diff --git a/src/main/blackbox/blackbox.c b/src/main/blackbox/blackbox.c
index ba8db32289..42d274979f 100644
--- a/src/main/blackbox/blackbox.c
+++ b/src/main/blackbox/blackbox.c
@@ -1441,12 +1441,15 @@ STATIC_UNIT_TESTED char *blackboxGetStartDateTime(char *buf)
 }
 
 #ifndef BLACKBOX_PRINT_HEADER_LINE
-#define BLACKBOX_PRINT_HEADER_LINE(name, format, ...) case __COUNTER__: \
-                                                blackboxPrintfHeaderLine(name, format, __VA_ARGS__); \
-                                                break;
-#define BLACKBOX_PRINT_HEADER_LINE_CUSTOM(...) case __COUNTER__: \
-                                                    {__VA_ARGS__}; \
-                                               break;
+#define BLACKBOX_PRINT_HEADER_LINE(name, format, ...) \
+    case __COUNTER__: {                               \
+        blackboxPrintfHeaderLine(name, format, __VA_ARGS__); \
+    } break // absence of semicolon on this line is what enforces the presence of a semicolon at the end of each input line
+
+#define BLACKBOX_PRINT_HEADER_LINE_CUSTOM(...) \
+    case __COUNTER__: {                        \
+        __VA_ARGS__;                           \
+    } break
 #endif
 
 /**
@@ -1707,20 +1710,20 @@ static bool blackboxWriteSysinfo(void)
         BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_ALTITUDE_D_LPF, "%d",       positionConfig()->altitude_d_lpf);
 
 #ifndef USE_WING
-        BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_LANDING_ALTITUDE, "%d",     apConfig()->landing_altitude_m);
-        BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_HOVER_THROTTLE, "%d",       apConfig()->hover_throttle);
-        BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_THROTTLE_MIN, "%d",         apConfig()->throttle_min);
-        BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_THROTTLE_MAX, "%d",         apConfig()->throttle_max);
-        BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_ALTITUDE_P, "%d",           apConfig()->altitude_P);
-        BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_ALTITUDE_I, "%d",           apConfig()->altitude_I);
-        BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_ALTITUDE_D, "%d",           apConfig()->altitude_D);
-        BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_ALTITUDE_F, "%d",           apConfig()->altitude_F);
-        BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_POSITION_P, "%d",           apConfig()->position_P);
-        BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_POSITION_I, "%d",           apConfig()->position_I);
-        BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_POSITION_D, "%d",           apConfig()->position_D);
-        BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_POSITION_A, "%d",           apConfig()->position_A);
-        BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_POSITION_CUTOFF, "%d",      apConfig()->position_cutoff);
-        BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_AP_MAX_ANGLE, "%d",         apConfig()->max_angle);
+        BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_AP_LANDING_ALTITUDE_M, "%d", autopilotConfig()->landingAltitudeM);
+        BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_AP_HOVER_THROTTLE, "%d",     autopilotConfig()->hoverThrottle);
+        BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_AP_THROTTLE_MIN, "%d",       autopilotConfig()->throttleMin);
+        BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_AP_THROTTLE_MAX, "%d",       autopilotConfig()->throttleMax);
+        BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_AP_ALTITUDE_P, "%d",         autopilotConfig()->altitudeP);
+        BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_AP_ALTITUDE_I, "%d",         autopilotConfig()->altitudeI);
+        BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_AP_ALTITUDE_D, "%d",         autopilotConfig()->altitudeD);
+        BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_AP_ALTITUDE_F, "%d",         autopilotConfig()->altitudeF);
+        BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_AP_POSITION_P, "%d",         autopilotConfig()->positionP);
+        BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_AP_POSITION_I, "%d",         autopilotConfig()->positionI);
+        BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_AP_POSITION_D, "%d",         autopilotConfig()->positionD);
+        BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_AP_POSITION_A, "%d",         autopilotConfig()->positionA);
+        BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_AP_POSITION_CUTOFF, "%d",    autopilotConfig()->positionCutoff);
+        BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_AP_MAX_ANGLE, "%d",          autopilotConfig()->maxAngle);
 #endif // !USE_WING
 
 #ifdef USE_MAG
@@ -1793,38 +1796,38 @@ static bool blackboxWriteSysinfo(void)
         BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_THRUST_LINEARIZATION,  "%d",     currentPidProfile->thrustLinearization);
 
 #ifdef USE_GPS
-        BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_GPS_PROVIDER, "%d",               gpsConfig()->provider)
-        BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_GPS_SET_HOME_POINT_ONCE, "%d",    gpsConfig()->gps_set_home_point_once)
-        BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_GPS_USE_3D_SPEED, "%d",           gpsConfig()->gps_use_3d_speed)
+        BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_GPS_PROVIDER, "%d",               gpsConfig()->provider);
+        BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_GPS_SET_HOME_POINT_ONCE, "%d",    gpsConfig()->gps_set_home_point_once);
+        BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_GPS_USE_3D_SPEED, "%d",           gpsConfig()->gps_use_3d_speed);
 
