Model
+
+Video stream camera model
+
+|Value|Meaning|
+|:---:|:---:|
+|0|Unknown|
+|1|Siyi A8|
+|2|Siyi ZR10|
+|3|Siyi ZR30|
+|4|Siyi ZT30 Zoom|
+|5|Siyi ZT30 Wide|
+|6|Siyi ZT30 IR|
+|7|Siyi ZT6 RGB|
+|8|Siyi ZT6 IR|
+|9|Herelink WifiAP|
+|10|Herelink USB-tethering|
+|11|Topotek 1080p|
+|12|Topotek 480p|
+|13|Viewpro|
+
+## VID1_ID: Camera1 Video Stream Id
+
+Video stream id
+
+- Range: 0 50
+
+## VID1_TYPE: Camera1 Video Stream Type
+
+Video stream type
+
+|Value|Meaning|
+|:---:|:---:|
+|0|RTSP|
+|1|RTPUDP|
+|2|TCP_MPEG|
+|3|MPEG_TS|
+
+## VID1_FLAG: Camera1 Video Stream Flags
+
+Video stream flags
+
+- Bitmask: 0:Running,1:Thermal,2:Thermal Range Enabled
+
+## VID1_FRAME_RATE: Camera1 Video Stream Frame Rate
+
+Video stream frame rate
+
+- Range: 0 50
+
+## VID1_HRES: Camera1 Video Stream Horizontal Resolution
+
+Video stream horizontal resolution
+
+- Range: 0 4096
+
+## VID1_VRES: Camera1 Video Stream Vertical Resolution
+
+Video stream vertical resolution
+
+- Range: 0 4096
+
+## VID1_BITRATE: Camera1 Video Stream Bitrate
+
+Video stream bitrate
+
+- Range: 0 10000
+
+## VID1_HFOV: Camera1 Video Stream Horizontal FOV
+
+Video stream horizontal FOV
+
+- Range: 0 360
+
+## VID1_ENCODING: Camera1 Video Stream Encoding
+
+Video stream encoding
+
+|Value|Meaning|
+|:---:|:---:|
+|0|Unknown|
+|1|H264|
+|2|H265|
+
+## VID1_IPADDR0: Camera1 Video Stream IP Address 0
+
+Video stream IP Address first octet
+
+- Range: 0 255
+
+## VID1_IPADDR1: Camera1 Video Stream IP Address 1
+
+Video stream IP Address second octet
+
+- Range: 0 255
+
+## VID1_IPADDR2: Camera1 Video Stream IP Address 2
+
+Video stream IP Address third octet
+
+- Range: 0 255
+
+## VID1_IPADDR3: Camera1 Video Stream IP Address 3
+
+Video stream IP Address fourth octet
+
+- Range: 0 255
+
+## VID1_IPPORT: Camera1 Video Stream IP Address Port
+
+Video stream IP Address Port
+
+- Range: 0 65535
+
 ## WINCH_RATE_UP: WinchControl Rate Up
 
 Maximum rate when retracting line
@@ -14892,6 +15006,14 @@ Bit rate can be set up to from 1000000 to 8000000
 |5|5M|
 |8|8M|
 
+## CAN_P1_OPTIONS: CAN per-interface options
+
+*Note: This parameter is for advanced users*
+
+CAN per-interface options
+
+- Bitmask: 0:LogAllFrames
+
 # CANP2 Parameters
 
 ## CAN_P2_DRIVER: Index of virtual driver to be used with physical CAN interface
@@ -14929,6 +15051,14 @@ Bit rate can be set up to from 1000000 to 8000000
 |5|5M|
 |8|8M|
 
+## CAN_P2_OPTIONS: CAN per-interface options
+
+*Note: This parameter is for advanced users*
+
+CAN per-interface options
+
+- Bitmask: 0:LogAllFrames
+
 # CANP3 Parameters
 
 ## CAN_P3_DRIVER: Index of virtual driver to be used with physical CAN interface
@@ -14966,6 +15096,14 @@ Bit rate can be set up to from 1000000 to 8000000
 |5|5M|
 |8|8M|
 
+## CAN_P3_OPTIONS: CAN per-interface options
+
+*Note: This parameter is for advanced users*
+
+CAN per-interface options
+
+- Bitmask: 0:LogAllFrames
+
 # CANSLCAN Parameters
 
 ## CAN_SLCAN_CPORT: SLCAN Route
@@ -37973,7 +38111,7 @@ Amount of memory available for scripting
 
 Debugging options
 
-- Bitmask: 0: No Scripts to run message if all scripts have stopped, 1: Runtime messages for memory usage and execution time, 2: Suppress logging scripts to dataflash, 3: log runtime memory usage and execution time, 4: Disable pre-arm check, 5: Save CRC of current scripts to loaded and running checksum parameters enabling pre-arm
+- Bitmask: 0: No Scripts to run message if all scripts have stopped, 1: Runtime messages for memory usage and execution time, 2: Suppress logging scripts to dataflash, 3: log runtime memory usage and execution time, 4: Disable pre-arm check, 5: Save CRC of current scripts to loaded and running checksum parameters enabling pre-arm, 6: Disable heap expansion on allocation failure
 
 ## SCR_USER1: Scripting User Parameter1
 
diff --git a/Copter-4.6/Parameters.rst b/Copter-4.6/Parameters.rst
index 8461df2..c494f6f 100644
--- a/Copter-4.6/Parameters.rst
+++ b/Copter-4.6/Parameters.rst
@@ -32482,6 +32482,30 @@ Bit rate can be set up to from 1000000 to 8000000
 
 
 
+.. _CAN_P1_OPTIONS:
+
+CAN\_P1\_OPTIONS: CAN per\-interface options
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+| *Note: This parameter is for advanced users*
+
+CAN per\-interface options
+
+
++------------------------+
+| Bitmask                |
++========================+
+| +-----+--------------+ |
+| | Bit | Meaning      | |
+| +=====+==============+ |
+| | 0   | LogAllFrames | |
+| +-----+--------------+ |
+|                        |
++------------------------+
+
+
+
+
 
 .. _parameters_CAN_P2_:
 
@@ -32570,6 +32594,30 @@ Bit rate can be set up to from 1000000 to 8000000
 
 
 
+.. _CAN_P2_OPTIONS:
+
+CAN\_P2\_OPTIONS: CAN per\-interface options
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+| *Note: This parameter is for advanced users*
+
+CAN per\-interface options
+
+
++------------------------+
+| Bitmask                |
++========================+
+| +-----+--------------+ |
+| | Bit | Meaning      | |
+| +=====+==============+ |
+| | 0   | LogAllFrames | |
+| +-----+--------------+ |
+|                        |
++------------------------+
+
+
+
+
 
 .. _parameters_CAN_P3_:
 
@@ -32658,6 +32706,30 @@ Bit rate can be set up to from 1000000 to 8000000
 
 
 
+.. _CAN_P3_OPTIONS:
+
+CAN\_P3\_OPTIONS: CAN per\-interface options
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+| *Note: This parameter is for advanced users*
+
+CAN per\-interface options
+
+
++------------------------+
+| Bitmask                |
++========================+
+| +-----+--------------+ |
+| | Bit | Meaning      | |
+| +=====+==============+ |
+| | 0   | LogAllFrames | |
+| +-----+--------------+ |
+|                        |
++------------------------+
+
+
+
+
 
 .. _parameters_CAN_SLCAN_:
 
@@ -92558,6 +92630,8 @@ Debugging options
 | +-----+----------------------------------------------------------------------------------------+ |
 | | 5   | Save CRC of current scripts to loaded and running checksum parameters enabling pre-arm | |
 | +-----+----------------------------------------------------------------------------------------+ |
+| | 6   | Disable heap expansion on allocation failure                                           | |
+| +-----+----------------------------------------------------------------------------------------+ |
 |                                                                                                  |
 +--------------------------------------------------------------------------------------------------+
 
diff --git a/Copter-4.6/ParametersLatex.rst b/Copter-4.6/ParametersLatex.rst
index 4f6858e..bc9128a 100644
--- a/Copter-4.6/ParametersLatex.rst
+++ b/Copter-4.6/ParametersLatex.rst
@@ -3826,6 +3826,316 @@ RCn\_OPTION number to use to control tuning stop\/start\/save
 
 
 
+.. _VID1_CAMMODEL:
+
+VID1\_CAMMODEL: Camera1 Video Stream Camera Model
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+
+Video stream camera model
+
+
++-------+------------------------+
+| Value | Meaning                |
++=======+========================+
+| 0     | Unknown                |
++-------+------------------------+
+| 1     | Siyi A8                |
++-------+------------------------+
+| 2     | Siyi ZR10              |
++-------+------------------------+
+| 3     | Siyi ZR30              |
++-------+------------------------+
+| 4     | Siyi ZT30 Zoom         |
++-------+------------------------+
+| 5     | Siyi ZT30 Wide         |
++-------+------------------------+
+| 6     | Siyi ZT30 IR           |
++-------+------------------------+
+| 7     | Siyi ZT6 RGB           |
++-------+------------------------+
+| 8     | Siyi ZT6 IR            |
++-------+------------------------+
+| 9     | Herelink WifiAP        |
++-------+------------------------+
+| 10    | Herelink USB-tethering |
++-------+------------------------+
+| 11    | Topotek 1080p          |
++-------+------------------------+
+| 12    | Topotek 480p           |
++-------+------------------------+
+| 13    | Viewpro                |
++-------+------------------------+
+
+
+
+
+.. _VID1_ID:
+
+VID1\_ID: Camera1 Video Stream Id
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+
+Video stream id
+
+
++---------+
+| Range   |
++=========+
+| 0 to 50 |
++---------+
+
+
+
+
+.. _VID1_TYPE:
+
+VID1\_TYPE: Camera1 Video Stream Type
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+
+Video stream type
+
+
++-------+----------+
+| Value | Meaning  |
++=======+==========+
+| 0     | RTSP     |
++-------+----------+
+| 1     | RTPUDP   |
++-------+----------+
+| 2     | TCP_MPEG |
++-------+----------+
+| 3     | MPEG_TS  |
++-------+----------+
+
+
+
+
+.. _VID1_FLAG:
+
+VID1\_FLAG: Camera1 Video Stream Flags
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+
+Video stream flags
+
+
++-----+-----------------------+
+| Bit | Meaning               |
++=====+=======================+
+| 0   | Running               |
++-----+-----------------------+
+| 1   | Thermal               |
++-----+-----------------------+
+| 2   | Thermal Range Enabled |
++-----+-----------------------+
+
+
+
+
+.. _VID1_FRAME_RATE:
+
+VID1\_FRAME\_RATE: Camera1 Video Stream Frame Rate
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+
+Video stream frame rate
+
+
++---------+
+| Range   |
++=========+
+| 0 to 50 |
++---------+
+
+
+
+
+.. _VID1_HRES:
+
+VID1\_HRES: Camera1 Video Stream Horizontal Resolution
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+
+Video stream horizontal resolution
+
+
++-----------+
+| Range     |
++===========+
+| 0 to 4096 |
++-----------+
+
+
+
+
+.. _VID1_VRES:
+
+VID1\_VRES: Camera1 Video Stream Vertical Resolution
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+
+Video stream vertical resolution
+
+
++-----------+
+| Range     |
++===========+
+| 0 to 4096 |
++-----------+
+
+
+
+
+.. _VID1_BITRATE:
+
+VID1\_BITRATE: Camera1 Video Stream Bitrate
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+
+Video stream bitrate
+
+
++------------+
+| Range      |
++============+
+| 0 to 10000 |
++------------+
+
+
+
+
+.. _VID1_HFOV:
+
+VID1\_HFOV: Camera1 Video Stream Horizontal FOV
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+
+Video stream horizontal FOV
+
+
++----------+
+| Range    |
++==========+
+| 0 to 360 |
++----------+
+
+
+
+
+.. _VID1_ENCODING:
+
+VID1\_ENCODING: Camera1 Video Stream Encoding
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+
+Video stream encoding
+
+
++-------+---------+
+| Value | Meaning |
++=======+=========+
+| 0     | Unknown |
++-------+---------+
+| 1     | H264    |
++-------+---------+
+| 2     | H265    |
++-------+---------+
+
+
+
+
+.. _VID1_IPADDR0:
+
+VID1\_IPADDR0: Camera1 Video Stream IP Address 0
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+
+Video stream IP Address first octet
+
+
++----------+
+| Range    |
++==========+
+| 0 to 255 |
++----------+
+
+
+
+
+.. _VID1_IPADDR1:
+
+VID1\_IPADDR1: Camera1 Video Stream IP Address 1
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+
+Video stream IP Address second octet
+
+
++----------+
+| Range    |
++==========+
+| 0 to 255 |
++----------+
+
+
+
+
+.. _VID1_IPADDR2:
+
+VID1\_IPADDR2: Camera1 Video Stream IP Address 2
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+
+Video stream IP Address third octet
+
+
++----------+
+| Range    |
++==========+
+| 0 to 255 |
++----------+
+
+
+
+
+.. _VID1_IPADDR3:
+
+VID1\_IPADDR3: Camera1 Video Stream IP Address 3
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+
+Video stream IP Address fourth octet
+
+
++----------+
+| Range    |
++==========+
+| 0 to 255 |
++----------+
+
+
+
+
+.. _VID1_IPPORT:
+
+VID1\_IPPORT: Camera1 Video Stream IP Address Port
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+
+Video stream IP Address Port
+
+
++------------+
+| Range      |
++============+
+| 0 to 65535 |
++------------+
+
+
+
+
 .. _WINCH_RATE_UP:
 
 WINCH\_RATE\_UP: WinchControl Rate Up
@@ -34374,6 +34684,25 @@ Bit rate can be set up to from 1000000 to 8000000
 
 
 
+.. _CAN_P1_OPTIONS:
+
+CAN\_P1\_OPTIONS: CAN per\-interface options
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+| *Note: This parameter is for advanced users*
+
+CAN per\-interface options
+
+
++-----+--------------+
+| Bit | Meaning      |
++=====+==============+
+| 0   | LogAllFrames |
++-----+--------------+
+
+
+
+
 
 .. _parameters_CAN_P2_:
 
@@ -34452,6 +34781,25 @@ Bit rate can be set up to from 1000000 to 8000000
 
 
 
+.. _CAN_P2_OPTIONS:
+
+CAN\_P2\_OPTIONS: CAN per\-interface options
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+| *Note: This parameter is for advanced users*
+
+CAN per\-interface options
+
+
++-----+--------------+
+| Bit | Meaning      |
++=====+==============+
+| 0   | LogAllFrames |
++-----+--------------+
+
+
+
+
 
 .. _parameters_CAN_P3_:
 
@@ -34530,6 +34878,25 @@ Bit rate can be set up to from 1000000 to 8000000
 
 
 
+.. _CAN_P3_OPTIONS:
+
+CAN\_P3\_OPTIONS: CAN per\-interface options
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+| *Note: This parameter is for advanced users*
+
+CAN per\-interface options
+
+
++-----+--------------+
+| Bit | Meaning      |
++=====+==============+
+| 0   | LogAllFrames |
++-----+--------------+
+
+
+
+
 
 .. _parameters_CAN_SLCAN_:
 
@@ -90842,6 +91209,8 @@ Debugging options
 +-----+----------------------------------------------------------------------------------------+
 | 5   | Save CRC of current scripts to loaded and running checksum parameters enabling pre-arm |
 +-----+----------------------------------------------------------------------------------------+
+| 6   | Disable heap expansion on allocation failure                                           |
++-----+----------------------------------------------------------------------------------------+
 
