diff --git a/Drone/FCU/clever_lpe_flow.params b/Drone/FCU/clever_lpe_flow.params
new file mode 100644
index 0000000..04a358b
--- /dev/null
+++ b/Drone/FCU/clever_lpe_flow.params
@@ -0,0 +1,6 @@
+1	1	LPE_FLW_OFF_Z	0.000000000000000000	9
+1	1	LPE_FLW_QMIN	60	6
+1	1	LPE_FLW_R	0.200000002980232239	9
+1	1	LPE_FLW_RR	0.000000000000000000	9
+1	1	LPE_FLW_SCALE	1.000000000000000000	9
+1	1	LPE_FUSION	86	6
\ No newline at end of file
diff --git a/Drone/FCU/clever_lpe_gps.params b/Drone/FCU/clever_lpe_gps.params
new file mode 100644
index 0000000..359101b
--- /dev/null
+++ b/Drone/FCU/clever_lpe_gps.params
@@ -0,0 +1,4 @@
+1	1	ATT_EXT_HDG_M	0	6
+1	1	ATT_W_EXT_HDG	0.000000000000000000	9
+1	1	ATT_W_MAG	0.100000001490116119	9
+1	1	LPE_FUSION	145	6
\ No newline at end of file
diff --git a/Drone/FCU/clever_lpe_no_ext_hdg.params b/Drone/FCU/clever_lpe_no_ext_hdg.params
new file mode 100644
index 0000000..77fbfde
--- /dev/null
+++ b/Drone/FCU/clever_lpe_no_ext_hdg.params
@@ -0,0 +1,3 @@
+1	1	ATT_EXT_HDG_M	0	6
+1	1	ATT_W_EXT_HDG	0.000000000000000000	9
+1	1	ATT_W_MAG	0.000000000000000000	9
\ No newline at end of file
diff --git a/Drone/FCU/clever_lpe_viz.params b/Drone/FCU/clever_lpe_viz.params
new file mode 100644
index 0000000..9b69a0e
--- /dev/null
+++ b/Drone/FCU/clever_lpe_viz.params
@@ -0,0 +1,4 @@
+1	1	ATT_EXT_HDG_M	1	6
+1	1	ATT_W_EXT_HDG	0.500000000000000000	9
+1	1	ATT_W_MAG	0.000000000000000000	9
+1	1	LPE_FUSION	84	6
diff --git a/Drone/FCU/clever_mc_mpc.params b/Drone/FCU/clever_mc_mpc.params
new file mode 100644
index 0000000..e8010e1
--- /dev/null
+++ b/Drone/FCU/clever_mc_mpc.params
@@ -0,0 +1,58 @@
+1	1	MC_PITCHRATE_D	0.003000000026077032	9
+1	1	MC_PITCHRATE_FF	0.000000000000000000	9
+1	1	MC_PITCHRATE_I	0.019999999552965164	9
+1	1	MC_PITCHRATE_MAX	220.000000000000000000	9
+1	1	MC_PITCHRATE_P	0.100000001490116119	9
+1	1	MC_PITCH_P	6.500000000000000000	9
+1	1	MC_PR_INT_LIM	0.300000011920928955	9
+1	1	MC_RATT_TH	0.800000011920928955	9
+1	1	MC_ROLLRATE_D	0.003000000026077032	9
+1	1	MC_ROLLRATE_FF	0.000000000000000000	9
+1	1	MC_ROLLRATE_I	0.019999999552965164	9
+1	1	MC_ROLLRATE_MAX	220.000000000000000000	9
+1	1	MC_ROLLRATE_P	0.100000001490116119	9
+1	1	MC_ROLL_P	6.500000000000000000	9
+1	1	MPC_ACC_DOWN_MAX	10.000000000000000000	9
+1	1	MPC_ACC_HOR	5.000000000000000000	9
+1	1	MPC_ACC_HOR_ESTM	0.500000000000000000	9
+1	1	MPC_ACC_HOR_MAX	10.000000000000000000	9
+1	1	MPC_ACC_UP_MAX	10.000000000000000000	9
+1	1	MPC_ALT_MODE	0	6
+1	1	MPC_CRUISE_90	3.000000000000000000	9
+1	1	MPC_DEC_HOR_SLOW	5.000000000000000000	9
+1	1	MPC_FLT_TSK	0	6
+1	1	MPC_HOLD_DZ	0.100000001490116119	9
+1	1	MPC_HOLD_MAX_XY	0.800000011920928955	9
+1	1	MPC_HOLD_MAX_Z	0.600000023841857910	9
+1	1	MPC_JERK_MAX	0.000000000000000000	9
+1	1	MPC_JERK_MIN	1.000000000000000000	9
+1	1	MPC_LAND_ALT1	10.000000000000000000	9
+1	1	MPC_LAND_ALT2	5.000000000000000000	9
+1	1	MPC_LAND_SPEED	0.699999988079071045	9
+1	1	MPC_MANTHR_MAX	1.000000000000000000	9
+1	1	MPC_MANTHR_MIN	0.079999998211860657	9
+1	1	MPC_MAN_TILT_MAX	35.000000000000000000	9
+1	1	MPC_MAN_Y_MAX	200.000000000000000000	9
+1	1	MPC_THR_HOVER	0.550000011920928955	9