 #ifdef USE_GPS_RESCUE
 #ifndef USE_WING
-        BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_GPS_RESCUE_MIN_START_DIST, "%d",  gpsRescueConfig()->minStartDistM)
-        BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_GPS_RESCUE_ALT_MODE, "%d",        gpsRescueConfig()->altitudeMode)
-        BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_GPS_RESCUE_INITIAL_CLIMB, "%d",   gpsRescueConfig()->initialClimbM)
-        BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_GPS_RESCUE_ASCEND_RATE, "%d",     gpsRescueConfig()->ascendRate)
+        BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_GPS_RESCUE_MIN_START_DIST, "%d",  gpsRescueConfig()->minStartDistM);
+        BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_GPS_RESCUE_ALT_MODE, "%d",        gpsRescueConfig()->altitudeMode);
+        BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_GPS_RESCUE_INITIAL_CLIMB, "%d",   gpsRescueConfig()->initialClimbM);
+        BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_GPS_RESCUE_ASCEND_RATE, "%d",     gpsRescueConfig()->ascendRate);
 
-        BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_GPS_RESCUE_RETURN_ALT, "%d",      gpsRescueConfig()->returnAltitudeM)
-        BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_GPS_RESCUE_GROUND_SPEED, "%d",    gpsRescueConfig()->groundSpeedCmS)
-        BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_GPS_RESCUE_MAX_RESCUE_ANGLE, "%d", gpsRescueConfig()->maxRescueAngle)
-        BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_GPS_RESCUE_ROLL_MIX, "%d",        gpsRescueConfig()->rollMix)
-        BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_GPS_RESCUE_PITCH_CUTOFF, "%d",    gpsRescueConfig()->pitchCutoffHz)
-        BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_GPS_RESCUE_IMU_YAW_GAIN, "%d",    gpsRescueConfig()->imuYawGain)
+        BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_GPS_RESCUE_RETURN_ALT, "%d",      gpsRescueConfig()->returnAltitudeM);
+        BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_GPS_RESCUE_GROUND_SPEED, "%d",    gpsRescueConfig()->groundSpeedCmS);
+        BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_GPS_RESCUE_MAX_RESCUE_ANGLE, "%d", gpsRescueConfig()->maxRescueAngle);
+        BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_GPS_RESCUE_ROLL_MIX, "%d",        gpsRescueConfig()->rollMix);
+        BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_GPS_RESCUE_PITCH_CUTOFF, "%d",    gpsRescueConfig()->pitchCutoffHz);
+        BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_GPS_RESCUE_IMU_YAW_GAIN, "%d",    gpsRescueConfig()->imuYawGain);
 
-        BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_GPS_RESCUE_DESCENT_DIST, "%d",    gpsRescueConfig()->descentDistanceM)
-        BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_GPS_RESCUE_DESCEND_RATE, "%d",    gpsRescueConfig()->descendRate)
-        BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_GPS_RESCUE_DISARM_THRESHOLD, "%d", gpsRescueConfig()->disarmThreshold)
+        BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_GPS_RESCUE_DESCENT_DIST, "%d",    gpsRescueConfig()->descentDistanceM);
+        BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_GPS_RESCUE_DESCEND_RATE, "%d",    gpsRescueConfig()->descendRate);
+        BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_GPS_RESCUE_DISARM_THRESHOLD, "%d", gpsRescueConfig()->disarmThreshold);
 
-        BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_GPS_RESCUE_SANITY_CHECKS, "%d",   gpsRescueConfig()->sanityChecks)
-        BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_GPS_RESCUE_MIN_SATS, "%d",        gpsRescueConfig()->minSats)
-        BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_GPS_RESCUE_ALLOW_ARMING_WITHOUT_FIX, "%d", gpsRescueConfig()->allowArmingWithoutFix)
+        BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_GPS_RESCUE_SANITY_CHECKS, "%d",   gpsRescueConfig()->sanityChecks);
+        BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_GPS_RESCUE_MIN_SATS, "%d",        gpsRescueConfig()->minSats);
+        BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_GPS_RESCUE_ALLOW_ARMING_WITHOUT_FIX, "%d", gpsRescueConfig()->allowArmingWithoutFix);
 
-        BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_GPS_RESCUE_VELOCITY_P, "%d",      gpsRescueConfig()->velP)
-        BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_GPS_RESCUE_VELOCITY_I, "%d",      gpsRescueConfig()->velI)
-        BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_GPS_RESCUE_VELOCITY_D, "%d",      gpsRescueConfig()->velD)
-        BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_GPS_RESCUE_YAW_P, "%d",           gpsRescueConfig()->yawP)
+        BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_GPS_RESCUE_VELOCITY_P, "%d",      gpsRescueConfig()->velP);
+        BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_GPS_RESCUE_VELOCITY_I, "%d",      gpsRescueConfig()->velI);
+        BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_GPS_RESCUE_VELOCITY_D, "%d",      gpsRescueConfig()->velD);
+        BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_GPS_RESCUE_YAW_P, "%d",           gpsRescueConfig()->yawP);
 #ifdef USE_MAG
-        BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_GPS_RESCUE_USE_MAG, "%d",         gpsRescueConfig()->useMag)
+        BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_GPS_RESCUE_USE_MAG, "%d",         gpsRescueConfig()->useMag);
 #endif // USE_MAG
 #endif // !USE_WING
 #endif // USE_GPS_RESCUE
@@ -1832,15 +1835,15 @@ static bool blackboxWriteSysinfo(void)
 