 
 
diff --git a/Copter-4.6/apm.pdef.json b/Copter-4.6/apm.pdef.json
index d19380e..6e17eaa 100644
--- a/Copter-4.6/apm.pdef.json
+++ b/Copter-4.6/apm.pdef.json
@@ -12560,6 +12560,14 @@
         "5": "5M",
         "8": "8M"
       }
+    },
+    "CAN_P1_OPTIONS": {
+      "Bitmask": {
+        "0": "LogAllFrames"
+      },
+      "Description": "CAN per-interface options",
+      "DisplayName": "CAN per-interface options",
+      "User": "Advanced"
     }
   },
   "CAN_P2_": {
@@ -12595,6 +12603,14 @@
         "5": "5M",
         "8": "8M"
       }
+    },
+    "CAN_P2_OPTIONS": {
+      "Bitmask": {
+        "0": "LogAllFrames"
+      },
+      "Description": "CAN per-interface options",
+      "DisplayName": "CAN per-interface options",
+      "User": "Advanced"
     }
   },
   "CAN_P3_": {
@@ -12630,6 +12646,14 @@
         "5": "5M",
         "8": "8M"
       }
+    },
+    "CAN_P3_OPTIONS": {
+      "Bitmask": {
+        "0": "LogAllFrames"
+      },
+      "Description": "CAN per-interface options",
+      "DisplayName": "CAN per-interface options",
+      "User": "Advanced"
     }
   },
   "CAN_SLCAN_": {
@@ -23240,6 +23264,157 @@
         "low": "301"
       }
     },
+    "VID1_BITRATE": {
+      "Description": "Video stream bitrate",
+      "DisplayName": "Camera1 Video Stream Bitrate",
+      "Range": {
+        "high": "10000",
+        "low": "0"
+      },
+      "User": "Standard"
+    },
+    "VID1_CAMMODEL": {
+      "Description": "Video stream camera model",
+      "DisplayName": "Camera1 Video Stream Camera Model",
+      "User": "Standard",
+      "Values": {
+        "0": "Unknown",
+        "1": "Siyi A8",
+        "10": "Herelink USB-tethering",
+        "11": "Topotek 1080p",
+        "12": "Topotek 480p",
+        "13": "Viewpro",
+        "2": "Siyi ZR10",
+        "3": "Siyi ZR30",
+        "4": "Siyi ZT30 Zoom",
+        "5": "Siyi ZT30 Wide",
+        "6": "Siyi ZT30 IR",
+        "7": "Siyi ZT6 RGB",
+        "8": "Siyi ZT6 IR",
+        "9": "Herelink WifiAP"
+      }
+    },
+    "VID1_ENCODING": {
+      "Description": "Video stream encoding",
+      "DisplayName": "Camera1 Video Stream Encoding",
+      "User": "Standard",
+      "Values": {
+        "0": "Unknown",
+        "1": "H264",
+        "2": "H265"
+      }
+    },
+    "VID1_FLAG": {
+      "Bitmask": {
+        "0": "Running",
+        "1": "Thermal",
+        "2": "Thermal Range Enabled"
+      },
+      "Description": "Video stream flags",
+      "DisplayName": "Camera1 Video Stream Flags",
+      "User": "Standard"
+    },
+    "VID1_FRAME_RATE": {
+      "Description": "Video stream frame rate",
+      "DisplayName": "Camera1 Video Stream Frame Rate",
+      "Range": {
+        "high": "50",
+        "low": "0"
+      },
+      "User": "Standard"
+    },
+    "VID1_HFOV": {
+      "Description": "Video stream horizontal FOV",
+      "DisplayName": "Camera1 Video Stream Horizontal FOV",
+      "Range": {
+        "high": "360",
+        "low": "0"
+      },
+      "User": "Standard"
+    },
+    "VID1_HRES": {
+      "Description": "Video stream horizontal resolution",
+      "DisplayName": "Camera1 Video Stream Horizontal Resolution",
+      "Range": {
+        "high": "4096",
+        "low": "0"
+      },
+      "User": "Standard"
+    },
+    "VID1_ID": {
+      "Description": "Video stream id",
+      "DisplayName": "Camera1 Video Stream Id",
+      "Range": {
+        "high": "50",
+        "low": "0"
+      },
+      "User": "Standard"
+    },
+    "VID1_IPADDR0": {
+      "Description": "Video stream IP Address first octet",
+      "DisplayName": "Camera1 Video Stream IP Address 0",
+      "Range": {
+        "high": "255",
+        "low": "0"
+      },
+      "User": "Standard"
+    },
+    "VID1_IPADDR1": {
+      "Description": "Video stream IP Address second octet",
+      "DisplayName": "Camera1 Video Stream IP Address 1",
+      "Range": {
+        "high": "255",
+        "low": "0"
+      },
+      "User": "Standard"
+    },
+    "VID1_IPADDR2": {
+      "Description": "Video stream IP Address third octet",
+      "DisplayName": "Camera1 Video Stream IP Address 2",
+      "Range": {
+        "high": "255",
+        "low": "0"
+      },
+      "User": "Standard"
+    },
+    "VID1_IPADDR3": {
+      "Description": "Video stream IP Address fourth octet",
+      "DisplayName": "Camera1 Video Stream IP Address 3",
+      "Range": {
+        "high": "255",
+        "low": "0"
+      },
+      "User": "Standard"
+    },
+    "VID1_IPPORT": {
+      "Description": "Video stream IP Address Port",
+      "DisplayName": "Camera1 Video Stream IP Address Port",
+      "Range": {
+        "high": "65535",
+        "low": "0"
+      },
+      "User": "Standard"
+    },
+    "VID1_TYPE": {
+      "Description": "Video stream type",
+      "DisplayName": "Camera1 Video Stream Type",
+      "User": "Standard",
+      "Values": {
+        "0": "RTSP",
+        "1": "RTPUDP",
+        "2": "TCP_MPEG",
+        "3": "MPEG_TS"
+      }
+    },
+    "VID1_VRES": {
+      "Description": "Video stream vertical resolution",
+      "DisplayName": "Camera1 Video Stream Vertical Resolution",
+      "Range": {
+        "high": "4096",
+        "low": "0"
+      },
+      "User": "Standard"
+    },
     "VIEP_CAM_SWHIGH": {
       "Description": "Camera selection when switch is in high position",
       "DisplayName": "ViewPro Camera For Switch High",
@@ -42049,7 +42224,8 @@
         "2": "Suppress logging scripts to dataflash",
         "3": "log runtime memory usage and execution time",
         "4": "Disable pre-arm check",
-        "5": "Save CRC of current scripts to loaded and running checksum parameters enabling pre-arm"
+        "5": "Save CRC of current scripts to loaded and running checksum parameters enabling pre-arm",
+        "6": "Disable heap expansion on allocation failure"
       },
       "Description": "Debugging options",
       "DisplayName": "Scripting Debug Level",
diff --git a/Copter-4.6/apm.pdef.xml b/Copter-4.6/apm.pdef.xml
index 7004dea..967c4f3 100644
--- a/Copter-4.6/apm.pdef.xml
+++ b/Copter-4.6/apm.pdef.xml
@@ -1214,6 +1214,80 @@
           <value code="307">Scripting8</value>
         </values>
       </param>
+      <param humanName="Camera1 Video Stream Camera Model" name="VID1_CAMMODEL" documentation="Video stream camera model" user="Standard">
+        <values>
+          <value code="0">Unknown</value>
+          <value code="1">Siyi A8</value>
+          <value code="2">Siyi ZR10</value>
+          <value code="3">Siyi ZR30</value>
+          <value code="4">Siyi ZT30 Zoom</value>
+          <value code="5">Siyi ZT30 Wide</value>
+          <value code="6">Siyi ZT30 IR</value>
+          <value code="7">Siyi ZT6 RGB</value>
+          <value code="8">Siyi ZT6 IR</value>
+          <value code="9">Herelink WifiAP</value>
+          <value code="10">Herelink USB-tethering</value>
+          <value code="11">Topotek 1080p</value>
+          <value code="12">Topotek 480p</value>
+          <value code="13">Viewpro</value>
+        </values>
+      </param>
+      <param humanName="Camera1 Video Stream Id" name="VID1_ID" documentation="Video stream id" user="Standard">
+        <field name="Range">0 50</field>
+      </param>
+      <param humanName="Camera1 Video Stream Type" name="VID1_TYPE" documentation="Video stream type" user="Standard">
+        <values>
+          <value code="0">RTSP</value>
+          <value code="1">RTPUDP</value>
+          <value code="2">TCP_MPEG</value>
+          <value code="3">MPEG_TS</value>
+        </values>
+      </param>
+      <param humanName="Camera1 Video Stream Flags" name="VID1_FLAG" documentation="Video stream flags" user="Standard">
+        <bitmask>
+          <bit code="0">Running</bit>
+          <bit code="1">Thermal</bit>
+          <bit code="2">Thermal Range Enabled</bit>
+        </bitmask>
+        <field name="Bitmask">0:Running,1:Thermal,2:Thermal Range Enabled</field>
+      </param>
+      <param humanName="Camera1 Video Stream Frame Rate" name="VID1_FRAME_RATE" documentation="Video stream frame rate" user="Standard">
+        <field name="Range">0 50</field>
+      </param>
+      <param humanName="Camera1 Video Stream Horizontal Resolution" name="VID1_HRES" documentation="Video stream horizontal resolution" user="Standard">
+        <field name="Range">0 4096</field>
+      </param>
+      <param humanName="Camera1 Video Stream Vertical Resolution" name="VID1_VRES" documentation="Video stream vertical resolution" user="Standard">
+        <field name="Range">0 4096</field>
+      </param>
+      <param humanName="Camera1 Video Stream Bitrate" name="VID1_BITRATE" documentation="Video stream bitrate" user="Standard">
+        <field name="Range">0 10000</field>
+      </param>
+      <param humanName="Camera1 Video Stream Horizontal FOV" name="VID1_HFOV" documentation="Video stream horizontal FOV" user="Standard">
+        <field name="Range">0 360</field>
+      </param>
+      <param humanName="Camera1 Video Stream Encoding" name="VID1_ENCODING" documentation="Video stream encoding" user="Standard">
+        <values>
+          <value code="0">Unknown</value>
+          <value code="1">H264</value>
+          <value code="2">H265</value>
+        </values>
+      </param>
+      <param humanName="Camera1 Video Stream IP Address 0" name="VID1_IPADDR0" documentation="Video stream IP Address first octet" user="Standard">
+        <field name="Range">0 255</field>
+      </param>
+      <param humanName="Camera1 Video Stream IP Address 1" name="VID1_IPADDR1" documentation="Video stream IP Address second octet" user="Standard">
+        <field name="Range">0 255</field>
+      </param>
+      <param humanName="Camera1 Video Stream IP Address 2" name="VID1_IPADDR2" documentation="Video stream IP Address third octet" user="Standard">
+        <field name="Range">0 255</field>
+      </param>
+      <param humanName="Camera1 Video Stream IP Address 3" name="VID1_IPADDR3" documentation="Video stream IP Address fourth octet" user="Standard">
+        <field name="Range">0 255</field>
+      </param>
+      <param humanName="Camera1 Video Stream IP Address Port" name="VID1_IPPORT" documentation="Video stream IP Address Port" user="Standard">
+        <field name="Range">0 65535</field>
+      </param>
       <param humanName="WinchControl Rate Up" name="WINCH_RATE_UP" documentation="Maximum rate when retracting line" user="Standard">
         <field name="Range">0.1 5.0</field>
       </param>
@@ -10687,6 +10761,12 @@
           <value code="8">8M</value>
         </values>
       </param>
+      <param humanName="CAN per-interface options" name="CAN_P1_OPTIONS" documentation="CAN per-interface options" user="Advanced">
+        <bitmask>
+          <bit code="0">LogAllFrames</bit>
+        </bitmask>
+        <field name="Bitmask">0:LogAllFrames</field>
+      </param>
     </parameters>
     <parameters name="CAN_P2_">
       <param humanName="Index of virtual driver to be used with physical CAN interface" name="CAN_P2_DRIVER" documentation="Enabling this option enables use of CAN buses." user="Standard">
@@ -10710,6 +10790,12 @@
           <value code="8">8M</value>
         </values>
       </param>
+      <param humanName="CAN per-interface options" name="CAN_P2_OPTIONS" documentation="CAN per-interface options" user="Advanced">
+        <bitmask>
+          <bit code="0">LogAllFrames</bit>
+        </bitmask>
+        <field name="Bitmask">0:LogAllFrames</field>
+      </param>
     </parameters>
     <parameters name="CAN_P3_">
       <param humanName="Index of virtual driver to be used with physical CAN interface" name="CAN_P3_DRIVER" documentation="Enabling this option enables use of CAN buses." user="Standard">
@@ -10733,6 +10819,12 @@
           <value code="8">8M</value>
         </values>
       </param>
+      <param humanName="CAN per-interface options" name="CAN_P3_OPTIONS" documentation="CAN per-interface options" user="Advanced">
+        <bitmask>
+          <bit code="0">LogAllFrames</bit>
+        </bitmask>
+        <field name="Bitmask">0:LogAllFrames</field>
+      </param>
     </parameters>
     <parameters name="CAN_SLCAN_">
       <param humanName="SLCAN Route" name="CAN_SLCAN_CPORT" documentation="CAN Interface ID to be routed to SLCAN, 0 means no routing" user="Standard">
@@ -27028,8 +27120,9 @@
           <bit code="3">log runtime memory usage and execution time</bit>
           <bit code="4">Disable pre-arm check</bit>
           <bit code="5">Save CRC of current scripts to loaded and running checksum parameters enabling pre-arm</bit>
+          <bit code="6">Disable heap expansion on allocation failure</bit>
         </bitmask>
-        <field name="Bitmask">0: No Scripts to run message if all scripts have stopped, 1: Runtime messages for memory usage and execution time, 2: Suppress logging scripts to dataflash, 3: log runtime memory usage and execution time, 4: Disable pre-arm check, 5: Save CRC of current scripts to loaded and running checksum parameters enabling pre-arm</field>
+        <field name="Bitmask">0: No Scripts to run message if all scripts have stopped, 1: Runtime messages for memory usage and execution time, 2: Suppress logging scripts to dataflash, 3: log runtime memory usage and execution time, 4: Disable pre-arm check, 5: Save CRC of current scripts to loaded and running checksum parameters enabling pre-arm, 6: Disable heap expansion on allocation failure</field>
       </param>
       <param humanName="Scripting User Parameter1" name="SCR_USER1" documentation="General purpose user variable input for scripts" user="Standard">
 </param>
diff --git a/Plane-4.6/Parameters.html b/Plane-4.6/Parameters.html
index 753f0e7..b106dcd 100644
--- a/Plane-4.6/Parameters.html
+++ b/Plane-4.6/Parameters.html
@@ -1890,6 +1890,150 @@ <h2>Rover Quicktune RC function (RTUN_RC_FUNC)</h2>
 </ul>
 
 
+<h2>Camera1 Video Stream Camera Model (VID1_CAMMODEL)</h2>
+
+<p>Video stream camera model</p>
+<ul>
+<table><th>Value</th><th>Meaning</th>
+<tr><td>0</td><td>Unknown</td></tr>
+<tr><td>1</td><td>Siyi A8</td></tr>
+<tr><td>2</td><td>Siyi ZR10</td></tr>
+<tr><td>3</td><td>Siyi ZR30</td></tr>
+<tr><td>4</td><td>Siyi ZT30 Zoom</td></tr>
+<tr><td>5</td><td>Siyi ZT30 Wide</td></tr>
+<tr><td>6</td><td>Siyi ZT30 IR</td></tr>
+<tr><td>7</td><td>Siyi ZT6 RGB</td></tr>
+<tr><td>8</td><td>Siyi ZT6 IR</td></tr>
+<tr><td>9</td><td>Herelink WifiAP</td></tr>
+<tr><td>10</td><td>Herelink USB-tethering</td></tr>
+<tr><td>11</td><td>Topotek 1080p</td></tr>
+<tr><td>12</td><td>Topotek 480p</td></tr>
+<tr><td>13</td><td>Viewpro</td></tr>
+</table>
+</ul>
+
+
+<h2>Camera1 Video Stream Id (VID1_ID)</h2>
+
+<p>Video stream id</p>
+<ul>
+<li>Range: 0 50</li>
+</ul>
+
+
+<h2>Camera1 Video Stream Type (VID1_TYPE)</h2>
+
+<p>Video stream type</p>
+<ul>
+<table><th>Value</th><th>Meaning</th>
+<tr><td>0</td><td>RTSP</td></tr>
+<tr><td>1</td><td>RTPUDP</td></tr>
+<tr><td>2</td><td>TCP_MPEG</td></tr>
+<tr><td>3</td><td>MPEG_TS</td></tr>
+</table>
+</ul>
+
+
+<h2>Camera1 Video Stream Flags (VID1_FLAG)</h2>
+
+<p>Video stream flags</p>
+<ul>
+<li>Bitmask: 0:Running,1:Thermal,2:Thermal Range Enabled</li>
+</ul>
+
+
+<h2>Camera1 Video Stream Frame Rate (VID1_FRAME_RATE)</h2>
+
+<p>Video stream frame rate</p>
+<ul>
+<li>Range: 0 50</li>
+</ul>
+
+
+<h2>Camera1 Video Stream Horizontal Resolution (VID1_HRES)</h2>
+
+<p>Video stream horizontal resolution</p>
+<ul>
+<li>Range: 0 4096</li>
+</ul>
+
+
+<h2>Camera1 Video Stream Vertical Resolution (VID1_VRES)</h2>
+
+<p>Video stream vertical resolution</p>
+<ul>
+<li>Range: 0 4096</li>
+</ul>
+
+
+<h2>Camera1 Video Stream Bitrate (VID1_BITRATE)</h2>
+
+<p>Video stream bitrate</p>
+<ul>
+<li>Range: 0 10000</li>
+</ul>
+
+
+<h2>Camera1 Video Stream Horizontal FOV (VID1_HFOV)</h2>
+
+<p>Video stream horizontal FOV</p>
+<ul>
+<li>Range: 0 360</li>
+</ul>
+
+
+<h2>Camera1 Video Stream Encoding (VID1_ENCODING)</h2>
+
+<p>Video stream encoding</p>
+<ul>
+<table><th>Value</th><th>Meaning</th>
+<tr><td>0</td><td>Unknown</td></tr>
+<tr><td>1</td><td>H264</td></tr>
+<tr><td>2</td><td>H265</td></tr>
+</table>
+</ul>
+
+
+<h2>Camera1 Video Stream IP Address 0 (VID1_IPADDR0)</h2>
+
+<p>Video stream IP Address first octet</p>
+<ul>
+<li>Range: 0 255</li>
+</ul>
+
+
+<h2>Camera1 Video Stream IP Address 1 (VID1_IPADDR1)</h2>
+
+<p>Video stream IP Address second octet</p>
+<ul>
+<li>Range: 0 255</li>
+</ul>
+
+
+<h2>Camera1 Video Stream IP Address 2 (VID1_IPADDR2)</h2>
+
+<p>Video stream IP Address third octet</p>
+<ul>
+<li>Range: 0 255</li>
+</ul>
+
+
+<h2>Camera1 Video Stream IP Address 3 (VID1_IPADDR3)</h2>
+
+<p>Video stream IP Address fourth octet</p>
+<ul>
+<li>Range: 0 255</li>
+</ul>
+
+
+<h2>Camera1 Video Stream IP Address Port (VID1_IPPORT)</h2>
+
+<p>Video stream IP Address Port</p>
+<ul>
+<li>Range: 0 65535</li>
+</ul>
+
+
 <h2>WinchControl Rate Up (WINCH_RATE_UP)</h2>
 