+1	1	MPC_THR_MAX	1.000000000000000000	9
+1	1	MPC_THR_MIN	0.119999997317790985	9
+1	1	MPC_TILTMAX_AIR	45.000000000000000000	9
+1	1	MPC_TILTMAX_LND	12.000000000000000000	9
+1	1	MPC_TKO_RAMP_T	0.400000005960464478	9
+1	1	MPC_TKO_SPEED	1.000000000000000000	9
+1	1	MPC_VELD_LP	5.000000000000000000	9
+1	1	MPC_VEL_MANUAL	10.000000000000000000	9
+1	1	MPC_XY_CRUISE	5.000000000000000000	9
+1	1	MPC_XY_MAN_EXPO	0.000000000000000000	9
+1	1	MPC_XY_P	1.000000000000000000	9
+1	1	MPC_XY_VEL_D	0.006000000052154064	9
+1	1	MPC_XY_VEL_I	0.004999999888241291	9
+1	1	MPC_XY_VEL_MAX	12.000000000000000000	9
+1	1	MPC_XY_VEL_P	0.090000003576278687	9
+1	1	MPC_Z_MAN_EXPO	0.000000000000000000	9
+1	1	MPC_Z_P	0.949999988079071045	9
+1	1	MPC_Z_VEL_D	0.000000000000000000	9
+1	1	MPC_Z_VEL_I	0.014999999664723873	9
+1	1	MPC_Z_VEL_MAX_DN	1.000000000000000000	9
+1	1	MPC_Z_VEL_MAX_UP	3.000000000000000000	9
+1	1	MPC_Z_VEL_P	0.250000000000000000	9
\ No newline at end of file
diff --git a/Drone/Firmware/px4fmu-v4-1.8.2-clever.5.px4 b/Drone/FCU/px4fmu-v4-1.8.2-clever.5.px4
similarity index 100%
rename from Drone/Firmware/px4fmu-v4-1.8.2-clever.5.px4
rename to Drone/FCU/px4fmu-v4-1.8.2-clever.5.px4
diff --git a/Drone/Firmware/clever-3-lpe-flow.params b/Drone/Firmware/clever-3-lpe-flow.params
deleted file mode 100644
index ddc5c5c..0000000
--- a/Drone/Firmware/clever-3-lpe-flow.params
+++ /dev/null
@@ -1,53 +0,0 @@
-# Onboard parameters for LPE setup
-#
-# Stack: PX4 Pro
-# Vehicle: Multi-Rotor
-# Version: 1.8.2
-#
-
-# Vehicle-Id Component-Id Name Value Type
-1	1	ATT_EXT_HDG_M	1	6
-1	1	ATT_W_EXT_HDG	0.500000000000000000	9
-1	1	ATT_W_MAG	0.000000000000000000	9
-1	1	CBRK_IO_SAFETY	22027	6
-1	1	CBRK_USB_CHK	197848	6
-1	1	COM_ARM_MAG	1.000000000000000000	9
-1	1	COM_DISARM_LAND	1	6
-1	1	COM_FLTMODE1	8	6
-1	1	COM_FLTMODE4	2	6
-1	1	COM_FLTMODE6	2	6
-1	1	COM_LOW_BAT_ACT	2	6
-1	1	COM_RC_LOSS_T	2.000000000000000000	9
-1	1	LNDMC_ROT_MAX	45.000000000000000000	9
-1	1	LNDMC_THR_RANGE	0.800000000000000000	9
-1	1	LNDMC_Z_VEL_MAX	1.000000000000000000	9
-1	1	LPE_FLW_QMIN	10	6
-1	1	LPE_FLW_R	0.200000001490116119	9
-1	1	LPE_FLW_RR	0.000000000000000000	9
-1	1	LPE_FLW_SCALE	1.000000000000000000	9
-1	1	LPE_FUSION	86	6
-1	1	LPE_VIS_DELAY	0.000000000000000000	9
-1	1	LPE_VIS_Z	0.10000005960464478	9
-1	1	MC_PITCHRATE_D	0.001200000056996942	9
-1	1	MC_PITCHRATE_P	0.119999997317790985	9
-1	1	MC_PITCH_P	4.500000000000000000	9
-1	1	MC_ROLLRATE_D	0.001200000056996942	9
-1	1	MC_ROLLRATE_P	0.119999997317790985	9
-1	1	MC_ROLL_P	4.500000000000000000	9
-1	1	MC_YAW_P	2.500000000000000000	9
-1	1	MPC_ACC_DOWN_MAX	2.000000000000000000	9
-1	1	MPC_ACC_UP_MAX	2.000000000000000000	9
-1	1	MPC_MANTHR_MAX	0.899999976158142090	9
-1	1	MPC_THR_HOVER	0.550011920928955	9
-1	1	MPC_THR_MAX	0.899999976158142090	9
-1	1	MPC_XY_P	1.400000023841857910	9
-1	1	MPC_XY_VEL_P	0.100000003576278687	9
-1	1	MPC_Z_VEL_MAX_UP	1.000000000000000000	9
-1	1	MPC_Z_VEL_P	0.300000011920928955	9
-1	1	RC_MAP_FLTMODE	5	6
-1	1	SENS_FLOW_MAXHGT	4.000000000000000000	9
-1	1	SENS_FLOW_MAXR	2.500000000000000000	9
-1	1	SENS_FLOW_MINHGT	0.01	9
-1	1	SENS_FLOW_ROT	0	6
-1	1	SYS_HAS_BARO	0	6
-1	1	SYS_MC_EST_GROUP	1	6