 #ifdef USE_ALTITUDE_HOLD
 #ifndef USE_WING
-        BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_ALT_HOLD_THROTTLE_RESPONSE, "%d", altHoldConfig()->alt_hold_adjust_rate);
-        BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_ALT_HOLD_DEADBAND,    "%d", altHoldConfig()->alt_hold_deadband);
+        BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_ALT_HOLD_CLIMB_RATE,  "%d", altHoldConfig()->climbRate);
+        BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_ALT_HOLD_DEADBAND,    "%d", altHoldConfig()->deadband);
 #endif // !USE_WING
 #endif // USE_ALTITUDE_HOLD
 
 #ifdef USE_POSITION_HOLD
 #ifndef USE_WING
-        BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_POS_HOLD_WITHOUT_MAG, "%d", posHoldConfig()->pos_hold_without_mag);
-        BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_POS_HOLD_DEADBAND,    "%d", posHoldConfig()->pos_hold_deadband);
+        BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_POS_HOLD_WITHOUT_MAG, "%d", posHoldConfig()->posHoldWithoutMag);
+        BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_POS_HOLD_DEADBAND,    "%d", posHoldConfig()->deadband);
 #endif // !USE_WING
 #endif
 
diff --git a/src/main/cli/settings.c b/src/main/cli/settings.c
index 82df9227dd..cc5ef8571d 100644
--- a/src/main/cli/settings.c
+++ b/src/main/cli/settings.c
@@ -1155,15 +1155,15 @@ const clivalue_t valueTable[] = {
 
 #ifdef USE_ALTITUDE_HOLD
 #ifndef USE_WING
-    { PARAM_NAME_ALT_HOLD_THROTTLE_RESPONSE, VAR_UINT8 | MASTER_VALUE, .config.minmaxUnsigned = { 0, 200 }, PG_ALTHOLD_CONFIG, offsetof(altHoldConfig_t, alt_hold_adjust_rate) },
-    { PARAM_NAME_ALT_HOLD_DEADBAND,          VAR_UINT8 | MASTER_VALUE, .config.minmaxUnsigned = { 0, 70 },  PG_ALTHOLD_CONFIG, offsetof(altHoldConfig_t, alt_hold_deadband) },
+    { PARAM_NAME_ALT_HOLD_CLIMB_RATE,  VAR_UINT8 | MASTER_VALUE, .config.minmaxUnsigned = { 0, 200 }, PG_ALTHOLD_CONFIG, offsetof(altHoldConfig_t, climbRate) },
+    { PARAM_NAME_ALT_HOLD_DEADBAND,    VAR_UINT8 | MASTER_VALUE, .config.minmaxUnsigned = { 0, 70 },  PG_ALTHOLD_CONFIG, offsetof(altHoldConfig_t, deadband) },
 #endif // !USE_WING
 #endif // USE_ALTITUDE_HOLD
 
 #ifdef USE_POSITION_HOLD
 #ifndef USE_WING
-    { PARAM_NAME_POS_HOLD_WITHOUT_MAG, VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_OFF_ON }, PG_POSHOLD_CONFIG, offsetof(posHoldConfig_t, pos_hold_without_mag) },
-    { PARAM_NAME_POS_HOLD_DEADBAND,    VAR_UINT8 | MASTER_VALUE, .config.minmaxUnsigned = { 0, 50 }, PG_POSHOLD_CONFIG, offsetof(posHoldConfig_t, pos_hold_deadband) },
+    { PARAM_NAME_POS_HOLD_WITHOUT_MAG, VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_OFF_ON }, PG_POSHOLD_CONFIG, offsetof(posHoldConfig_t, posHoldWithoutMag) },
+    { PARAM_NAME_POS_HOLD_DEADBAND,    VAR_UINT8 | MASTER_VALUE, .config.minmaxUnsigned = { 0, 50 }, PG_POSHOLD_CONFIG, offsetof(posHoldConfig_t, deadband) },
 #endif // !USE_WING
 #endif // USE_POSITION_HOLD
 