 <p>Maximum rate when retracting line</p>
@@ -14286,6 +14430,14 @@ <h2>Bitrate of CANFD interface (CAN_P1_FDBITRATE)</h2><em>Note: This parameter i
 </ul>
 
 
+<h2>CAN per-interface options (CAN_P1_OPTIONS)</h2><em>Note: This parameter is for advanced users</em><br>
+
+<p>CAN per-interface options</p>
+<ul>
+<li>Bitmask: 0:LogAllFrames</li>
+</ul>
+
+
 <h1>CAN_P2_ Parameters</h1>
 
 
@@ -14325,6 +14477,14 @@ <h2>Bitrate of CANFD interface (CAN_P2_FDBITRATE)</h2><em>Note: This parameter i
 </ul>
 
 
+<h2>CAN per-interface options (CAN_P2_OPTIONS)</h2><em>Note: This parameter is for advanced users</em><br>
+
+<p>CAN per-interface options</p>
+<ul>
+<li>Bitmask: 0:LogAllFrames</li>
+</ul>
+
+
 <h1>CAN_P3_ Parameters</h1>
 
 
@@ -14364,6 +14524,14 @@ <h2>Bitrate of CANFD interface (CAN_P3_FDBITRATE)</h2><em>Note: This parameter i
 </ul>
 
 
+<h2>CAN per-interface options (CAN_P3_OPTIONS)</h2><em>Note: This parameter is for advanced users</em><br>
+
+<p>CAN per-interface options</p>
+<ul>
+<li>Bitmask: 0:LogAllFrames</li>
+</ul>
+
+
 <h1>CAN_SLCAN_ Parameters</h1>
 
 
@@ -32893,6 +33061,130 @@ <h2>Pullup target pitch (PUP_PITCH_START)</h2><em>Note: This parameter is for ad
 </ul>
 
 
+<h1>QWIK_ Parameters</h1>
+
+
+<h2>Quicktune enable (QWIK_ENABLE)</h2>
+
+<p>Enable quicktune system</p>
+<ul>
+<table><th>Value</th><th>Meaning</th>
+<tr><td>0</td><td>Disabled</td></tr>
+<tr><td>1</td><td>Enabled</td></tr>
+</table>
+</ul>
+
+
+<h2>Quicktune axes (QWIK_AXES)</h2>
+
+<p>Axes to tune</p>
+<ul>
+<li>Bitmask: 0:Roll,1:Pitch,2:Yaw</li>
+</ul>
+
+
+<h2>Quicktune doubling time (QWIK_DOUBLE_TIME)</h2>
+
+<p>Time to double a tuning parameter. Raise this for a slower tune.</p>
+<ul>
+<li>Range: 5 20</li>
+<li>Units: seconds</li>
+</ul>
+
+
+<h2>Quicktune gain margin (QWIK_GAIN_MARGIN)</h2>
+
+<p>Reduction in gain after oscillation detected. Raise this number to get a more conservative tune</p>
+<ul>
+<li>Range: 20 80</li>
+<li>Units: percent</li>
+</ul>
+
+
+<h2>Quicktune oscillation rate threshold (QWIK_OSC_SMAX)</h2>
+
+<p>Threshold for oscillation detection. A lower value will lead to a more conservative tune.</p>
+<ul>
+<li>Range: 1 10</li>
+</ul>
+
+
+<h2>Quicktune Yaw P max (QWIK_YAW_P_MAX)</h2>
+
+<p>Maximum value for yaw P gain</p>
+<ul>
+<li>Range: 0.1 3</li>
+</ul>
+
+
+<h2>Quicktune Yaw D max (QWIK_YAW_D_MAX)</h2>
+
+<p>Maximum value for yaw D gain</p>
+<ul>
+<li>Range: 0.001 1</li>
+</ul>
+
+
+<h2>Quicktune roll/pitch PI ratio (QWIK_RP_PI_RATIO)</h2>
+
+<p>Ratio between P and I gains for roll and pitch. Raise this to get a lower I gain</p>
+<ul>
+<li>Range: 1.0 2.0</li>
+</ul>
+
+
+<h2>Quicktune Yaw PI ratio (QWIK_Y_PI_RATIO)</h2>
+
+<p>Ratio between P and I gains for yaw. Raise this to get a lower I gain</p>
+<ul>
+<li>Range: 1.0 20</li>
+</ul>
+
+
+<h2>Quicktune auto filter enable (QWIK_AUTO_FILTER)</h2>
+
+<p>When enabled the PID filter settings are automatically set based on INS_GYRO_FILTER</p>
+<ul>
+<table><th>Value</th><th>Meaning</th>
+<tr><td>0</td><td>Disabled</td></tr>
+<tr><td>1</td><td>Enabled</td></tr>
+</table>
+</ul>
+
+
+<h2>Quicktune auto save (QWIK_AUTO_SAVE)</h2>
+
+<p>Number of seconds after completion of tune to auto-save. This is useful when using a 2 position switch for quicktune. Zero (the default value) disables automatic saving, and you will need to have a 3 position switch to save or use GCS auxilliary functions.</p>
+<ul>
+<li>Units: seconds</li>
+</ul>
+
+
+<h2>Quicktune maximum gain reduction (QWIK_REDUCE_MAX)</h2>
+
+<p>This controls how much quicktune is allowed to lower gains from the original gains. If the vehicle already has a reasonable tune and is not oscillating then you can set this to zero to prevent gain reductions. The default of 20% is reasonable for most vehicles. Using a maximum gain reduction lowers the chance of an angle P oscillation happening if quicktune gets a false positive oscillation at a low gain, which can result in very low rate gains and a dangerous angle P oscillation.</p>
+<ul>
+<li>Units: percent</li>
+<li>Range: 0 100</li>
+</ul>
+
+
+<h2>Quicktune options (QWIK_OPTIONS)</h2>
+
+<p>Additional options. When the Two Position Switch option is enabled then a high switch position will start the tune, low will disable the tune. you should also set a QUIK_AUTO_SAVE time so that you will be able to save the tune.</p>
+<ul>
+<li>Bitmask: 0:UseTwoPositionSwitch</li>
+</ul>
+
+
+<h2>maximum angle error for tune abort (QWIK_ANGLE_MAX)</h2>
+
+<p>If while tuning the angle error goes over this limit then the tune will aborts to prevent a bad oscillation in the case of the tuning algorithm failing. If you get an error &quot;Quicktune: attitude error ABORTING&quot; and you think it is a false positive then you can either raise this parameter or you can try increasing the QWIK_DOUBLE_TIME to do the tune more slowly.</p>
+<ul>
+<li>Units: degrees</li>
+</ul>
+
+
 <h1>Q_ Parameters</h1>
 
 
@@ -42942,7 +43234,7 @@ <h2>Scripting Debug Level (SCR_DEBUG_OPTS)</h2><em>Note: This parameter is for a
 
 <p>Debugging options</p>
 <ul>
-<li>Bitmask: 0: No Scripts to run message if all scripts have stopped, 1: Runtime messages for memory usage and execution time, 2: Suppress logging scripts to dataflash, 3: log runtime memory usage and execution time, 4: Disable pre-arm check, 5: Save CRC of current scripts to loaded and running checksum parameters enabling pre-arm</li>
+<li>Bitmask: 0: No Scripts to run message if all scripts have stopped, 1: Runtime messages for memory usage and execution time, 2: Suppress logging scripts to dataflash, 3: log runtime memory usage and execution time, 4: Disable pre-arm check, 5: Save CRC of current scripts to loaded and running checksum parameters enabling pre-arm, 6: Disable heap expansion on allocation failure</li>
 </ul>
 
 
diff --git a/Plane-4.6/Parameters.md b/Plane-4.6/Parameters.md
index 26006f9..3b8320c 100644
--- a/Plane-4.6/Parameters.md
+++ b/Plane-4.6/Parameters.md
@@ -1758,6 +1758,120 @@ RCn_OPTION number to use to control tuning stop/start/save
 |306|Scripting7|
 |307|Scripting8|
 
+## VID1_CAMMODEL: Camera1 Video Stream Camera Model
+
+Video stream camera model
+
+|Value|Meaning|
+|:---:|:---:|
+|0|Unknown|
+|1|Siyi A8|
+|2|Siyi ZR10|
+|3|Siyi ZR30|
+|4|Siyi ZT30 Zoom|
+|5|Siyi ZT30 Wide|
+|6|Siyi ZT30 IR|
+|7|Siyi ZT6 RGB|
+|8|Siyi ZT6 IR|
+|9|Herelink WifiAP|
+|10|Herelink USB-tethering|
+|11|Topotek 1080p|
+|12|Topotek 480p|
+|13|Viewpro|
+
+## VID1_ID: Camera1 Video Stream Id
+
+Video stream id
+
+- Range: 0 50
+
+## VID1_TYPE: Camera1 Video Stream Type
+
+Video stream type
+
+|Value|Meaning|
+|:---:|:---:|
+|0|RTSP|
+|1|RTPUDP|
+|2|TCP_MPEG|
+|3|MPEG_TS|
+
+## VID1_FLAG: Camera1 Video Stream Flags
+
+Video stream flags
+
+- Bitmask: 0:Running,1:Thermal,2:Thermal Range Enabled
+
+## VID1_FRAME_RATE: Camera1 Video Stream Frame Rate
+
+Video stream frame rate
+
+- Range: 0 50
+
+## VID1_HRES: Camera1 Video Stream Horizontal Resolution
+
+Video stream horizontal resolution
+
+- Range: 0 4096
+
+## VID1_VRES: Camera1 Video Stream Vertical Resolution
+
+Video stream vertical resolution
+
+- Range: 0 4096
+
+## VID1_BITRATE: Camera1 Video Stream Bitrate
+
+Video stream bitrate
+
+- Range: 0 10000
+
+## VID1_HFOV: Camera1 Video Stream Horizontal FOV
+
+Video stream horizontal FOV
+
+- Range: 0 360
+
+## VID1_ENCODING: Camera1 Video Stream Encoding
+
+Video stream encoding
+
+|Value|Meaning|
+|:---:|:---:|
+|0|Unknown|
+|1|H264|
+|2|H265|
+
+## VID1_IPADDR0: Camera1 Video Stream IP Address 0
+
+Video stream IP Address first octet
+
+- Range: 0 255
+
+## VID1_IPADDR1: Camera1 Video Stream IP Address 1
+
+Video stream IP Address second octet
+
+- Range: 0 255
+
+## VID1_IPADDR2: Camera1 Video Stream IP Address 2
+
+Video stream IP Address third octet
+
+- Range: 0 255
+
+## VID1_IPADDR3: Camera1 Video Stream IP Address 3
+
+Video stream IP Address fourth octet
+
+- Range: 0 255
+
+## VID1_IPPORT: Camera1 Video Stream IP Address Port
+
+Video stream IP Address Port
+
+- Range: 0 65535
+
 ## WINCH_RATE_UP: WinchControl Rate Up
 
 Maximum rate when retracting line
@@ -13764,6 +13878,14 @@ Bit rate can be set up to from 1000000 to 8000000
 |5|5M|
 |8|8M|
 
+## CAN_P1_OPTIONS: CAN per-interface options
+
+*Note: This parameter is for advanced users*
+
+CAN per-interface options
+
+- Bitmask: 0:LogAllFrames
+
 # CANP2 Parameters
 
 ## CAN_P2_DRIVER: Index of virtual driver to be used with physical CAN interface
@@ -13801,6 +13923,14 @@ Bit rate can be set up to from 1000000 to 8000000
 |5|5M|
 |8|8M|
 
+## CAN_P2_OPTIONS: CAN per-interface options
+
+*Note: This parameter is for advanced users*
+
+CAN per-interface options
+
+- Bitmask: 0:LogAllFrames
+
 # CANP3 Parameters
 
 ## CAN_P3_DRIVER: Index of virtual driver to be used with physical CAN interface
@@ -13838,6 +13968,14 @@ Bit rate can be set up to from 1000000 to 8000000
 |5|5M|
 |8|8M|
 
+## CAN_P3_OPTIONS: CAN per-interface options
+
+*Note: This parameter is for advanced users*
+
+CAN per-interface options
+
+- Bitmask: 0:LogAllFrames
+
 # CANSLCAN Parameters
 
 ## CAN_SLCAN_CPORT: SLCAN Route
@@ -30434,6 +30572,104 @@ Target pitch for initial pullup
 
 - Range: -80 0
 
+# QWIK Parameters
+
+## QWIK_ENABLE: Quicktune enable
+
+Enable quicktune system
+
+|Value|Meaning|
+|:---:|:---:|
+|0|Disabled|
+|1|Enabled|
+
+## QWIK_AXES: Quicktune axes
+
+Axes to tune
+
+- Bitmask: 0:Roll,1:Pitch,2:Yaw
+
+## QWIK_DOUBLE_TIME: Quicktune doubling time
+
+Time to double a tuning parameter. Raise this for a slower tune.
+
+- Range: 5 20
+
+- Units: s
+
+## QWIK_GAIN_MARGIN: Quicktune gain margin
+
+Reduction in gain after oscillation detected. Raise this number to get a more conservative tune
+
+- Range: 20 80
+
+- Units: %
+
+## QWIK_OSC_SMAX: Quicktune oscillation rate threshold
+
+Threshold for oscillation detection. A lower value will lead to a more conservative tune.
+
+- Range: 1 10
+
+## QWIK_YAW_P_MAX: Quicktune Yaw P max
+
+Maximum value for yaw P gain
+
+- Range: 0.1 3
+
+## QWIK_YAW_D_MAX: Quicktune Yaw D max
+
+Maximum value for yaw D gain
+
+- Range: 0.001 1
+
+## QWIK_RP_PI_RATIO: Quicktune roll/pitch PI ratio
+
+Ratio between P and I gains for roll and pitch. Raise this to get a lower I gain
+
+- Range: 1.0 2.0
+
+## QWIK_Y_PI_RATIO: Quicktune Yaw PI ratio
+
+Ratio between P and I gains for yaw. Raise this to get a lower I gain
+
+- Range: 1.0 20
+
+## QWIK_AUTO_FILTER: Quicktune auto filter enable
+
+When enabled the PID filter settings are automatically set based on INS_GYRO_FILTER
+
+|Value|Meaning|
+|:---:|:---:|
+|0|Disabled|
+|1|Enabled|
+
+## QWIK_AUTO_SAVE: Quicktune auto save
+
+Number of seconds after completion of tune to auto-save. This is useful when using a 2 position switch for quicktune. Zero (the default value) disables automatic saving, and you will need to have a 3 position switch to save or use GCS auxilliary functions.
+
+- Units: s
+
+## QWIK_REDUCE_MAX: Quicktune maximum gain reduction
+
+This controls how much quicktune is allowed to lower gains from the original gains. If the vehicle already has a reasonable tune and is not oscillating then you can set this to zero to prevent gain reductions. The default of 20% is reasonable for most vehicles. Using a maximum gain reduction lowers the chance of an angle P oscillation happening if quicktune gets a false positive oscillation at a low gain, which can result in very low rate gains and a dangerous angle P oscillation.
+
+- Units: %
+
+- Range: 0 100
+
+## QWIK_OPTIONS: Quicktune options
+
+Additional options. When the Two Position Switch option is enabled then a high switch position will start the tune, low will disable the tune. you should also set a QUIK_AUTO_SAVE time so that you will be able to save the tune.
+
+- Bitmask: 0:UseTwoPositionSwitch
+
+## QWIK_ANGLE_MAX: maximum angle error for tune abort
+
+If while tuning the angle error goes over this limit then the tune will aborts to prevent a bad oscillation in the case of the tuning algorithm failing. If you get an error "Quicktune: attitude error ABORTING" and you think it is a false positive then you can either raise this parameter or you can try increasing the QWIK_DOUBLE_TIME to do the tune more slowly.
+
+- Units: deg
+
 # Q Parameters
 
 ## Q_ENABLE: Enable QuadPlane
@@ -37731,7 +37967,7 @@ Amount of memory available for scripting
 
 Debugging options
 
-- Bitmask: 0: No Scripts to run message if all scripts have stopped, 1: Runtime messages for memory usage and execution time, 2: Suppress logging scripts to dataflash, 3: log runtime memory usage and execution time, 4: Disable pre-arm check, 5: Save CRC of current scripts to loaded and running checksum parameters enabling pre-arm
+- Bitmask: 0: No Scripts to run message if all scripts have stopped, 1: Runtime messages for memory usage and execution time, 2: Suppress logging scripts to dataflash, 3: log runtime memory usage and execution time, 4: Disable pre-arm check, 5: Save CRC of current scripts to loaded and running checksum parameters enabling pre-arm, 6: Disable heap expansion on allocation failure
 