@@ -1918,20 +1918,20 @@ const clivalue_t valueTable[] = {
 
 // PG_AUTOPILOT
 #ifndef USE_WING
-    { PARAM_NAME_LANDING_ALTITUDE,    VAR_UINT8  | MASTER_VALUE, .config.minmaxUnsigned = { 0, 200 },     PG_AUTOPILOT, offsetof(apConfig_t, landing_altitude_m) },
-    { PARAM_NAME_HOVER_THROTTLE,      VAR_UINT16 | MASTER_VALUE, .config.minmaxUnsigned = { 1100, 1700 }, PG_AUTOPILOT, offsetof(apConfig_t, hover_throttle) },
-    { PARAM_NAME_THROTTLE_MIN,        VAR_UINT16 | MASTER_VALUE, .config.minmaxUnsigned = { 1050, 1400 }, PG_AUTOPILOT, offsetof(apConfig_t, throttle_min) },
-    { PARAM_NAME_THROTTLE_MAX,        VAR_UINT16 | MASTER_VALUE, .config.minmaxUnsigned = { 1400, 2000 }, PG_AUTOPILOT, offsetof(apConfig_t, throttle_max) },
-    { PARAM_NAME_ALTITUDE_P,          VAR_UINT8  | MASTER_VALUE, .config.minmaxUnsigned = { 0, 200 },     PG_AUTOPILOT, offsetof(apConfig_t, altitude_P) },
-    { PARAM_NAME_ALTITUDE_I,          VAR_UINT8  | MASTER_VALUE, .config.minmaxUnsigned = { 0, 200 },     PG_AUTOPILOT, offsetof(apConfig_t, altitude_I) },
-    { PARAM_NAME_ALTITUDE_D,          VAR_UINT8  | MASTER_VALUE, .config.minmaxUnsigned = { 0, 200 },     PG_AUTOPILOT, offsetof(apConfig_t, altitude_D) },
-    { PARAM_NAME_ALTITUDE_F,          VAR_UINT8  | MASTER_VALUE, .config.minmaxUnsigned = { 0, 200 },     PG_AUTOPILOT, offsetof(apConfig_t, altitude_F) },
-    { PARAM_NAME_POSITION_P,          VAR_UINT8  | MASTER_VALUE, .config.minmaxUnsigned = { 0, 200 },     PG_AUTOPILOT, offsetof(apConfig_t, position_P) },
-    { PARAM_NAME_POSITION_I,          VAR_UINT8  | MASTER_VALUE, .config.minmaxUnsigned = { 0, 200 },     PG_AUTOPILOT, offsetof(apConfig_t, position_I) },
-    { PARAM_NAME_POSITION_D,          VAR_UINT8  | MASTER_VALUE, .config.minmaxUnsigned = { 0, 200 },     PG_AUTOPILOT, offsetof(apConfig_t, position_D) },
-    { PARAM_NAME_POSITION_A,          VAR_UINT8  | MASTER_VALUE, .config.minmaxUnsigned = { 0, 200 },     PG_AUTOPILOT, offsetof(apConfig_t, position_A) },
-    { PARAM_NAME_POSITION_CUTOFF,     VAR_UINT8  | MASTER_VALUE, .config.minmaxUnsigned = { 10, 250 },    PG_AUTOPILOT, offsetof(apConfig_t, position_cutoff) },
-    { PARAM_NAME_AP_MAX_ANGLE,        VAR_UINT8  | MASTER_VALUE, .config.minmaxUnsigned = { 10, 70 },     PG_AUTOPILOT, offsetof(apConfig_t, max_angle) },
+    { PARAM_NAME_AP_LANDING_ALTITUDE_M,  VAR_UINT8  | MASTER_VALUE, .config.minmaxUnsigned = { 0, 200 },     PG_AUTOPILOT, offsetof(autopilotConfig_t, landingAltitudeM) },
+    { PARAM_NAME_AP_HOVER_THROTTLE,      VAR_UINT16 | MASTER_VALUE, .config.minmaxUnsigned = { 1100, 1700 }, PG_AUTOPILOT, offsetof(autopilotConfig_t, hoverThrottle) },
+    { PARAM_NAME_AP_THROTTLE_MIN,        VAR_UINT16 | MASTER_VALUE, .config.minmaxUnsigned = { 1050, 1400 }, PG_AUTOPILOT, offsetof(autopilotConfig_t, throttleMin) },
+    { PARAM_NAME_AP_THROTTLE_MAX,        VAR_UINT16 | MASTER_VALUE, .config.minmaxUnsigned = { 1400, 2000 }, PG_AUTOPILOT, offsetof(autopilotConfig_t, throttleMax) },
+    { PARAM_NAME_AP_ALTITUDE_P,          VAR_UINT8  | MASTER_VALUE, .config.minmaxUnsigned = { 0, 200 },     PG_AUTOPILOT, offsetof(autopilotConfig_t, altitudeP) },
+    { PARAM_NAME_AP_ALTITUDE_I,          VAR_UINT8  | MASTER_VALUE, .config.minmaxUnsigned = { 0, 200 },     PG_AUTOPILOT, offsetof(autopilotConfig_t, altitudeI) },
+    { PARAM_NAME_AP_ALTITUDE_D,          VAR_UINT8  | MASTER_VALUE, .config.minmaxUnsigned = { 0, 200 },     PG_AUTOPILOT, offsetof(autopilotConfig_t, altitudeD) },
+    { PARAM_NAME_AP_ALTITUDE_F,          VAR_UINT8  | MASTER_VALUE, .config.minmaxUnsigned = { 0, 200 },     PG_AUTOPILOT, offsetof(autopilotConfig_t, altitudeF) },
+    { PARAM_NAME_AP_POSITION_P,          VAR_UINT8  | MASTER_VALUE, .config.minmaxUnsigned = { 0, 200 },     PG_AUTOPILOT, offsetof(autopilotConfig_t, positionP) },
+    { PARAM_NAME_AP_POSITION_I,          VAR_UINT8  | MASTER_VALUE, .config.minmaxUnsigned = { 0, 200 },     PG_AUTOPILOT, offsetof(autopilotConfig_t, positionI) },
+    { PARAM_NAME_AP_POSITION_D,          VAR_UINT8  | MASTER_VALUE, .config.minmaxUnsigned = { 0, 200 },     PG_AUTOPILOT, offsetof(autopilotConfig_t, positionD) },
+    { PARAM_NAME_AP_POSITION_A,          VAR_UINT8  | MASTER_VALUE, .config.minmaxUnsigned = { 0, 200 },     PG_AUTOPILOT, offsetof(autopilotConfig_t, positionA) },
+    { PARAM_NAME_AP_POSITION_CUTOFF,     VAR_UINT8  | MASTER_VALUE, .config.minmaxUnsigned = { 10, 250 },    PG_AUTOPILOT, offsetof(autopilotConfig_t, positionCutoff) },
+    { PARAM_NAME_AP_MAX_ANGLE,           VAR_UINT8  | MASTER_VALUE, .config.minmaxUnsigned = { 10, 70 },     PG_AUTOPILOT, offsetof(autopilotConfig_t, maxAngle) },
 #endif // !USE_WING
 
 // PG_MODE_ACTIVATION_CONFIG
diff --git a/src/main/cms/cms_menu_gps_rescue_multirotor.c b/src/main/cms/cms_menu_gps_rescue_multirotor.c
index a6520d0734..d4826c3d4d 100644
--- a/src/main/cms/cms_menu_gps_rescue_multirotor.c
+++ b/src/main/cms/cms_menu_gps_rescue_multirotor.c
@@ -55,16 +55,16 @@ static uint8_t gpsRescueConfig_angle; //degrees
 
 static uint16_t gpsRescueConfig_descentDistanceM; //meters
 static uint16_t gpsRescueConfig_descendRate;
-static uint8_t apConfig_landingAltitudeM;
+static uint8_t autopilotConfig_landingAltitudeM;
 
-static uint16_t apConfig_throttleMin;
-static uint16_t apConfig_throttleMax;
-static uint16_t apConfig_hoverThrottle;
+static uint16_t autopilotConfig_throttleMin;
+static uint16_t autopilotConfig_throttleMax;
+static uint16_t autopilotConfig_hoverThrottle;
 
 static uint8_t gpsRescueConfig_minSats;
 static uint8_t gpsRescueConfig_allowArmingWithoutFix;
 
-static uint8_t apConfig_altitude_P, apConfig_altitude_I, apConfig_altitude_D, apConfig_altitude_F;
+static uint8_t autopilotConfig_altitude_P, autopilotConfig_altitude_I, autopilotConfig_altitude_D, autopilotConfig_altitude_F;
 static uint8_t gpsRescueConfig_yawP;
 static uint8_t gpsRescueConfig_velP, gpsRescueConfig_velI, gpsRescueConfig_velD;
 
@@ -75,10 +75,10 @@ static const void *cms_menuGpsRescuePidOnEnter(displayPort_t *pDisp)
 {
     UNUSED(pDisp);
 
-    apConfig_altitude_P = apConfig()->altitude_P;
-    apConfig_altitude_I = apConfig()->altitude_I;
-    apConfig_altitude_D = apConfig()->altitude_D;
-    apConfig_altitude_F = apConfig()->altitude_F;
+    autopilotConfig_altitude_P = autopilotConfig()->altitudeP;
+    autopilotConfig_altitude_I = autopilotConfig()->altitudeI;
+    autopilotConfig_altitude_D = autopilotConfig()->altitudeD;
+    autopilotConfig_altitude_F = autopilotConfig()->altitudeF;
 
     gpsRescueConfig_yawP = gpsRescueConfig()->yawP;
 
@@ -97,10 +97,10 @@ static const void *cms_menuGpsRescuePidOnExit(displayPort_t *pDisp, const OSD_En
     UNUSED(pDisp);
     UNUSED(self);
 
-    apConfigMutable()->altitude_P = apConfig_altitude_P;
-    apConfigMutable()->altitude_I = apConfig_altitude_I;
-    apConfigMutable()->altitude_D = apConfig_altitude_D;
-    apConfigMutable()->altitude_F = apConfig_altitude_F;
+    autopilotConfigMutable()->altitudeP = autopilotConfig_altitude_P;
+    autopilotConfigMutable()->altitudeI = autopilotConfig_altitude_I;
+    autopilotConfigMutable()->altitudeD = autopilotConfig_altitude_D;
+    autopilotConfigMutable()->altitudeF = autopilotConfig_altitude_F;
 
     gpsRescueConfigMutable()->yawP = gpsRescueConfig_yawP;
 
@@ -118,10 +118,10 @@ const OSD_Entry cms_menuGpsRescuePidEntries[] =
 {
     {"--- GPS RESCUE PID---", OME_Label, NULL, NULL},
 
-    { "ALTITUDE P",        OME_UINT8 | REBOOT_REQUIRED, NULL, &(OSD_UINT8_t){ &apConfig_altitude_P, 0, 200, 1 } },
-    { "ALTITUDE I",        OME_UINT8 | REBOOT_REQUIRED, NULL, &(OSD_UINT8_t){ &apConfig_altitude_I, 0, 200, 1 } },
-    { "ALTITUDE D",        OME_UINT8 | REBOOT_REQUIRED, NULL, &(OSD_UINT8_t){ &apConfig_altitude_D, 0, 200, 1 } },
-    { "ALTITUDE F",        OME_UINT8 | REBOOT_REQUIRED, NULL, &(OSD_UINT8_t){ &apConfig_altitude_F, 0, 200, 1 } },
+    { "ALTITUDE P",        OME_UINT8 | REBOOT_REQUIRED, NULL, &(OSD_UINT8_t){ &autopilotConfig_altitude_P, 0, 200, 1 } },
+    { "ALTITUDE I",        OME_UINT8 | REBOOT_REQUIRED, NULL, &(OSD_UINT8_t){ &autopilotConfig_altitude_I, 0, 200, 1 } },
+    { "ALTITUDE D",        OME_UINT8 | REBOOT_REQUIRED, NULL, &(OSD_UINT8_t){ &autopilotConfig_altitude_D, 0, 200, 1 } },
+    { "ALTITUDE F",        OME_UINT8 | REBOOT_REQUIRED, NULL, &(OSD_UINT8_t){ &autopilotConfig_altitude_F, 0, 200, 1 } },
 