 ## SCR_USER1: Scripting User Parameter1
 
diff --git a/Plane-4.6/Parameters.rst b/Plane-4.6/Parameters.rst
index cbb719f..433a89d 100644
--- a/Plane-4.6/Parameters.rst
+++ b/Plane-4.6/Parameters.rst
@@ -30036,6 +30036,30 @@ Bit rate can be set up to from 1000000 to 8000000
 
 
 
+.. _CAN_P1_OPTIONS:
+
+CAN\_P1\_OPTIONS: CAN per\-interface options
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+| *Note: This parameter is for advanced users*
+
+CAN per\-interface options
+
+
++------------------------+
+| Bitmask                |
++========================+
+| +-----+--------------+ |
+| | Bit | Meaning      | |
+| +=====+==============+ |
+| | 0   | LogAllFrames | |
+| +-----+--------------+ |
+|                        |
++------------------------+
+
+
+
+
 
 .. _parameters_CAN_P2_:
 
@@ -30124,6 +30148,30 @@ Bit rate can be set up to from 1000000 to 8000000
 
 
 
+.. _CAN_P2_OPTIONS:
+
+CAN\_P2\_OPTIONS: CAN per\-interface options
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+| *Note: This parameter is for advanced users*
+
+CAN per\-interface options
+
+
++------------------------+
+| Bitmask                |
++========================+
+| +-----+--------------+ |
+| | Bit | Meaning      | |
+| +=====+==============+ |
+| | 0   | LogAllFrames | |
+| +-----+--------------+ |
+|                        |
++------------------------+
+
+
+
+
 
 .. _parameters_CAN_P3_:
 
@@ -30212,6 +30260,30 @@ Bit rate can be set up to from 1000000 to 8000000
 
 
 
+.. _CAN_P3_OPTIONS:
+
+CAN\_P3\_OPTIONS: CAN per\-interface options
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+| *Note: This parameter is for advanced users*
+
+CAN per\-interface options
+
+
++------------------------+
+| Bitmask                |
++========================+
+| +-----+--------------+ |
+| | Bit | Meaning      | |
+| +=====+==============+ |
+| | 0   | LogAllFrames | |
+| +-----+--------------+ |
+|                        |
++------------------------+
+
+
+
+
 
 .. _parameters_CAN_SLCAN_:
 
@@ -69857,6 +69929,293 @@ Target pitch for initial pullup
 
 
 
+.. _parameters_QWIK_:
+
+QWIK\_ Parameters
+-----------------
+
+
+.. _QWIK_ENABLE:
+
+QWIK\_ENABLE: Quicktune enable
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+
+Enable quicktune system
+
+
++----------------------+
+| Values               |
++======================+
+| +-------+----------+ |
+| | Value | Meaning  | |
+| +=======+==========+ |
+| | 0     | Disabled | |
+| +-------+----------+ |
+| | 1     | Enabled  | |
+| +-------+----------+ |
+|                      |
++----------------------+
+
+
+
+
+.. _QWIK_AXES:
+
+QWIK\_AXES: Quicktune axes
+~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+
+Axes to tune
+
+
++-------------------+
+| Bitmask           |
++===================+
+| +-----+---------+ |
+| | Bit | Meaning | |
+| +=====+=========+ |
+| | 0   | Roll    | |
+| +-----+---------+ |
+| | 1   | Pitch   | |
+| +-----+---------+ |
+| | 2   | Yaw     | |
+| +-----+---------+ |
+|                   |
++-------------------+
+
+
+
+
+.. _QWIK_DOUBLE_TIME:
+
+QWIK\_DOUBLE\_TIME: Quicktune doubling time
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+
+Time to double a tuning parameter\. Raise this for a slower tune\.
+
+
++---------+---------+
+| Range   | Units   |
++=========+=========+
+| 5 to 20 | seconds |
++---------+---------+
+
+
+
+
+.. _QWIK_GAIN_MARGIN:
+
+QWIK\_GAIN\_MARGIN: Quicktune gain margin
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+
+Reduction in gain after oscillation detected\. Raise this number to get a more conservative tune
+
+
++----------+---------+
+| Range    | Units   |
++==========+=========+
+| 20 to 80 | percent |
++----------+---------+
+
+
+
+
+.. _QWIK_OSC_SMAX:
+
+QWIK\_OSC\_SMAX: Quicktune oscillation rate threshold
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+
+Threshold for oscillation detection\. A lower value will lead to a more conservative tune\.
+
+
++---------+
+| Range   |
++=========+
+| 1 to 10 |
++---------+
+
+
+
+
+.. _QWIK_YAW_P_MAX:
+
+QWIK\_YAW\_P\_MAX: Quicktune Yaw P max
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+
+Maximum value for yaw P gain
+
+
++----------+
+| Range    |
++==========+
+| 0.1 to 3 |
++----------+
+
+
+
+
+.. _QWIK_YAW_D_MAX:
+
+QWIK\_YAW\_D\_MAX: Quicktune Yaw D max
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+
+Maximum value for yaw D gain
+
+
++------------+
+| Range      |
++============+
+| 0.001 to 1 |
++------------+
+
+
+
+
+.. _QWIK_RP_PI_RATIO:
+
+QWIK\_RP\_PI\_RATIO: Quicktune roll\/pitch PI ratio
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+
+Ratio between P and I gains for roll and pitch\. Raise this to get a lower I gain
+
+
++------------+
+| Range      |
++============+
+| 1.0 to 2.0 |
++------------+
+
+
+
+
+.. _QWIK_Y_PI_RATIO:
+
+QWIK\_Y\_PI\_RATIO: Quicktune Yaw PI ratio
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+
+Ratio between P and I gains for yaw\. Raise this to get a lower I gain
+
+
++-----------+
+| Range     |
++===========+
+| 1.0 to 20 |
++-----------+
+
+
+
+
+.. _QWIK_AUTO_FILTER:
+
+QWIK\_AUTO\_FILTER: Quicktune auto filter enable
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+
+When enabled the PID filter settings are automatically set based on INS\_GYRO\_FILTER
+
+
++----------------------+
+| Values               |
++======================+
+| +-------+----------+ |
+| | Value | Meaning  | |
+| +=======+==========+ |
+| | 0     | Disabled | |
+| +-------+----------+ |
+| | 1     | Enabled  | |
+| +-------+----------+ |
+|                      |
++----------------------+
+
+
+
+
+.. _QWIK_AUTO_SAVE:
+
+QWIK\_AUTO\_SAVE: Quicktune auto save
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+
+Number of seconds after completion of tune to auto\-save\. This is useful when using a 2 position switch for quicktune\. Zero \(the default value\) disables automatic saving\, and you will need to have a 3 position switch to save or use GCS auxilliary functions\.
+
+
++---------+
+| Units   |
++=========+
+| seconds |
++---------+
+
+
+
+
+.. _QWIK_REDUCE_MAX:
+
+QWIK\_REDUCE\_MAX: Quicktune maximum gain reduction
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+
+This controls how much quicktune is allowed to lower gains from the original gains\. If the vehicle already has a reasonable tune and is not oscillating then you can set this to zero to prevent gain reductions\. The default of 20\% is reasonable for most vehicles\. Using a maximum gain reduction lowers the chance of an angle P oscillation happening if quicktune gets a false positive oscillation at a low gain\, which can result in very low rate gains and a dangerous angle P oscillation\.
+
+
++----------+---------+
+| Range    | Units   |
++==========+=========+
+| 0 to 100 | percent |
++----------+---------+
+
+
+
+
+.. _QWIK_OPTIONS:
+
+QWIK\_OPTIONS: Quicktune options
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+
+Additional options\. When the Two Position Switch option is enabled then a high switch position will start the tune\, low will disable the tune\. you should also set a QUIK\_AUTO\_SAVE time so that you will be able to save the tune\.
+
+
++--------------------------------+
+| Bitmask                        |
++================================+
+| +-----+----------------------+ |
+| | Bit | Meaning              | |
+| +=====+======================+ |
+| | 0   | UseTwoPositionSwitch | |
+| +-----+----------------------+ |
+|                                |
++--------------------------------+
+
+
+
+
+.. _QWIK_ANGLE_MAX:
+
+QWIK\_ANGLE\_MAX: maximum angle error for tune abort
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+
+If while tuning the angle error goes over this limit then the tune will aborts to prevent a bad oscillation in the case of the tuning algorithm failing\. If you get an error \"Quicktune\: attitude error ABORTING\" and you think it is a false positive then you can either raise this parameter or you can try increasing the QWIK\_DOUBLE\_TIME to do the tune more slowly\.
+
+
++---------+
+| Units   |
++=========+
+| degrees |
++---------+
+
+
+
+
+
 .. _parameters_Q_:
 
 Q\_ Parameters
@@ -91239,6 +91598,8 @@ Debugging options
 | +-----+----------------------------------------------------------------------------------------+ |
 | | 5   | Save CRC of current scripts to loaded and running checksum parameters enabling pre-arm | |
 | +-----+----------------------------------------------------------------------------------------+ |
+| | 6   | Disable heap expansion on allocation failure                                           | |
+| +-----+----------------------------------------------------------------------------------------+ |
 |                                                                                                  |
 +--------------------------------------------------------------------------------------------------+
 
diff --git a/Plane-4.6/ParametersLatex.rst b/Plane-4.6/ParametersLatex.rst
index e577bb2..af4179d 100644
--- a/Plane-4.6/ParametersLatex.rst
+++ b/Plane-4.6/ParametersLatex.rst
@@ -3941,6 +3941,316 @@ RCn\_OPTION number to use to control tuning stop\/start\/save
 
 
 
+.. _VID1_CAMMODEL:
+
+VID1\_CAMMODEL: Camera1 Video Stream Camera Model
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+
+Video stream camera model
+
+
++-------+------------------------+
+| Value | Meaning                |
++=======+========================+
+| 0     | Unknown                |
++-------+------------------------+
+| 1     | Siyi A8                |
++-------+------------------------+
+| 2     | Siyi ZR10              |
++-------+------------------------+
+| 3     | Siyi ZR30              |
++-------+------------------------+
+| 4     | Siyi ZT30 Zoom         |
++-------+------------------------+
+| 5     | Siyi ZT30 Wide         |
++-------+------------------------+
+| 6     | Siyi ZT30 IR           |
++-------+------------------------+
+| 7     | Siyi ZT6 RGB           |
++-------+------------------------+
+| 8     | Siyi ZT6 IR            |
++-------+------------------------+
+| 9     | Herelink WifiAP        |
++-------+------------------------+
+| 10    | Herelink USB-tethering |
++-------+------------------------+
+| 11    | Topotek 1080p          |
++-------+------------------------+
+| 12    | Topotek 480p           |
++-------+------------------------+
+| 13    | Viewpro                |
++-------+------------------------+
+
+
+
+
+.. _VID1_ID:
+
+VID1\_ID: Camera1 Video Stream Id
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+
+Video stream id
+
+
++---------+
+| Range   |
++=========+
+| 0 to 50 |
++---------+
+
+
+
+
+.. _VID1_TYPE:
+
+VID1\_TYPE: Camera1 Video Stream Type
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+
+Video stream type
+
+
++-------+----------+
+| Value | Meaning  |
++=======+==========+
+| 0     | RTSP     |
++-------+----------+
+| 1     | RTPUDP   |
++-------+----------+
+| 2     | TCP_MPEG |
++-------+----------+
+| 3     | MPEG_TS  |
++-------+----------+
+
+
+
+
+.. _VID1_FLAG:
+
+VID1\_FLAG: Camera1 Video Stream Flags
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+
+Video stream flags
+
+
++-----+-----------------------+
+| Bit | Meaning               |
++=====+=======================+
+| 0   | Running               |
++-----+-----------------------+
+| 1   | Thermal               |
++-----+-----------------------+
+| 2   | Thermal Range Enabled |
++-----+-----------------------+
+
+
+
+
+.. _VID1_FRAME_RATE:
+
+VID1\_FRAME\_RATE: Camera1 Video Stream Frame Rate
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+
+Video stream frame rate
+
+
++---------+
+| Range   |
++=========+
+| 0 to 50 |
++---------+
+
+
+
+
+.. _VID1_HRES:
+
+VID1\_HRES: Camera1 Video Stream Horizontal Resolution
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+
+Video stream horizontal resolution
+
+
++-----------+
+| Range     |
++===========+
+| 0 to 4096 |
++-----------+
+
+
+
+
+.. _VID1_VRES:
+
+VID1\_VRES: Camera1 Video Stream Vertical Resolution
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+
+Video stream vertical resolution
+
+
++-----------+
+| Range     |
++===========+
+| 0 to 4096 |
++-----------+
+
+
+
+
+.. _VID1_BITRATE:
+
+VID1\_BITRATE: Camera1 Video Stream Bitrate
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+
+Video stream bitrate
+
+
++------------+
+| Range      |
++============+
+| 0 to 10000 |
++------------+
+
+
+
+
+.. _VID1_HFOV:
+
+VID1\_HFOV: Camera1 Video Stream Horizontal FOV
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+
+Video stream horizontal FOV
+
+
++----------+
+| Range    |
++==========+
+| 0 to 360 |
++----------+
+
+
+
+
+.. _VID1_ENCODING:
+
+VID1\_ENCODING: Camera1 Video Stream Encoding
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+
+Video stream encoding
+
+
++-------+---------+
+| Value | Meaning |
++=======+=========+
+| 0     | Unknown |
++-------+---------+
+| 1     | H264    |
++-------+---------+
+| 2     | H265    |
++-------+---------+
+
+
+
+
+.. _VID1_IPADDR0:
+
+VID1\_IPADDR0: Camera1 Video Stream IP Address 0
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+
+Video stream IP Address first octet
+
+
++----------+
+| Range    |
++==========+
+| 0 to 255 |
++----------+
+
+
+
+
+.. _VID1_IPADDR1:
+
+VID1\_IPADDR1: Camera1 Video Stream IP Address 1
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+
+Video stream IP Address second octet
+
+
++----------+
+| Range    |
++==========+
+| 0 to 255 |
++----------+
+
+
+
+
+.. _VID1_IPADDR2:
+
+VID1\_IPADDR2: Camera1 Video Stream IP Address 2
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+
+Video stream IP Address third octet
+
+
++----------+
+| Range    |
++==========+
+| 0 to 255 |
++----------+
+
+
+
+
+.. _VID1_IPADDR3:
+
+VID1\_IPADDR3: Camera1 Video Stream IP Address 3
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+
+Video stream IP Address fourth octet
+
+
++----------+
+| Range    |
++==========+
+| 0 to 255 |
++----------+
+
+
+
+
+.. _VID1_IPPORT:
+
+VID1\_IPPORT: Camera1 Video Stream IP Address Port
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+
+Video stream IP Address Port
+
+
++------------+
+| Range      |
++============+
+| 0 to 65535 |
++------------+
+
+
+
+
 .. _WINCH_RATE_UP:
 
 WINCH\_RATE\_UP: WinchControl Rate Up
@@ -31936,6 +32246,25 @@ Bit rate can be set up to from 1000000 to 8000000
 
 
 
+.. _CAN_P1_OPTIONS:
+
+CAN\_P1\_OPTIONS: CAN per\-interface options
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+| *Note: This parameter is for advanced users*
+
+CAN per\-interface options
+
+
++-----+--------------+
+| Bit | Meaning      |
++=====+==============+
+| 0   | LogAllFrames |
++-----+--------------+
+
+
+
+
 
 .. _parameters_CAN_P2_:
 
@@ -32014,6 +32343,25 @@ Bit rate can be set up to from 1000000 to 8000000
 
 
 
+.. _CAN_P2_OPTIONS:
+
+CAN\_P2\_OPTIONS: CAN per\-interface options
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+| *Note: This parameter is for advanced users*
+
+CAN per\-interface options
+
+
++-----+--------------+
+| Bit | Meaning      |
++=====+==============+
+| 0   | LogAllFrames |
++-----+--------------+
+
+
+
+
 
 .. _parameters_CAN_P3_:
 
@@ -32092,6 +32440,25 @@ Bit rate can be set up to from 1000000 to 8000000
 
 
 
+.. _CAN_P3_OPTIONS:
+
+CAN\_P3\_OPTIONS: CAN per\-interface options
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+| *Note: This parameter is for advanced users*
+
+CAN per\-interface options
+
+
++-----+--------------+
+| Bit | Meaning      |
++=====+==============+
+| 0   | LogAllFrames |
++-----+--------------+
+
+
+
+
 
 .. _parameters_CAN_SLCAN_:
 
@@ -69291,6 +69658,273 @@ Target pitch for initial pullup
 
 
 