     { "YAW P",             OME_UINT8 | REBOOT_REQUIRED, NULL, &(OSD_UINT8_t){ &gpsRescueConfig_yawP, 0, 200, 1 } },
 
@@ -162,11 +162,11 @@ static const void *cmsx_menuGpsRescueOnEnter(displayPort_t *pDisp)
 
     gpsRescueConfig_descentDistanceM = gpsRescueConfig()->descentDistanceM;
     gpsRescueConfig_descendRate = gpsRescueConfig()->descendRate;
-    apConfig_landingAltitudeM = apConfig()->landing_altitude_m;
+    autopilotConfig_landingAltitudeM = autopilotConfig()->landingAltitudeM;
 
-    apConfig_throttleMin = apConfig()->throttle_min;
-    apConfig_throttleMax = apConfig()->throttle_max;
-    apConfig_hoverThrottle = apConfig()->hover_throttle;
+    autopilotConfig_throttleMin = autopilotConfig()->throttleMin;
+    autopilotConfig_throttleMax = autopilotConfig()->throttleMax;
+    autopilotConfig_hoverThrottle = autopilotConfig()->hoverThrottle;
 
     gpsRescueConfig_minSats = gpsRescueConfig()->minSats;
     gpsRescueConfig_allowArmingWithoutFix = gpsRescueConfig()->allowArmingWithoutFix;
@@ -190,11 +190,11 @@ static const void *cmsx_menuGpsRescueOnExit(displayPort_t *pDisp, const OSD_Entr
 
     gpsRescueConfigMutable()->descentDistanceM = gpsRescueConfig_descentDistanceM;
     gpsRescueConfigMutable()->descendRate = gpsRescueConfig_descendRate;
-    apConfigMutable()->landing_altitude_m = apConfig_landingAltitudeM;
+    autopilotConfigMutable()->landingAltitudeM = autopilotConfig_landingAltitudeM;
 
-    apConfigMutable()->throttle_min = apConfig_throttleMin;
-    apConfigMutable()->throttle_max = apConfig_throttleMax;
-    apConfigMutable()->hover_throttle = apConfig_hoverThrottle;
+    autopilotConfigMutable()->throttleMin = autopilotConfig_throttleMin;
+    autopilotConfigMutable()->throttleMax = autopilotConfig_throttleMax;
+    autopilotConfigMutable()->hoverThrottle = autopilotConfig_hoverThrottle;
 
     gpsRescueConfigMutable()->minSats = gpsRescueConfig_minSats;
     gpsRescueConfigMutable()->allowArmingWithoutFix = gpsRescueConfig_allowArmingWithoutFix;
@@ -217,11 +217,11 @@ const OSD_Entry cmsx_menuGpsRescueEntries[] =
 
     { "DESCENT DIST    M", OME_UINT16 | REBOOT_REQUIRED, NULL, &(OSD_UINT16_t){ &gpsRescueConfig_descentDistanceM, 5, 500, 1 } },
     { "DESCENT RATE CM/S", OME_UINT16 | REBOOT_REQUIRED, NULL, &(OSD_UINT16_t){ &gpsRescueConfig_descendRate, 25, 500, 1 } },
-    { "LANDING ALT     M", OME_UINT8  | REBOOT_REQUIRED, NULL, &(OSD_UINT8_t) { &apConfig_landingAltitudeM, 1, 15, 1 } },
+    { "LANDING ALT     M", OME_UINT8  | REBOOT_REQUIRED, NULL, &(OSD_UINT8_t) { &autopilotConfig_landingAltitudeM, 1, 15, 1 } },
 
-    { "THROTTLE MIN",      OME_UINT16 | REBOOT_REQUIRED, NULL, &(OSD_UINT16_t){ &apConfig_throttleMin, 1050, 1400, 1 } },
-    { "THROTTLE MAX",      OME_UINT16 | REBOOT_REQUIRED, NULL, &(OSD_UINT16_t){ &apConfig_throttleMax, 1400, 2000, 1 } },
-    { "THROTTLE HOV",      OME_UINT16 | REBOOT_REQUIRED, NULL, &(OSD_UINT16_t){ &apConfig_hoverThrottle, 1100, 1700, 1 } },
+    { "THROTTLE MIN",      OME_UINT16 | REBOOT_REQUIRED, NULL, &(OSD_UINT16_t){ &autopilotConfig_throttleMin, 1050, 1400, 1 } },
+    { "THROTTLE MAX",      OME_UINT16 | REBOOT_REQUIRED, NULL, &(OSD_UINT16_t){ &autopilotConfig_throttleMax, 1400, 2000, 1 } },
+    { "THROTTLE HOV",      OME_UINT16 | REBOOT_REQUIRED, NULL, &(OSD_UINT16_t){ &autopilotConfig_hoverThrottle, 1100, 1700, 1 } },
 