+.. _parameters_QWIK_:
+
+QWIK\_ Parameters
+-----------------
+
+
+.. _QWIK_ENABLE:
+
+QWIK\_ENABLE: Quicktune enable
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+
+Enable quicktune system
+
+
++-------+----------+
+| Value | Meaning  |
++=======+==========+
+| 0     | Disabled |
++-------+----------+
+| 1     | Enabled  |
++-------+----------+
+
+
+
+
+.. _QWIK_AXES:
+
+QWIK\_AXES: Quicktune axes
+~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+
+Axes to tune
+
+
++-----+---------+
+| Bit | Meaning |
++=====+=========+
+| 0   | Roll    |
++-----+---------+
+| 1   | Pitch   |
++-----+---------+
+| 2   | Yaw     |
++-----+---------+
+
+
+
+
+.. _QWIK_DOUBLE_TIME:
+
+QWIK\_DOUBLE\_TIME: Quicktune doubling time
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+
+Time to double a tuning parameter\. Raise this for a slower tune\.
+
+
++---------+---------+
+| Range   | Units   |
++=========+=========+
+| 5 to 20 | seconds |
++---------+---------+
+
+
+
+
+.. _QWIK_GAIN_MARGIN:
+
+QWIK\_GAIN\_MARGIN: Quicktune gain margin
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+
+Reduction in gain after oscillation detected\. Raise this number to get a more conservative tune
+
+
++----------+---------+
+| Range    | Units   |
++==========+=========+
+| 20 to 80 | percent |
++----------+---------+
+
+
+
+
+.. _QWIK_OSC_SMAX:
+
+QWIK\_OSC\_SMAX: Quicktune oscillation rate threshold
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+
+Threshold for oscillation detection\. A lower value will lead to a more conservative tune\.
+
+
++---------+
+| Range   |
++=========+
+| 1 to 10 |
++---------+
+
+
+
+
+.. _QWIK_YAW_P_MAX:
+
+QWIK\_YAW\_P\_MAX: Quicktune Yaw P max
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+
+Maximum value for yaw P gain
+
+
++----------+
+| Range    |
++==========+
+| 0.1 to 3 |
++----------+
+
+
+
+
+.. _QWIK_YAW_D_MAX:
+
+QWIK\_YAW\_D\_MAX: Quicktune Yaw D max
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+
+Maximum value for yaw D gain
+
+
++------------+
+| Range      |
++============+
+| 0.001 to 1 |
++------------+
+
+
+
+
+.. _QWIK_RP_PI_RATIO:
+
+QWIK\_RP\_PI\_RATIO: Quicktune roll\/pitch PI ratio
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+
+Ratio between P and I gains for roll and pitch\. Raise this to get a lower I gain
+
+
++------------+
+| Range      |
++============+
+| 1.0 to 2.0 |
++------------+
+
+
+
+
+.. _QWIK_Y_PI_RATIO:
+
+QWIK\_Y\_PI\_RATIO: Quicktune Yaw PI ratio
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+
+Ratio between P and I gains for yaw\. Raise this to get a lower I gain
+
+
++-----------+
+| Range     |
++===========+
+| 1.0 to 20 |
++-----------+
+
+
+
+
+.. _QWIK_AUTO_FILTER:
+
+QWIK\_AUTO\_FILTER: Quicktune auto filter enable
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+
+When enabled the PID filter settings are automatically set based on INS\_GYRO\_FILTER
+
+
++-------+----------+
+| Value | Meaning  |
++=======+==========+
+| 0     | Disabled |
++-------+----------+
+| 1     | Enabled  |
++-------+----------+
+
+
+
+
+.. _QWIK_AUTO_SAVE:
+
+QWIK\_AUTO\_SAVE: Quicktune auto save
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+
+Number of seconds after completion of tune to auto\-save\. This is useful when using a 2 position switch for quicktune\. Zero \(the default value\) disables automatic saving\, and you will need to have a 3 position switch to save or use GCS auxilliary functions\.
+
+
++---------+
+| Units   |
++=========+
+| seconds |
++---------+
+
+
+
+
+.. _QWIK_REDUCE_MAX:
+
+QWIK\_REDUCE\_MAX: Quicktune maximum gain reduction
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+
+This controls how much quicktune is allowed to lower gains from the original gains\. If the vehicle already has a reasonable tune and is not oscillating then you can set this to zero to prevent gain reductions\. The default of 20\% is reasonable for most vehicles\. Using a maximum gain reduction lowers the chance of an angle P oscillation happening if quicktune gets a false positive oscillation at a low gain\, which can result in very low rate gains and a dangerous angle P oscillation\.
+
+
++----------+---------+
+| Range    | Units   |
++==========+=========+
+| 0 to 100 | percent |
++----------+---------+
+
+
+
+
+.. _QWIK_OPTIONS:
+
+QWIK\_OPTIONS: Quicktune options
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+
+Additional options\. When the Two Position Switch option is enabled then a high switch position will start the tune\, low will disable the tune\. you should also set a QUIK\_AUTO\_SAVE time so that you will be able to save the tune\.
+
+
++-----+----------------------+
+| Bit | Meaning              |
++=====+======================+
+| 0   | UseTwoPositionSwitch |
++-----+----------------------+
+
+
+
+
+.. _QWIK_ANGLE_MAX:
+
+QWIK\_ANGLE\_MAX: maximum angle error for tune abort
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+
+If while tuning the angle error goes over this limit then the tune will aborts to prevent a bad oscillation in the case of the tuning algorithm failing\. If you get an error \"Quicktune\: attitude error ABORTING\" and you think it is a false positive then you can either raise this parameter or you can try increasing the QWIK\_DOUBLE\_TIME to do the tune more slowly\.
+
+
++---------+
+| Units   |
++=========+
+| degrees |
++---------+
+
+
+
+
+
 .. _parameters_Q_:
 
 Q\_ Parameters
@@ -89606,6 +90240,8 @@ Debugging options
 +-----+----------------------------------------------------------------------------------------+
 | 5   | Save CRC of current scripts to loaded and running checksum parameters enabling pre-arm |
 +-----+----------------------------------------------------------------------------------------+
+| 6   | Disable heap expansion on allocation failure                                           |
++-----+----------------------------------------------------------------------------------------+
 
 
 