     { "SATS REQUIRED",     OME_UINT8 | REBOOT_REQUIRED, NULL, &(OSD_UINT8_t){ &gpsRescueConfig_minSats, 5, 50, 1 } },
     { "ARM WITHOUT FIX",   OME_Bool | REBOOT_REQUIRED,  NULL, &gpsRescueConfig_allowArmingWithoutFix },
diff --git a/src/main/fc/parameter_names.h b/src/main/fc/parameter_names.h
index e677b6fe26..070a516d6e 100644
--- a/src/main/fc/parameter_names.h
+++ b/src/main/fc/parameter_names.h
@@ -161,20 +161,20 @@
 #define PARAM_NAME_ALTITUDE_LPF "altitude_lpf"
 #define PARAM_NAME_ALTITUDE_D_LPF "altitude_d_lpf"
 
-#define PARAM_NAME_HOVER_THROTTLE "hover_throttle"
-#define PARAM_NAME_LANDING_ALTITUDE "landing_altitude_m"
-#define PARAM_NAME_THROTTLE_MIN "autopilot_throttle_min"
-#define PARAM_NAME_THROTTLE_MAX "autopilot_throttle_max"
-#define PARAM_NAME_ALTITUDE_P "autopilot_altitude_P"
-#define PARAM_NAME_ALTITUDE_I "autopilot_altitude_I"
-#define PARAM_NAME_ALTITUDE_D "autopilot_altitude_D"
-#define PARAM_NAME_ALTITUDE_F "autopilot_altitude_F"
-#define PARAM_NAME_POSITION_P "autopilot_position_P"
-#define PARAM_NAME_POSITION_I "autopilot_position_I"
-#define PARAM_NAME_POSITION_D "autopilot_position_D"
-#define PARAM_NAME_POSITION_A "autopilot_position_A"
-#define PARAM_NAME_POSITION_CUTOFF "autopilot_position_cutoff"
-#define PARAM_NAME_AP_MAX_ANGLE "autopilot_max_angle"
+#define PARAM_NAME_AP_LANDING_ALTITUDE_M "ap_landing_altitude_m"
+#define PARAM_NAME_AP_HOVER_THROTTLE "ap_hover_throttle"
+#define PARAM_NAME_AP_THROTTLE_MIN "ap_throttle_min"
+#define PARAM_NAME_AP_THROTTLE_MAX "ap_throttle_max"
+#define PARAM_NAME_AP_ALTITUDE_P "ap_altitude_p"
+#define PARAM_NAME_AP_ALTITUDE_I "ap_altitude_i"
+#define PARAM_NAME_AP_ALTITUDE_D "ap_altitude_d"
+#define PARAM_NAME_AP_ALTITUDE_F "ap_altitude_f"
+#define PARAM_NAME_AP_POSITION_P "ap_position_p"
+#define PARAM_NAME_AP_POSITION_I "ap_position_i"
+#define PARAM_NAME_AP_POSITION_D "ap_position_d"
+#define PARAM_NAME_AP_POSITION_A "ap_position_a"
+#define PARAM_NAME_AP_POSITION_CUTOFF "ap_position_cutoff"
+#define PARAM_NAME_AP_MAX_ANGLE "ap_max_angle"
 
 #define PARAM_NAME_ANGLE_FEEDFORWARD "angle_feedforward"
 #define PARAM_NAME_ANGLE_FF_SMOOTHING_MS "angle_feedforward_smoothing_ms"
@@ -259,7 +259,7 @@
 
 #ifdef USE_ALTITUDE_HOLD
 #define PARAM_NAME_ALT_HOLD_DEADBAND "alt_hold_deadband"
-#define PARAM_NAME_ALT_HOLD_THROTTLE_RESPONSE "alt_hold_throttle_response"
+#define PARAM_NAME_ALT_HOLD_CLIMB_RATE "alt_hold_climb_rate"
 #endif
 
 #ifdef USE_POSITION_HOLD
diff --git a/src/main/flight/alt_hold_multirotor.c b/src/main/flight/alt_hold_multirotor.c
index 68db59a12c..ff04c70f9a 100644
--- a/src/main/flight/alt_hold_multirotor.c
+++ b/src/main/flight/alt_hold_multirotor.c
@@ -62,9 +62,9 @@ static void altHoldReset(void)
 void altHoldInit(void)
 {
     altHold.isActive = false;
-    altHold.deadband = altHoldConfig()->alt_hold_deadband / 100.0f;
-    altHold.allowStickAdjustment = altHoldConfig()->alt_hold_deadband;
-    altHold.maxVelocity = altHoldConfig()->alt_hold_adjust_rate * 10.0f; // 50 in CLI means 500cm/s
+    altHold.deadband = altHoldConfig()->deadband / 100.0f;
+    altHold.allowStickAdjustment = altHoldConfig()->deadband;
+    altHold.maxVelocity = altHoldConfig()->climbRate * 10.0f; // 50 in CLI means 500cm/s
     altHoldReset();
 }
 
@@ -81,7 +81,7 @@ static void altHoldProcessTransitions(void) {
 
     // ** the transition out of alt hold (exiting altHold) may be rough.  Some notes... **
     // The original PR had a gradual transition from hold throttle to pilot control throttle
-    // using !(altHoldRequested && altHold.isAltHoldActive) to run an exit function
+    // using !(altHoldRequested && altHold.isActive) to run an exit function
     // a cross-fade factor was sent to mixer.c based on time since the flight mode request was terminated
     // it was removed primarily to simplify this PR
 