diff --git a/Plane-4.6/apm.pdef.json b/Plane-4.6/apm.pdef.json
index 9457db2..2472fdb 100644
--- a/Plane-4.6/apm.pdef.json
+++ b/Plane-4.6/apm.pdef.json
@@ -11547,6 +11547,14 @@
         "5": "5M",
         "8": "8M"
       }
+    },
+    "CAN_P1_OPTIONS": {
+      "Bitmask": {
+        "0": "LogAllFrames"
+      },
+      "Description": "CAN per-interface options",
+      "DisplayName": "CAN per-interface options",
+      "User": "Advanced"
     }
   },
   "CAN_P2_": {
@@ -11582,6 +11590,14 @@
         "5": "5M",
         "8": "8M"
       }
+    },
+    "CAN_P2_OPTIONS": {
+      "Bitmask": {
+        "0": "LogAllFrames"
+      },
+      "Description": "CAN per-interface options",
+      "DisplayName": "CAN per-interface options",
+      "User": "Advanced"
     }
   },
   "CAN_P3_": {
@@ -11617,6 +11633,14 @@
         "5": "5M",
         "8": "8M"
       }
+    },
+    "CAN_P3_OPTIONS": {
+      "Bitmask": {
+        "0": "LogAllFrames"
+      },
+      "Description": "CAN per-interface options",
+      "DisplayName": "CAN per-interface options",
+      "User": "Advanced"
     }
   },
   "CAN_SLCAN_": {
@@ -20540,6 +20564,157 @@
         "low": "301"
       }
     },
+    "VID1_BITRATE": {
+      "Description": "Video stream bitrate",
+      "DisplayName": "Camera1 Video Stream Bitrate",
+      "Range": {
+        "high": "10000",
+        "low": "0"
+      },
+      "User": "Standard"
+    },
+    "VID1_CAMMODEL": {
+      "Description": "Video stream camera model",
+      "DisplayName": "Camera1 Video Stream Camera Model",
+      "User": "Standard",
+      "Values": {
+        "0": "Unknown",
+        "1": "Siyi A8",
+        "10": "Herelink USB-tethering",
+        "11": "Topotek 1080p",
+        "12": "Topotek 480p",
+        "13": "Viewpro",
+        "2": "Siyi ZR10",
+        "3": "Siyi ZR30",
+        "4": "Siyi ZT30 Zoom",
+        "5": "Siyi ZT30 Wide",
+        "6": "Siyi ZT30 IR",
+        "7": "Siyi ZT6 RGB",
+        "8": "Siyi ZT6 IR",
+        "9": "Herelink WifiAP"
+      }
+    },
+    "VID1_ENCODING": {
+      "Description": "Video stream encoding",
+      "DisplayName": "Camera1 Video Stream Encoding",
+      "User": "Standard",
+      "Values": {
+        "0": "Unknown",
+        "1": "H264",
+        "2": "H265"
+      }
+    },
+    "VID1_FLAG": {
+      "Bitmask": {
+        "0": "Running",
+        "1": "Thermal",
+        "2": "Thermal Range Enabled"
+      },
+      "Description": "Video stream flags",
+      "DisplayName": "Camera1 Video Stream Flags",
+      "User": "Standard"
+    },
+    "VID1_FRAME_RATE": {
+      "Description": "Video stream frame rate",
+      "DisplayName": "Camera1 Video Stream Frame Rate",
+      "Range": {
+        "high": "50",
+        "low": "0"
+      },
+      "User": "Standard"
+    },
+    "VID1_HFOV": {
+      "Description": "Video stream horizontal FOV",
+      "DisplayName": "Camera1 Video Stream Horizontal FOV",
+      "Range": {
+        "high": "360",
+        "low": "0"
+      },
+      "User": "Standard"
+    },
+    "VID1_HRES": {
+      "Description": "Video stream horizontal resolution",
+      "DisplayName": "Camera1 Video Stream Horizontal Resolution",
+      "Range": {
+        "high": "4096",
+        "low": "0"
+      },
+      "User": "Standard"
+    },
+    "VID1_ID": {
+      "Description": "Video stream id",
+      "DisplayName": "Camera1 Video Stream Id",
+      "Range": {
+        "high": "50",
+        "low": "0"
+      },
+      "User": "Standard"
+    },
+    "VID1_IPADDR0": {
+      "Description": "Video stream IP Address first octet",
+      "DisplayName": "Camera1 Video Stream IP Address 0",
+      "Range": {
+        "high": "255",
+        "low": "0"
+      },
+      "User": "Standard"
+    },
+    "VID1_IPADDR1": {
+      "Description": "Video stream IP Address second octet",
+      "DisplayName": "Camera1 Video Stream IP Address 1",
+      "Range": {
+        "high": "255",
+        "low": "0"
+      },
+      "User": "Standard"
+    },
+    "VID1_IPADDR2": {
+      "Description": "Video stream IP Address third octet",
+      "DisplayName": "Camera1 Video Stream IP Address 2",
+      "Range": {
+        "high": "255",
+        "low": "0"
+      },
+      "User": "Standard"
+    },
+    "VID1_IPADDR3": {
+      "Description": "Video stream IP Address fourth octet",
+      "DisplayName": "Camera1 Video Stream IP Address 3",
+      "Range": {
+        "high": "255",
+        "low": "0"
+      },
+      "User": "Standard"
+    },
+    "VID1_IPPORT": {
+      "Description": "Video stream IP Address Port",
+      "DisplayName": "Camera1 Video Stream IP Address Port",
+      "Range": {
+        "high": "65535",
+        "low": "0"
+      },
+      "User": "Standard"
+    },
+    "VID1_TYPE": {
+      "Description": "Video stream type",
+      "DisplayName": "Camera1 Video Stream Type",
+      "User": "Standard",
+      "Values": {
+        "0": "RTSP",
+        "1": "RTPUDP",
+        "2": "TCP_MPEG",
+        "3": "MPEG_TS"
+      }
+    },
+    "VID1_VRES": {
+      "Description": "Video stream vertical resolution",
+      "DisplayName": "Camera1 Video Stream Vertical Resolution",
+      "Range": {
+        "high": "4096",
+        "low": "0"
+      },
+      "User": "Standard"
+    },
     "VIEP_CAM_SWHIGH": {
       "Description": "Camera selection when switch is in high position",
       "DisplayName": "ViewPro Camera For Switch High",
@@ -31976,6 +32151,131 @@
       "User": "Standard"
     }
   },
+  "QWIK_": {
+    "QWIK_ANGLE_MAX": {
+      "Description": "If while tuning the angle error goes over this limit then the tune will aborts to prevent a bad oscillation in the case of the tuning algorithm failing. If you get an error \"Quicktune: attitude error ABORTING\" and you think it is a false positive then you can either raise this parameter or you can try increasing the QWIK_DOUBLE_TIME to do the tune more slowly.",
+      "DisplayName": "maximum angle error for tune abort",
+      "Units": "deg",
+      "User": "Standard"
+    },
+    "QWIK_AUTO_FILTER": {
+      "Description": "When enabled the PID filter settings are automatically set based on INS_GYRO_FILTER",
+      "DisplayName": "Quicktune auto filter enable",
+      "User": "Standard",
+      "Values": {
+        "0": "Disabled",
+        "1": "Enabled"
+      }
+    },
+    "QWIK_AUTO_SAVE": {
+      "Description": "Number of seconds after completion of tune to auto-save. This is useful when using a 2 position switch for quicktune. Zero (the default value) disables automatic saving, and you will need to have a 3 position switch to save or use GCS auxilliary functions.",
+      "DisplayName": "Quicktune auto save",
+      "Units": "s",
+      "User": "Standard"
+    },
+    "QWIK_AXES": {
+      "Bitmask": {
+        "0": "Roll",
+        "1": "Pitch",
+        "2": "Yaw"
+      },
+      "Description": "Axes to tune",
+      "DisplayName": "Quicktune axes",
+      "User": "Standard"
+    },
+    "QWIK_DOUBLE_TIME": {
+      "Description": "Time to double a tuning parameter. Raise this for a slower tune.",
+      "DisplayName": "Quicktune doubling time",
+      "Range": {
+        "high": "20",
+        "low": "5"
+      },
+      "Units": "s",
+      "User": "Standard"
+    },
+    "QWIK_ENABLE": {
+      "Description": "Enable quicktune system",
+      "DisplayName": "Quicktune enable",
+      "User": "Standard",
+      "Values": {
+        "0": "Disabled",
+        "1": "Enabled"
+      }
+    },
+    "QWIK_GAIN_MARGIN": {
+      "Description": "Reduction in gain after oscillation detected. Raise this number to get a more conservative tune",
+      "DisplayName": "Quicktune gain margin",
+      "Range": {
+        "high": "80",
+        "low": "20"
+      },
+      "Units": "%",
+      "User": "Standard"
+    },
+    "QWIK_OPTIONS": {
+      "Bitmask": {
+        "0": "UseTwoPositionSwitch"
+      },
+      "Description": "Additional options. When the Two Position Switch option is enabled then a high switch position will start the tune, low will disable the tune. you should also set a QUIK_AUTO_SAVE time so that you will be able to save the tune.",
+      "DisplayName": "Quicktune options",
+      "User": "Standard"
+    },
+    "QWIK_OSC_SMAX": {
+      "Description": "Threshold for oscillation detection. A lower value will lead to a more conservative tune.",
+      "DisplayName": "Quicktune oscillation rate threshold",
+      "Range": {
+        "high": "10",
+        "low": "1"
+      },
+      "User": "Standard"
+    },
+    "QWIK_REDUCE_MAX": {
+      "Description": "This controls how much quicktune is allowed to lower gains from the original gains. If the vehicle already has a reasonable tune and is not oscillating then you can set this to zero to prevent gain reductions. The default of 20% is reasonable for most vehicles. Using a maximum gain reduction lowers the chance of an angle P oscillation happening if quicktune gets a false positive oscillation at a low gain, which can result in very low rate gains and a dangerous angle P oscillation.",
+      "DisplayName": "Quicktune maximum gain reduction",
+      "Range": {
+        "high": "100",
+        "low": "0"
+      },
+      "Units": "%",
+      "User": "Standard"
+    },
+    "QWIK_RP_PI_RATIO": {
+      "Description": "Ratio between P and I gains for roll and pitch. Raise this to get a lower I gain",
+      "DisplayName": "Quicktune roll/pitch PI ratio",
+      "Range": {
+        "high": "2.0",
+        "low": "1.0"
+      },
+      "User": "Standard"
+    },
+    "QWIK_YAW_D_MAX": {
+      "Description": "Maximum value for yaw D gain",
+      "DisplayName": "Quicktune Yaw D max",
+      "Range": {
+        "high": "1",
+        "low": "0.001"
+      },
+      "User": "Standard"
+    },
+    "QWIK_YAW_P_MAX": {
+      "Description": "Maximum value for yaw P gain",
+      "DisplayName": "Quicktune Yaw P max",
+      "Range": {
+        "high": "3",
+        "low": "0.1"
+      },
+      "User": "Standard"
+    },
+    "QWIK_Y_PI_RATIO": {
+      "Description": "Ratio between P and I gains for yaw. Raise this to get a lower I gain",
+      "DisplayName": "Quicktune Yaw PI ratio",
+      "Range": {
+        "high": "20",
+        "low": "1.0"
+      },
+      "User": "Standard"
+    }
+  },
   "Q_": {
     "Q_ACRO_PIT_RATE": {
       "Description": "The maximum pitch rate at full stick deflection in QACRO mode",
@@ -41927,7 +42227,8 @@
         "2": "Suppress logging scripts to dataflash",
         "3": "log runtime memory usage and execution time",
         "4": "Disable pre-arm check",
-        "5": "Save CRC of current scripts to loaded and running checksum parameters enabling pre-arm"
+        "5": "Save CRC of current scripts to loaded and running checksum parameters enabling pre-arm",
+        "6": "Disable heap expansion on allocation failure"
       },
       "Description": "Debugging options",
       "DisplayName": "Scripting Debug Level",
diff --git a/Plane-4.6/apm.pdef.xml b/Plane-4.6/apm.pdef.xml
index 9973d7b..b4bfebc 100644
--- a/Plane-4.6/apm.pdef.xml
+++ b/Plane-4.6/apm.pdef.xml
@@ -1248,6 +1248,80 @@
           <value code="307">Scripting8</value>
         </values>
       </param>
+      <param humanName="Camera1 Video Stream Camera Model" name="VID1_CAMMODEL" documentation="Video stream camera model" user="Standard">
+        <values>
+          <value code="0">Unknown</value>
+          <value code="1">Siyi A8</value>
+          <value code="2">Siyi ZR10</value>
+          <value code="3">Siyi ZR30</value>
+          <value code="4">Siyi ZT30 Zoom</value>
+          <value code="5">Siyi ZT30 Wide</value>
+          <value code="6">Siyi ZT30 IR</value>
+          <value code="7">Siyi ZT6 RGB</value>
+          <value code="8">Siyi ZT6 IR</value>
+          <value code="9">Herelink WifiAP</value>
+          <value code="10">Herelink USB-tethering</value>
+          <value code="11">Topotek 1080p</value>
+          <value code="12">Topotek 480p</value>
+          <value code="13">Viewpro</value>
+        </values>
+      </param>
+      <param humanName="Camera1 Video Stream Id" name="VID1_ID" documentation="Video stream id" user="Standard">
+        <field name="Range">0 50</field>
+      </param>
+      <param humanName="Camera1 Video Stream Type" name="VID1_TYPE" documentation="Video stream type" user="Standard">
+        <values>
+          <value code="0">RTSP</value>
+          <value code="1">RTPUDP</value>
+          <value code="2">TCP_MPEG</value>
+          <value code="3">MPEG_TS</value>
+        </values>
+      </param>
+      <param humanName="Camera1 Video Stream Flags" name="VID1_FLAG" documentation="Video stream flags" user="Standard">
+        <bitmask>
+          <bit code="0">Running</bit>
+          <bit code="1">Thermal</bit>
+          <bit code="2">Thermal Range Enabled</bit>
+        </bitmask>
+        <field name="Bitmask">0:Running,1:Thermal,2:Thermal Range Enabled</field>
+      </param>
+      <param humanName="Camera1 Video Stream Frame Rate" name="VID1_FRAME_RATE" documentation="Video stream frame rate" user="Standard">
+        <field name="Range">0 50</field>
+      </param>
+      <param humanName="Camera1 Video Stream Horizontal Resolution" name="VID1_HRES" documentation="Video stream horizontal resolution" user="Standard">
+        <field name="Range">0 4096</field>
+      </param>
+      <param humanName="Camera1 Video Stream Vertical Resolution" name="VID1_VRES" documentation="Video stream vertical resolution" user="Standard">
+        <field name="Range">0 4096</field>
+      </param>
+      <param humanName="Camera1 Video Stream Bitrate" name="VID1_BITRATE" documentation="Video stream bitrate" user="Standard">
+        <field name="Range">0 10000</field>
+      </param>
+      <param humanName="Camera1 Video Stream Horizontal FOV" name="VID1_HFOV" documentation="Video stream horizontal FOV" user="Standard">
+        <field name="Range">0 360</field>
+      </param>
+      <param humanName="Camera1 Video Stream Encoding" name="VID1_ENCODING" documentation="Video stream encoding" user="Standard">
+        <values>
+          <value code="0">Unknown</value>
+          <value code="1">H264</value>
+          <value code="2">H265</value>
+        </values>
+      </param>
+      <param humanName="Camera1 Video Stream IP Address 0" name="VID1_IPADDR0" documentation="Video stream IP Address first octet" user="Standard">
+        <field name="Range">0 255</field>
+      </param>
+      <param humanName="Camera1 Video Stream IP Address 1" name="VID1_IPADDR1" documentation="Video stream IP Address second octet" user="Standard">
+        <field name="Range">0 255</field>
+      </param>
+      <param humanName="Camera1 Video Stream IP Address 2" name="VID1_IPADDR2" documentation="Video stream IP Address third octet" user="Standard">
+        <field name="Range">0 255</field>
+      </param>
+      <param humanName="Camera1 Video Stream IP Address 3" name="VID1_IPADDR3" documentation="Video stream IP Address fourth octet" user="Standard">
+        <field name="Range">0 255</field>
+      </param>
+      <param humanName="Camera1 Video Stream IP Address Port" name="VID1_IPPORT" documentation="Video stream IP Address Port" user="Standard">
+        <field name="Range">0 65535</field>
+      </param>
       <param humanName="WinchControl Rate Up" name="WINCH_RATE_UP" documentation="Maximum rate when retracting line" user="Standard">
         <field name="Range">0.1 5.0</field>
       </param>
@@ -10031,6 +10105,12 @@
           <value code="8">8M</value>
         </values>
       </param>
+      <param humanName="CAN per-interface options" name="CAN_P1_OPTIONS" documentation="CAN per-interface options" user="Advanced">
+        <bitmask>
+          <bit code="0">LogAllFrames</bit>
+        </bitmask>
+        <field name="Bitmask">0:LogAllFrames</field>
+      </param>
     </parameters>
     <parameters name="CAN_P2_">
       <param humanName="Index of virtual driver to be used with physical CAN interface" name="CAN_P2_DRIVER" documentation="Enabling this option enables use of CAN buses." user="Standard">
@@ -10054,6 +10134,12 @@
           <value code="8">8M</value>
         </values>
       </param>
+      <param humanName="CAN per-interface options" name="CAN_P2_OPTIONS" documentation="CAN per-interface options" user="Advanced">
+        <bitmask>
+          <bit code="0">LogAllFrames</bit>
+        </bitmask>
+        <field name="Bitmask">0:LogAllFrames</field>
+      </param>
     </parameters>
     <parameters name="CAN_P3_">
       <param humanName="Index of virtual driver to be used with physical CAN interface" name="CAN_P3_DRIVER" documentation="Enabling this option enables use of CAN buses." user="Standard">
@@ -10077,6 +10163,12 @@
           <value code="8">8M</value>
         </values>
       </param>
+      <param humanName="CAN per-interface options" name="CAN_P3_OPTIONS" documentation="CAN per-interface options" user="Advanced">
+        <bitmask>
+          <bit code="0">LogAllFrames</bit>
+        </bitmask>
+        <field name="Bitmask">0:LogAllFrames</field>
+      </param>
     </parameters>
     <parameters name="CAN_SLCAN_">
       <param humanName="SLCAN Route" name="CAN_SLCAN_CPORT" documentation="CAN Interface ID to be routed to SLCAN, 0 means no routing" user="Standard">
@@ -19615,6 +19707,72 @@
         <field name="Range">-80 0</field>
       </param>
     </parameters>
+    <parameters name="QWIK_">
+      <param humanName="Quicktune enable" name="QWIK_ENABLE" documentation="Enable quicktune system" user="Standard">
+        <values>
+          <value code="0">Disabled</value>
+          <value code="1">Enabled</value>
+        </values>
+      </param>
+      <param humanName="Quicktune axes" name="QWIK_AXES" documentation="Axes to tune" user="Standard">
+        <bitmask>
+          <bit code="0">Roll</bit>
+          <bit code="1">Pitch</bit>
+          <bit code="2">Yaw</bit>
+        </bitmask>
+        <field name="Bitmask">0:Roll,1:Pitch,2:Yaw</field>
+      </param>
+      <param humanName="Quicktune doubling time" name="QWIK_DOUBLE_TIME" documentation="Time to double a tuning parameter. Raise this for a slower tune." user="Standard">
+        <field name="Range">5 20</field>
+        <field name="Units">s</field>
+        <field name="UnitText">seconds</field>
+      </param>
+      <param humanName="Quicktune gain margin" name="QWIK_GAIN_MARGIN" documentation="Reduction in gain after oscillation detected. Raise this number to get a more conservative tune" user="Standard">
+        <field name="Range">20 80</field>
+        <field name="Units">%</field>
+        <field name="UnitText">percent</field>
+      </param>
+      <param humanName="Quicktune oscillation rate threshold" name="QWIK_OSC_SMAX" documentation="Threshold for oscillation detection. A lower value will lead to a more conservative tune." user="Standard">
+        <field name="Range">1 10</field>
+      </param>
+      <param humanName="Quicktune Yaw P max" name="QWIK_YAW_P_MAX" documentation="Maximum value for yaw P gain" user="Standard">
+        <field name="Range">0.1 3</field>
+      </param>
+      <param humanName="Quicktune Yaw D max" name="QWIK_YAW_D_MAX" documentation="Maximum value for yaw D gain" user="Standard">
+        <field name="Range">0.001 1</field>
+      </param>
+      <param humanName="Quicktune roll/pitch PI ratio" name="QWIK_RP_PI_RATIO" documentation="Ratio between P and I gains for roll and pitch. Raise this to get a lower I gain" user="Standard">
+        <field name="Range">1.0 2.0</field>
+      </param>
+      <param humanName="Quicktune Yaw PI ratio" name="QWIK_Y_PI_RATIO" documentation="Ratio between P and I gains for yaw. Raise this to get a lower I gain" user="Standard">
+        <field name="Range">1.0 20</field>
+      </param>
+      <param humanName="Quicktune auto filter enable" name="QWIK_AUTO_FILTER" documentation="When enabled the PID filter settings are automatically set based on INS_GYRO_FILTER" user="Standard">
+        <values>
+          <value code="0">Disabled</value>
+          <value code="1">Enabled</value>
+        </values>
+      </param>
+      <param humanName="Quicktune auto save" name="QWIK_AUTO_SAVE" documentation="Number of seconds after completion of tune to auto-save. This is useful when using a 2 position switch for quicktune. Zero (the default value) disables automatic saving, and you will need to have a 3 position switch to save or use GCS auxilliary functions." user="Standard">
+        <field name="Units">s</field>
+        <field name="UnitText">seconds</field>
+      </param>
+      <param humanName="Quicktune maximum gain reduction" name="QWIK_REDUCE_MAX" documentation="This controls how much quicktune is allowed to lower gains from the original gains. If the vehicle already has a reasonable tune and is not oscillating then you can set this to zero to prevent gain reductions. The default of 20% is reasonable for most vehicles. Using a maximum gain reduction lowers the chance of an angle P oscillation happening if quicktune gets a false positive oscillation at a low gain, which can result in very low rate gains and a dangerous angle P oscillation." user="Standard">
+        <field name="Units">%</field>
+        <field name="UnitText">percent</field>
+        <field name="Range">0 100</field>
+      </param>
+      <param humanName="Quicktune options" name="QWIK_OPTIONS" documentation="Additional options. When the Two Position Switch option is enabled then a high switch position will start the tune, low will disable the tune. you should also set a QUIK_AUTO_SAVE time so that you will be able to save the tune." user="Standard">
+        <bitmask>
+          <bit code="0">UseTwoPositionSwitch</bit>
+        </bitmask>
+        <field name="Bitmask">0:UseTwoPositionSwitch</field>
+      </param>
+      <param humanName="maximum angle error for tune abort" name="QWIK_ANGLE_MAX" documentation="If while tuning the angle error goes over this limit then the tune will aborts to prevent a bad oscillation in the case of the tuning algorithm failing. If you get an error &quot;Quicktune: attitude error ABORTING&quot; and you think it is a false positive then you can either raise this parameter or you can try increasing the QWIK_DOUBLE_TIME to do the tune more slowly." user="Standard">
+        <field name="Units">deg</field>
+        <field name="UnitText">degrees</field>
+      </param>
+    </parameters>
     <parameters name="Q_">
       <param humanName="Enable QuadPlane" name="Q_ENABLE" documentation="This enables QuadPlane functionality, assuming multicopter motors start on output 5. If this is set to 2 then when starting AUTO mode it will initially be in VTOL AUTO mode." user="Standard">
         <values>
@@ -26563,8 +26721,9 @@
           <bit code="3">log runtime memory usage and execution time</bit>
           <bit code="4">Disable pre-arm check</bit>
           <bit code="5">Save CRC of current scripts to loaded and running checksum parameters enabling pre-arm</bit>
+          <bit code="6">Disable heap expansion on allocation failure</bit>
         </bitmask>
-        <field name="Bitmask">0: No Scripts to run message if all scripts have stopped, 1: Runtime messages for memory usage and execution time, 2: Suppress logging scripts to dataflash, 3: log runtime memory usage and execution time, 4: Disable pre-arm check, 5: Save CRC of current scripts to loaded and running checksum parameters enabling pre-arm</field>
+        <field name="Bitmask">0: No Scripts to run message if all scripts have stopped, 1: Runtime messages for memory usage and execution time, 2: Suppress logging scripts to dataflash, 3: log runtime memory usage and execution time, 4: Disable pre-arm check, 5: Save CRC of current scripts to loaded and running checksum parameters enabling pre-arm, 6: Disable heap expansion on allocation failure</field>
       </param>
       <param humanName="Scripting User Parameter1" name="SCR_USER1" documentation="General purpose user variable input for scripts" user="Standard">
 </param>
diff --git a/Rover-4.6/Parameters.html b/Rover-4.6/Parameters.html
index db5c0cb..b025bb9 100644
--- a/Rover-4.6/Parameters.html
+++ b/Rover-4.6/Parameters.html
@@ -1236,6 +1236,150 @@ <h2>Rover Quicktune RC function (RTUN_RC_FUNC)</h2>
 </ul>
 
 
+<h2>Camera1 Video Stream Camera Model (VID1_CAMMODEL)</h2>
+
+<p>Video stream camera model</p>
+<ul>
+<table><th>Value</th><th>Meaning</th>
+<tr><td>0</td><td>Unknown</td></tr>
+<tr><td>1</td><td>Siyi A8</td></tr>
+<tr><td>2</td><td>Siyi ZR10</td></tr>
+<tr><td>3</td><td>Siyi ZR30</td></tr>
+<tr><td>4</td><td>Siyi ZT30 Zoom</td></tr>
+<tr><td>5</td><td>Siyi ZT30 Wide</td></tr>
+<tr><td>6</td><td>Siyi ZT30 IR</td></tr>
+<tr><td>7</td><td>Siyi ZT6 RGB</td></tr>
+<tr><td>8</td><td>Siyi ZT6 IR</td></tr>
+<tr><td>9</td><td>Herelink WifiAP</td></tr>
+<tr><td>10</td><td>Herelink USB-tethering</td></tr>
+<tr><td>11</td><td>Topotek 1080p</td></tr>
+<tr><td>12</td><td>Topotek 480p</td></tr>
+<tr><td>13</td><td>Viewpro</td></tr>
+</table>
+</ul>
+
+
+<h2>Camera1 Video Stream Id (VID1_ID)</h2>
+
+<p>Video stream id</p>
+<ul>
+<li>Range: 0 50</li>
+</ul>
+
+
+<h2>Camera1 Video Stream Type (VID1_TYPE)</h2>
+
+<p>Video stream type</p>
+<ul>
+<table><th>Value</th><th>Meaning</th>
+<tr><td>0</td><td>RTSP</td></tr>
+<tr><td>1</td><td>RTPUDP</td></tr>
+<tr><td>2</td><td>TCP_MPEG</td></tr>
+<tr><td>3</td><td>MPEG_TS</td></tr>
+</table>
+</ul>
+
+
+<h2>Camera1 Video Stream Flags (VID1_FLAG)</h2>
+
+<p>Video stream flags</p>
+<ul>
+<li>Bitmask: 0:Running,1:Thermal,2:Thermal Range Enabled</li>
+</ul>
+
+
+<h2>Camera1 Video Stream Frame Rate (VID1_FRAME_RATE)</h2>
+
+<p>Video stream frame rate</p>
+<ul>
+<li>Range: 0 50</li>
+</ul>
+
+
+<h2>Camera1 Video Stream Horizontal Resolution (VID1_HRES)</h2>
+
+<p>Video stream horizontal resolution</p>
+<ul>
+<li>Range: 0 4096</li>
+</ul>
+
+
+<h2>Camera1 Video Stream Vertical Resolution (VID1_VRES)</h2>
+
+<p>Video stream vertical resolution</p>
+<ul>
+<li>Range: 0 4096</li>
+</ul>
+
+
+<h2>Camera1 Video Stream Bitrate (VID1_BITRATE)</h2>
+
+<p>Video stream bitrate</p>
+<ul>
+<li>Range: 0 10000</li>
+</ul>
+
+
+<h2>Camera1 Video Stream Horizontal FOV (VID1_HFOV)</h2>
+
+<p>Video stream horizontal FOV</p>
+<ul>
+<li>Range: 0 360</li>
+</ul>
+
+
+<h2>Camera1 Video Stream Encoding (VID1_ENCODING)</h2>
+
+<p>Video stream encoding</p>
+<ul>
+<table><th>Value</th><th>Meaning</th>
+<tr><td>0</td><td>Unknown</td></tr>
+<tr><td>1</td><td>H264</td></tr>
+<tr><td>2</td><td>H265</td></tr>
+</table>
+</ul>
+
+
+<h2>Camera1 Video Stream IP Address 0 (VID1_IPADDR0)</h2>
+
+<p>Video stream IP Address first octet</p>
+<ul>
+<li>Range: 0 255</li>
+</ul>
+
+
+<h2>Camera1 Video Stream IP Address 1 (VID1_IPADDR1)</h2>
+
+<p>Video stream IP Address second octet</p>
+<ul>
+<li>Range: 0 255</li>
+</ul>
+
+
+<h2>Camera1 Video Stream IP Address 2 (VID1_IPADDR2)</h2>
+
+<p>Video stream IP Address third octet</p>
+<ul>
+<li>Range: 0 255</li>
+</ul>
+
+
+<h2>Camera1 Video Stream IP Address 3 (VID1_IPADDR3)</h2>
+
+<p>Video stream IP Address fourth octet</p>
+<ul>
+<li>Range: 0 255</li>
+</ul>
+
+
+<h2>Camera1 Video Stream IP Address Port (VID1_IPPORT)</h2>
+
+<p>Video stream IP Address Port</p>
+<ul>
+<li>Range: 0 65535</li>
+</ul>
+
+
 <h2>WinchControl Rate Up (WINCH_RATE_UP)</h2>
 
 <p>Maximum rate when retracting line</p>
@@ -13852,6 +13996,14 @@ <h2>Bitrate of CANFD interface (CAN_P1_FDBITRATE)</h2><em>Note: This parameter i
 </ul>
 
 
+<h2>CAN per-interface options (CAN_P1_OPTIONS)</h2><em>Note: This parameter is for advanced users</em><br>
+
+<p>CAN per-interface options</p>
+<ul>
+<li>Bitmask: 0:LogAllFrames</li>
+</ul>
+
+
 <h1>CAN_P2_ Parameters</h1>
 
 
@@ -13891,6 +14043,14 @@ <h2>Bitrate of CANFD interface (CAN_P2_FDBITRATE)</h2><em>Note: This parameter i
 </ul>
 
 
+<h2>CAN per-interface options (CAN_P2_OPTIONS)</h2><em>Note: This parameter is for advanced users</em><br>
+
+<p>CAN per-interface options</p>
+<ul>
+<li>Bitmask: 0:LogAllFrames</li>
+</ul>
+
+
 <h1>CAN_P3_ Parameters</h1>
 
 
@@ -13930,6 +14090,14 @@ <h2>Bitrate of CANFD interface (CAN_P3_FDBITRATE)</h2><em>Note: This parameter i
 </ul>
 
 
+<h2>CAN per-interface options (CAN_P3_OPTIONS)</h2><em>Note: This parameter is for advanced users</em><br>
+
+<p>CAN per-interface options</p>
+<ul>
+<li>Bitmask: 0:LogAllFrames</li>
+</ul>
+
+
 <h1>CAN_SLCAN_ Parameters</h1>
 
 
@@ -39920,7 +40088,7 @@ <h2>Scripting Debug Level (SCR_DEBUG_OPTS)</h2><em>Note: This parameter is for a
 
 <p>Debugging options</p>
 <ul>
-<li>Bitmask: 0: No Scripts to run message if all scripts have stopped, 1: Runtime messages for memory usage and execution time, 2: Suppress logging scripts to dataflash, 3: log runtime memory usage and execution time, 4: Disable pre-arm check, 5: Save CRC of current scripts to loaded and running checksum parameters enabling pre-arm</li>
+<li>Bitmask: 0: No Scripts to run message if all scripts have stopped, 1: Runtime messages for memory usage and execution time, 2: Suppress logging scripts to dataflash, 3: log runtime memory usage and execution time, 4: Disable pre-arm check, 5: Save CRC of current scripts to loaded and running checksum parameters enabling pre-arm, 6: Disable heap expansion on allocation failure</li>
 </ul>
 
 
diff --git a/Rover-4.6/Parameters.md b/Rover-4.6/Parameters.md
index b572791..dd32477 100644
--- a/Rover-4.6/Parameters.md
+++ b/Rover-4.6/Parameters.md
@@ -1087,6 +1087,120 @@ RCn_OPTION number to use to control tuning stop/start/save
 |306|Scripting7|
 |307|Scripting8|
 
+## VID1_CAMMODEL: Camera1 Video Stream Camera Model
+
+Video stream camera model
+
+|Value|Meaning|
+|:---:|:---:|
+|0|Unknown|
+|1|Siyi A8|
+|2|Siyi ZR10|
+|3|Siyi ZR30|
+|4|Siyi ZT30 Zoom|
+|5|Siyi ZT30 Wide|
+|6|Siyi ZT30 IR|
+|7|Siyi ZT6 RGB|
+|8|Siyi ZT6 IR|
+|9|Herelink WifiAP|
+|10|Herelink USB-tethering|
+|11|Topotek 1080p|
+|12|Topotek 480p|
+|13|Viewpro|
+
+## VID1_ID: Camera1 Video Stream Id
+
+Video stream id
+
+- Range: 0 50
+
+## VID1_TYPE: Camera1 Video Stream Type
+
+Video stream type
+
+|Value|Meaning|
+|:---:|:---:|
+|0|RTSP|
+|1|RTPUDP|
+|2|TCP_MPEG|
+|3|MPEG_TS|
+
+## VID1_FLAG: Camera1 Video Stream Flags
+
+Video stream flags
+
+- Bitmask: 0:Running,1:Thermal,2:Thermal Range Enabled
+
+## VID1_FRAME_RATE: Camera1 Video Stream Frame Rate
+
+Video stream frame rate
+
+- Range: 0 50
+
+## VID1_HRES: Camera1 Video Stream Horizontal Resolution
+
+Video stream horizontal resolution
+
+- Range: 0 4096
+
+## VID1_VRES: Camera1 Video Stream Vertical Resolution
+
+Video stream vertical resolution
+
+- Range: 0 4096
+
+## VID1_BITRATE: Camera1 Video Stream Bitrate
+
+Video stream bitrate
+
+- Range: 0 10000
+
+## VID1_HFOV: Camera1 Video Stream Horizontal FOV
+
+Video stream horizontal FOV
+
+- Range: 0 360
+
+## VID1_ENCODING: Camera1 Video Stream Encoding
+
+Video stream encoding
+
+|Value|Meaning|
+|:---:|:---:|
+|0|Unknown|
+|1|H264|
+|2|H265|
+
+## VID1_IPADDR0: Camera1 Video Stream IP Address 0
+
+Video stream IP Address first octet
+
+- Range: 0 255
+
+## VID1_IPADDR1: Camera1 Video Stream IP Address 1
+
+Video stream IP Address second octet
+
+- Range: 0 255
+
+## VID1_IPADDR2: Camera1 Video Stream IP Address 2
+
+Video stream IP Address third octet
+
+- Range: 0 255
+
+## VID1_IPADDR3: Camera1 Video Stream IP Address 3
+
+Video stream IP Address fourth octet
+
+- Range: 0 255
+
+## VID1_IPPORT: Camera1 Video Stream IP Address Port
+
+Video stream IP Address Port
+
+- Range: 0 65535
+
 ## WINCH_RATE_UP: WinchControl Rate Up
 
 Maximum rate when retracting line
@@ -13270,6 +13384,14 @@ Bit rate can be set up to from 1000000 to 8000000
 |5|5M|
 |8|8M|
 
+## CAN_P1_OPTIONS: CAN per-interface options
+
+*Note: This parameter is for advanced users*
+
+CAN per-interface options
+
+- Bitmask: 0:LogAllFrames
+
 # CANP2 Parameters
 
 ## CAN_P2_DRIVER: Index of virtual driver to be used with physical CAN interface
@@ -13307,6 +13429,14 @@ Bit rate can be set up to from 1000000 to 8000000
 |5|5M|
 |8|8M|
 
+## CAN_P2_OPTIONS: CAN per-interface options
+
+*Note: This parameter is for advanced users*
+
+CAN per-interface options
+
+- Bitmask: 0:LogAllFrames
+
 # CANP3 Parameters
 
 ## CAN_P3_DRIVER: Index of virtual driver to be used with physical CAN interface
@@ -13344,6 +13474,14 @@ Bit rate can be set up to from 1000000 to 8000000
 |5|5M|
 |8|8M|
 
+## CAN_P3_OPTIONS: CAN per-interface options
+
+*Note: This parameter is for advanced users*
+
+CAN per-interface options
+
+- Bitmask: 0:LogAllFrames
+
 # CANSLCAN Parameters
 
 ## CAN_SLCAN_CPORT: SLCAN Route
@@ -34886,7 +35024,7 @@ Amount of memory available for scripting
 
 Debugging options
 
-- Bitmask: 0: No Scripts to run message if all scripts have stopped, 1: Runtime messages for memory usage and execution time, 2: Suppress logging scripts to dataflash, 3: log runtime memory usage and execution time, 4: Disable pre-arm check, 5: Save CRC of current scripts to loaded and running checksum parameters enabling pre-arm
+- Bitmask: 0: No Scripts to run message if all scripts have stopped, 1: Runtime messages for memory usage and execution time, 2: Suppress logging scripts to dataflash, 3: log runtime memory usage and execution time, 4: Disable pre-arm check, 5: Save CRC of current scripts to loaded and running checksum parameters enabling pre-arm, 6: Disable heap expansion on allocation failure
 
 ## SCR_USER1: Scripting User Parameter1
 
diff --git a/Rover-4.6/Parameters.rst b/Rover-4.6/Parameters.rst
index bee0051..03df5c5 100644
--- a/Rover-4.6/Parameters.rst
+++ b/Rover-4.6/Parameters.rst
@@ -28867,6 +28867,30 @@ Bit rate can be set up to from 1000000 to 8000000
 
 
 
+.. _CAN_P1_OPTIONS:
+
+CAN\_P1\_OPTIONS: CAN per\-interface options
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+| *Note: This parameter is for advanced users*
+
+CAN per\-interface options
+
+
++------------------------+
+| Bitmask                |
++========================+
+| +-----+--------------+ |
+| | Bit | Meaning      | |
+| +=====+==============+ |
+| | 0   | LogAllFrames | |
+| +-----+--------------+ |
+|                        |
++------------------------+
+
+
+
+
 
 .. _parameters_CAN_P2_:
 
@@ -28955,6 +28979,30 @@ Bit rate can be set up to from 1000000 to 8000000
 
 
 
+.. _CAN_P2_OPTIONS:
+
+CAN\_P2\_OPTIONS: CAN per\-interface options
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+| *Note: This parameter is for advanced users*
+
+CAN per\-interface options
+
+
++------------------------+
+| Bitmask                |
++========================+
+| +-----+--------------+ |
+| | Bit | Meaning      | |
+| +=====+==============+ |
+| | 0   | LogAllFrames | |
+| +-----+--------------+ |
+|                        |
++------------------------+
+
+
+
+
 
 .. _parameters_CAN_P3_:
 
@@ -29043,6 +29091,30 @@ Bit rate can be set up to from 1000000 to 8000000
 
 
 
+.. _CAN_P3_OPTIONS:
+
+CAN\_P3\_OPTIONS: CAN per\-interface options
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+| *Note: This parameter is for advanced users*
+
+CAN per\-interface options
+
+
++------------------------+
+| Bitmask                |
++========================+
+| +-----+--------------+ |
+| | Bit | Meaning      | |
+| +=====+==============+ |
+| | 0   | LogAllFrames | |
+| +-----+--------------+ |
+|                        |
++------------------------+
+
+
+
+
 
 .. _parameters_CAN_SLCAN_:
 
@@ -84796,6 +84868,8 @@ Debugging options
 | +-----+----------------------------------------------------------------------------------------+ |
 | | 5   | Save CRC of current scripts to loaded and running checksum parameters enabling pre-arm | |
 | +-----+----------------------------------------------------------------------------------------+ |
+| | 6   | Disable heap expansion on allocation failure                                           | |
+| +-----+----------------------------------------------------------------------------------------+ |
 |                                                                                                  |
 +--------------------------------------------------------------------------------------------------+
 
diff --git a/Rover-4.6/ParametersLatex.rst b/Rover-4.6/ParametersLatex.rst
index fe2124d..8794106 100644
--- a/Rover-4.6/ParametersLatex.rst
+++ b/Rover-4.6/ParametersLatex.rst
@@ -2488,6 +2488,316 @@ RCn\_OPTION number to use to control tuning stop\/start\/save
 
 
 
+.. _VID1_CAMMODEL:
+
+VID1\_CAMMODEL: Camera1 Video Stream Camera Model
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+
+Video stream camera model
+
+
++-------+------------------------+
+| Value | Meaning                |
++=======+========================+
+| 0     | Unknown                |
++-------+------------------------+
+| 1     | Siyi A8                |
++-------+------------------------+
+| 2     | Siyi ZR10              |
++-------+------------------------+
+| 3     | Siyi ZR30              |
++-------+------------------------+
+| 4     | Siyi ZT30 Zoom         |
++-------+------------------------+
+| 5     | Siyi ZT30 Wide         |
++-------+------------------------+
+| 6     | Siyi ZT30 IR           |
++-------+------------------------+
+| 7     | Siyi ZT6 RGB           |
++-------+------------------------+
+| 8     | Siyi ZT6 IR            |
++-------+------------------------+
+| 9     | Herelink WifiAP        |
++-------+------------------------+
+| 10    | Herelink USB-tethering |
++-------+------------------------+
+| 11    | Topotek 1080p          |
++-------+------------------------+
+| 12    | Topotek 480p           |
++-------+------------------------+
+| 13    | Viewpro                |
++-------+------------------------+
+
+
+
+
+.. _VID1_ID:
+
+VID1\_ID: Camera1 Video Stream Id
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+
+Video stream id
+
+
++---------+
+| Range   |
++=========+
+| 0 to 50 |
++---------+
+
+
+
+
+.. _VID1_TYPE:
+
+VID1\_TYPE: Camera1 Video Stream Type
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+
+Video stream type
+
+
++-------+----------+
+| Value | Meaning  |
++=======+==========+
+| 0     | RTSP     |
++-------+----------+
+| 1     | RTPUDP   |
++-------+----------+
+| 2     | TCP_MPEG |
++-------+----------+
+| 3     | MPEG_TS  |
++-------+----------+
+
+
+
+
+.. _VID1_FLAG:
+
+VID1\_FLAG: Camera1 Video Stream Flags
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+
+Video stream flags
+
+
++-----+-----------------------+
+| Bit | Meaning               |
++=====+=======================+
+| 0   | Running               |
++-----+-----------------------+
+| 1   | Thermal               |
++-----+-----------------------+
+| 2   | Thermal Range Enabled |
++-----+-----------------------+
+
+
+
+
+.. _VID1_FRAME_RATE:
+
+VID1\_FRAME\_RATE: Camera1 Video Stream Frame Rate
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+
+Video stream frame rate
+
+
++---------+
+| Range   |
++=========+
+| 0 to 50 |
++---------+
+
+
+
+
+.. _VID1_HRES:
+
+VID1\_HRES: Camera1 Video Stream Horizontal Resolution
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+
+Video stream horizontal resolution
+
+
++-----------+
+| Range     |
++===========+
+| 0 to 4096 |
++-----------+
+
+
+
+
+.. _VID1_VRES:
+
+VID1\_VRES: Camera1 Video Stream Vertical Resolution
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+
+Video stream vertical resolution
+
+
++-----------+
+| Range     |
++===========+
+| 0 to 4096 |
++-----------+
+
+
+
+
+.. _VID1_BITRATE:
+
+VID1\_BITRATE: Camera1 Video Stream Bitrate
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+
+Video stream bitrate
+
+
++------------+
+| Range      |
++============+
+| 0 to 10000 |
++------------+
+
+
+
+
+.. _VID1_HFOV:
+
+VID1\_HFOV: Camera1 Video Stream Horizontal FOV
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+
+Video stream horizontal FOV
+
+
++----------+
+| Range    |
++==========+
+| 0 to 360 |
++----------+
+
+
+
+
+.. _VID1_ENCODING:
+
+VID1\_ENCODING: Camera1 Video Stream Encoding
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+
+Video stream encoding
+
+
++-------+---------+
+| Value | Meaning |
++=======+=========+
+| 0     | Unknown |
++-------+---------+
+| 1     | H264    |
++-------+---------+
+| 2     | H265    |
++-------+---------+
+
+
+
+
+.. _VID1_IPADDR0:
+
+VID1\_IPADDR0: Camera1 Video Stream IP Address 0
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+
+Video stream IP Address first octet
+
+
++----------+
+| Range    |
++==========+
+| 0 to 255 |
++----------+
+
+
+
+
+.. _VID1_IPADDR1:
+
+VID1\_IPADDR1: Camera1 Video Stream IP Address 1
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+
+Video stream IP Address second octet
+
+
++----------+
+| Range    |
++==========+
+| 0 to 255 |
++----------+
+
+
+
+
+.. _VID1_IPADDR2:
+
+VID1\_IPADDR2: Camera1 Video Stream IP Address 2
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+
+Video stream IP Address third octet
+
+
++----------+
+| Range    |
++==========+
+| 0 to 255 |
++----------+
+
+
+
+
+.. _VID1_IPADDR3:
+
+VID1\_IPADDR3: Camera1 Video Stream IP Address 3
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+
+Video stream IP Address fourth octet
+
+
++----------+
+| Range    |
++==========+
+| 0 to 255 |
++----------+
+
+
+
+
+.. _VID1_IPPORT:
+
+VID1\_IPPORT: Camera1 Video Stream IP Address Port
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+
+Video stream IP Address Port
+
+
++------------+
+| Range      |
++============+
+| 0 to 65535 |
++------------+
+
+
+
+
 .. _WINCH_RATE_UP:
 
 WINCH\_RATE\_UP: WinchControl Rate Up
@@ -30862,6 +31172,25 @@ Bit rate can be set up to from 1000000 to 8000000
 
 
 
+.. _CAN_P1_OPTIONS:
+
+CAN\_P1\_OPTIONS: CAN per\-interface options
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+| *Note: This parameter is for advanced users*
+
+CAN per\-interface options
+
+
++-----+--------------+
+| Bit | Meaning      |
++=====+==============+
+| 0   | LogAllFrames |
++-----+--------------+
+
+
+
+
 
 .. _parameters_CAN_P2_:
 
@@ -30940,6 +31269,25 @@ Bit rate can be set up to from 1000000 to 8000000
 
 
 
+.. _CAN_P2_OPTIONS:
+
+CAN\_P2\_OPTIONS: CAN per\-interface options
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+| *Note: This parameter is for advanced users*
+
+CAN per\-interface options
+
+
++-----+--------------+
+| Bit | Meaning      |
++=====+==============+
+| 0   | LogAllFrames |
++-----+--------------+
+
+
+
+
 
 .. _parameters_CAN_P3_:
 
@@ -31018,6 +31366,25 @@ Bit rate can be set up to from 1000000 to 8000000
 
 
 
+.. _CAN_P3_OPTIONS:
+
+CAN\_P3\_OPTIONS: CAN per\-interface options
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+| *Note: This parameter is for advanced users*
+
+CAN per\-interface options
+
+
++-----+--------------+
+| Bit | Meaning      |
++=====+==============+
+| 0   | LogAllFrames |
++-----+--------------+
+
+
+
+
 
 .. _parameters_CAN_SLCAN_:
 
@@ -83394,6 +83761,8 @@ Debugging options
 +-----+----------------------------------------------------------------------------------------+
 | 5   | Save CRC of current scripts to loaded and running checksum parameters enabling pre-arm |
 +-----+----------------------------------------------------------------------------------------+
+| 6   | Disable heap expansion on allocation failure                                           |
++-----+----------------------------------------------------------------------------------------+
 
 
 
diff --git a/Rover-4.6/apm.pdef.json b/Rover-4.6/apm.pdef.json
index bafe1f9..8ebd4b3 100644
--- a/Rover-4.6/apm.pdef.json
+++ b/Rover-4.6/apm.pdef.json
@@ -11890,6 +11890,14 @@
         "5": "5M",
         "8": "8M"
       }
+    },
+    "CAN_P1_OPTIONS": {
+      "Bitmask": {
+        "0": "LogAllFrames"
+      },
+      "Description": "CAN per-interface options",
+      "DisplayName": "CAN per-interface options",
+      "User": "Advanced"
     }
   },
   "CAN_P2_": {
@@ -11925,6 +11933,14 @@
         "5": "5M",
         "8": "8M"
       }
+    },
+    "CAN_P2_OPTIONS": {
+      "Bitmask": {
+        "0": "LogAllFrames"
+      },
+      "Description": "CAN per-interface options",
+      "DisplayName": "CAN per-interface options",
+      "User": "Advanced"
     }
   },
   "CAN_P3_": {
@@ -11960,6 +11976,14 @@
         "5": "5M",
         "8": "8M"
       }
+    },
+    "CAN_P3_OPTIONS": {
+      "Bitmask": {
+        "0": "LogAllFrames"
+      },
+      "Description": "CAN per-interface options",
+      "DisplayName": "CAN per-interface options",
+      "User": "Advanced"
     }
   },
   "CAN_SLCAN_": {
@@ -20112,6 +20136,157 @@
         "low": "301"
       }
     },
+    "VID1_BITRATE": {
+      "Description": "Video stream bitrate",
+      "DisplayName": "Camera1 Video Stream Bitrate",
+      "Range": {
+        "high": "10000",
+        "low": "0"
+      },
+      "User": "Standard"
+    },
+    "VID1_CAMMODEL": {
+      "Description": "Video stream camera model",
+      "DisplayName": "Camera1 Video Stream Camera Model",
+      "User": "Standard",
+      "Values": {
+        "0": "Unknown",
+        "1": "Siyi A8",
+        "10": "Herelink USB-tethering",
+        "11": "Topotek 1080p",
+        "12": "Topotek 480p",
+        "13": "Viewpro",
+        "2": "Siyi ZR10",
+        "3": "Siyi ZR30",
+        "4": "Siyi ZT30 Zoom",
+        "5": "Siyi ZT30 Wide",
+        "6": "Siyi ZT30 IR",
+        "7": "Siyi ZT6 RGB",
+        "8": "Siyi ZT6 IR",
+        "9": "Herelink WifiAP"
+      }
+    },
+    "VID1_ENCODING": {
+      "Description": "Video stream encoding",
+      "DisplayName": "Camera1 Video Stream Encoding",
+      "User": "Standard",
+      "Values": {
+        "0": "Unknown",
+        "1": "H264",
+        "2": "H265"
+      }
+    },
+    "VID1_FLAG": {
+      "Bitmask": {
+        "0": "Running",
+        "1": "Thermal",
+        "2": "Thermal Range Enabled"
+      },
+      "Description": "Video stream flags",
+      "DisplayName": "Camera1 Video Stream Flags",
+      "User": "Standard"
+    },
+    "VID1_FRAME_RATE": {
+      "Description": "Video stream frame rate",
+      "DisplayName": "Camera1 Video Stream Frame Rate",
+      "Range": {
+        "high": "50",
+        "low": "0"
+      },
+      "User": "Standard"
+    },
+    "VID1_HFOV": {
+      "Description": "Video stream horizontal FOV",
+      "DisplayName": "Camera1 Video Stream Horizontal FOV",
+      "Range": {
+        "high": "360",
+        "low": "0"
+      },
+      "User": "Standard"
+    },
+    "VID1_HRES": {
+      "Description": "Video stream horizontal resolution",
+      "DisplayName": "Camera1 Video Stream Horizontal Resolution",
+      "Range": {
+        "high": "4096",
+        "low": "0"
+      },
+      "User": "Standard"
+    },
+    "VID1_ID": {
+      "Description": "Video stream id",
+      "DisplayName": "Camera1 Video Stream Id",
+      "Range": {
+        "high": "50",
+        "low": "0"
+      },
+      "User": "Standard"
+    },
+    "VID1_IPADDR0": {
+      "Description": "Video stream IP Address first octet",
+      "DisplayName": "Camera1 Video Stream IP Address 0",
+      "Range": {
+        "high": "255",
+        "low": "0"
+      },
+      "User": "Standard"
+    },
+    "VID1_IPADDR1": {
+      "Description": "Video stream IP Address second octet",
+      "DisplayName": "Camera1 Video Stream IP Address 1",
+      "Range": {
+        "high": "255",
+        "low": "0"
+      },
+      "User": "Standard"
+    },
+    "VID1_IPADDR2": {
+      "Description": "Video stream IP Address third octet",
+      "DisplayName": "Camera1 Video Stream IP Address 2",
+      "Range": {
+        "high": "255",
+        "low": "0"
+      },
+      "User": "Standard"
+    },
+    "VID1_IPADDR3": {
+      "Description": "Video stream IP Address fourth octet",
+      "DisplayName": "Camera1 Video Stream IP Address 3",
+      "Range": {
+        "high": "255",
+        "low": "0"
+      },
+      "User": "Standard"
+    },
+    "VID1_IPPORT": {
+      "Description": "Video stream IP Address Port",
+      "DisplayName": "Camera1 Video Stream IP Address Port",
+      "Range": {
+        "high": "65535",
+        "low": "0"
+      },
+      "User": "Standard"
+    },
+    "VID1_TYPE": {
+      "Description": "Video stream type",
+      "DisplayName": "Camera1 Video Stream Type",
+      "User": "Standard",
+      "Values": {
+        "0": "RTSP",
+        "1": "RTPUDP",
+        "2": "TCP_MPEG",
+        "3": "MPEG_TS"
+      }
+    },
+    "VID1_VRES": {
+      "Description": "Video stream vertical resolution",
+      "DisplayName": "Camera1 Video Stream Vertical Resolution",
+      "Range": {
+        "high": "4096",
+        "low": "0"
+      },
+      "User": "Standard"
+    },
     "VIEP_CAM_SWHIGH": {
       "Description": "Camera selection when switch is in high position",
       "DisplayName": "ViewPro Camera For Switch High",
@@ -38786,7 +38961,8 @@
         "2": "Suppress logging scripts to dataflash",
         "3": "log runtime memory usage and execution time",
         "4": "Disable pre-arm check",
-        "5": "Save CRC of current scripts to loaded and running checksum parameters enabling pre-arm"
+        "5": "Save CRC of current scripts to loaded and running checksum parameters enabling pre-arm",
+        "6": "Disable heap expansion on allocation failure"
       },
       "Description": "Debugging options",
       "DisplayName": "Scripting Debug Level",
diff --git a/Rover-4.6/apm.pdef.xml b/Rover-4.6/apm.pdef.xml
index a87160b..634d0dd 100644
--- a/Rover-4.6/apm.pdef.xml
+++ b/Rover-4.6/apm.pdef.xml
@@ -755,6 +755,80 @@
           <value code="307">Scripting8</value>
         </values>
       </param>
+      <param humanName="Camera1 Video Stream Camera Model" name="VID1_CAMMODEL" documentation="Video stream camera model" user="Standard">
+        <values>
+          <value code="0">Unknown</value>
+          <value code="1">Siyi A8</value>
+          <value code="2">Siyi ZR10</value>
+          <value code="3">Siyi ZR30</value>
+          <value code="4">Siyi ZT30 Zoom</value>
+          <value code="5">Siyi ZT30 Wide</value>
+          <value code="6">Siyi ZT30 IR</value>
+          <value code="7">Siyi ZT6 RGB</value>
+          <value code="8">Siyi ZT6 IR</value>
+          <value code="9">Herelink WifiAP</value>
+          <value code="10">Herelink USB-tethering</value>
+          <value code="11">Topotek 1080p</value>
+          <value code="12">Topotek 480p</value>
+          <value code="13">Viewpro</value>
+        </values>
+      </param>
+      <param humanName="Camera1 Video Stream Id" name="VID1_ID" documentation="Video stream id" user="Standard">
+        <field name="Range">0 50</field>
+      </param>
+      <param humanName="Camera1 Video Stream Type" name="VID1_TYPE" documentation="Video stream type" user="Standard">
+        <values>
+          <value code="0">RTSP</value>
+          <value code="1">RTPUDP</value>
+          <value code="2">TCP_MPEG</value>
+          <value code="3">MPEG_TS</value>
+        </values>
+      </param>
+      <param humanName="Camera1 Video Stream Flags" name="VID1_FLAG" documentation="Video stream flags" user="Standard">
+        <bitmask>
+          <bit code="0">Running</bit>
+          <bit code="1">Thermal</bit>
+          <bit code="2">Thermal Range Enabled</bit>
+        </bitmask>
+        <field name="Bitmask">0:Running,1:Thermal,2:Thermal Range Enabled</field>
+      </param>
+      <param humanName="Camera1 Video Stream Frame Rate" name="VID1_FRAME_RATE" documentation="Video stream frame rate" user="Standard">
+        <field name="Range">0 50</field>
+      </param>
+      <param humanName="Camera1 Video Stream Horizontal Resolution" name="VID1_HRES" documentation="Video stream horizontal resolution" user="Standard">
+        <field name="Range">0 4096</field>
+      </param>
+      <param humanName="Camera1 Video Stream Vertical Resolution" name="VID1_VRES" documentation="Video stream vertical resolution" user="Standard">
+        <field name="Range">0 4096</field>
+      </param>
+      <param humanName="Camera1 Video Stream Bitrate" name="VID1_BITRATE" documentation="Video stream bitrate" user="Standard">
+        <field name="Range">0 10000</field>
+      </param>
+      <param humanName="Camera1 Video Stream Horizontal FOV" name="VID1_HFOV" documentation="Video stream horizontal FOV" user="Standard">
+        <field name="Range">0 360</field>
+      </param>
+      <param humanName="Camera1 Video Stream Encoding" name="VID1_ENCODING" documentation="Video stream encoding" user="Standard">
+        <values>
+          <value code="0">Unknown</value>
+          <value code="1">H264</value>
+          <value code="2">H265</value>
+        </values>
+      </param>
+      <param humanName="Camera1 Video Stream IP Address 0" name="VID1_IPADDR0" documentation="Video stream IP Address first octet" user="Standard">
+        <field name="Range">0 255</field>
+      </param>
+      <param humanName="Camera1 Video Stream IP Address 1" name="VID1_IPADDR1" documentation="Video stream IP Address second octet" user="Standard">
+        <field name="Range">0 255</field>
+      </param>
+      <param humanName="Camera1 Video Stream IP Address 2" name="VID1_IPADDR2" documentation="Video stream IP Address third octet" user="Standard">
+        <field name="Range">0 255</field>
+      </param>
+      <param humanName="Camera1 Video Stream IP Address 3" name="VID1_IPADDR3" documentation="Video stream IP Address fourth octet" user="Standard">
+        <field name="Range">0 255</field>
+      </param>
+      <param humanName="Camera1 Video Stream IP Address Port" name="VID1_IPPORT" documentation="Video stream IP Address Port" user="Standard">
+        <field name="Range">0 65535</field>
+      </param>
       <param humanName="WinchControl Rate Up" name="WINCH_RATE_UP" documentation="Maximum rate when retracting line" user="Standard">
         <field name="Range">0.1 5.0</field>
       </param>
@@ -9575,6 +9649,12 @@
           <value code="8">8M</value>
         </values>
       </param>
+      <param humanName="CAN per-interface options" name="CAN_P1_OPTIONS" documentation="CAN per-interface options" user="Advanced">
+        <bitmask>
+          <bit code="0">LogAllFrames</bit>
+        </bitmask>
+        <field name="Bitmask">0:LogAllFrames</field>
+      </param>
     </parameters>
     <parameters name="CAN_P2_">
       <param humanName="Index of virtual driver to be used with physical CAN interface" name="CAN_P2_DRIVER" documentation="Enabling this option enables use of CAN buses." user="Standard">
@@ -9598,6 +9678,12 @@
           <value code="8">8M</value>
         </values>
       </param>
+      <param humanName="CAN per-interface options" name="CAN_P2_OPTIONS" documentation="CAN per-interface options" user="Advanced">
+        <bitmask>
+          <bit code="0">LogAllFrames</bit>
+        </bitmask>
+        <field name="Bitmask">0:LogAllFrames</field>
+      </param>
     </parameters>
     <parameters name="CAN_P3_">
       <param humanName="Index of virtual driver to be used with physical CAN interface" name="CAN_P3_DRIVER" documentation="Enabling this option enables use of CAN buses." user="Standard">
@@ -9621,6 +9707,12 @@
           <value code="8">8M</value>
         </values>
       </param>
+      <param humanName="CAN per-interface options" name="CAN_P3_OPTIONS" documentation="CAN per-interface options" user="Advanced">
+        <bitmask>
+          <bit code="0">LogAllFrames</bit>
+        </bitmask>
+        <field name="Bitmask">0:LogAllFrames</field>
+      </param>
     </parameters>
     <parameters name="CAN_SLCAN_">
       <param humanName="SLCAN Route" name="CAN_SLCAN_CPORT" documentation="CAN Interface ID to be routed to SLCAN, 0 means no routing" user="Standard">
@@ -24573,8 +24665,9 @@
           <bit code="3">log runtime memory usage and execution time</bit>
           <bit code="4">Disable pre-arm check</bit>
           <bit code="5">Save CRC of current scripts to loaded and running checksum parameters enabling pre-arm</bit>
+          <bit code="6">Disable heap expansion on allocation failure</bit>
         </bitmask>
-        <field name="Bitmask">0: No Scripts to run message if all scripts have stopped, 1: Runtime messages for memory usage and execution time, 2: Suppress logging scripts to dataflash, 3: log runtime memory usage and execution time, 4: Disable pre-arm check, 5: Save CRC of current scripts to loaded and running checksum parameters enabling pre-arm</field>
+        <field name="Bitmask">0: No Scripts to run message if all scripts have stopped, 1: Runtime messages for memory usage and execution time, 2: Suppress logging scripts to dataflash, 3: log runtime memory usage and execution time, 4: Disable pre-arm check, 5: Save CRC of current scripts to loaded and running checksum parameters enabling pre-arm, 6: Disable heap expansion on allocation failure</field>
       </param>
       <param humanName="Scripting User Parameter1" name="SCR_USER1" documentation="General purpose user variable input for scripts" user="Standard">
 </param>