@@ -101,8 +101,8 @@ static void altHoldUpdateTargetAltitude(void)
 
     if (altHold.allowStickAdjustment && calculateThrottleStatus() != THROTTLE_LOW) {
         const float rcThrottle = rcCommand[THROTTLE];
-        const float lowThreshold = apConfig()->hover_throttle - altHold.deadband * (apConfig()->hover_throttle - PWM_RANGE_MIN);
-        const float highThreshold = apConfig()->hover_throttle + altHold.deadband * (PWM_RANGE_MAX - apConfig()->hover_throttle);
+        const float lowThreshold = autopilotConfig()->hoverThrottle - altHold.deadband * (autopilotConfig()->hoverThrottle - PWM_RANGE_MIN);
+        const float highThreshold = autopilotConfig()->hoverThrottle + altHold.deadband * (PWM_RANGE_MAX - autopilotConfig()->hoverThrottle);
 
         if (rcThrottle < lowThreshold) {
             stickFactor = scaleRangef(rcThrottle, PWM_RANGE_MIN, lowThreshold, -1.0f, 0.0f);
@@ -136,7 +136,7 @@ static void altHoldUpdateTargetAltitude(void)
 static void altHoldUpdate(void)
 {
     // check if the user has changed the target altitude using sticks
-    if (altHoldConfig()->alt_hold_adjust_rate) {
+    if (altHoldConfig()->climbRate) {
         altHoldUpdateTargetAltitude();
     }
     altitudeControl(altHold.targetAltitudeCm, taskIntervalSeconds, altHold.targetVelocity);
diff --git a/src/main/flight/autopilot_multirotor.c b/src/main/flight/autopilot_multirotor.c
index 00eff1555b..cd42049226 100644
--- a/src/main/flight/autopilot_multirotor.c
+++ b/src/main/flight/autopilot_multirotor.c
@@ -138,23 +138,22 @@ void resetPositionControl(const gpsLocation_t *initialTargetLocation, unsigned t
 
 void autopilotInit(void)
 {
-    const apConfig_t *cfg = apConfig();
-
+    const autopilotConfig_t *cfg = autopilotConfig();
     ap.sticksActive = false;
-    ap.maxAngle = cfg->max_angle;
-    altitudePidCoeffs.Kp = cfg->altitude_P * ALTITUDE_P_SCALE;
-    altitudePidCoeffs.Ki = cfg->altitude_I * ALTITUDE_I_SCALE;
-    altitudePidCoeffs.Kd = cfg->altitude_D * ALTITUDE_D_SCALE;
-    altitudePidCoeffs.Kf = cfg->altitude_F * ALTITUDE_F_SCALE;
-    positionPidCoeffs.Kp = cfg->position_P * POSITION_P_SCALE;
-    positionPidCoeffs.Ki = cfg->position_I * POSITION_I_SCALE;
-    positionPidCoeffs.Kd = cfg->position_D * POSITION_D_SCALE;
-    positionPidCoeffs.Kf = cfg->position_A * POSITION_A_SCALE; // Kf used for acceleration
+    ap.maxAngle = cfg->maxAngle;
+    altitudePidCoeffs.Kp = cfg->altitudeP * ALTITUDE_P_SCALE;
+    altitudePidCoeffs.Ki = cfg->altitudeI * ALTITUDE_I_SCALE;
+    altitudePidCoeffs.Kd = cfg->altitudeD * ALTITUDE_D_SCALE;
+    altitudePidCoeffs.Kf = cfg->altitudeF * ALTITUDE_F_SCALE;
+    positionPidCoeffs.Kp = cfg->positionP * POSITION_P_SCALE;
+    positionPidCoeffs.Ki = cfg->positionI * POSITION_I_SCALE;
+    positionPidCoeffs.Kd = cfg->positionD * POSITION_D_SCALE;
+    positionPidCoeffs.Kf = cfg->positionA * POSITION_A_SCALE; // Kf used for acceleration
     // initialise filters with approximate filter gains; location isn't used at this point.
     ap.upsampleLpfGain = pt3FilterGain(UPSAMPLING_CUTOFF_HZ, 0.01f); // 5Hz, assuming 100Hz task rate at init
     resetUpsampleFilters();
     // Initialise PT1 filters for velocity and acceleration in earth frame axes
-    ap.vaLpfCutoff = cfg->position_cutoff * 0.01f;
+    ap.vaLpfCutoff = cfg->positionCutoff * 0.01f;
     const float vaGain = pt1FilterGain(ap.vaLpfCutoff,  0.1f); // assume 10Hz GPS connection at start; value is overwritten before first filter use
     for (unsigned i = 0; i < ARRAYLEN(ap.efAxis); i++) {
         resetEFAxisFilters(&ap.efAxis[i], vaGain);
@@ -193,7 +192,7 @@ void altitudeControl(float targetAltitudeCm, float taskIntervalS, float targetAl
 
     const float altitudeF = targetAltitudeStep * altitudePidCoeffs.Kf;
 
-    const float hoverOffset = apConfig()->hover_throttle - PWM_RANGE_MIN;
+    const float hoverOffset = autopilotConfig()->hoverThrottle - PWM_RANGE_MIN;
     float throttleOffset = altitudeP + altitudeI - altitudeD + altitudeF + hoverOffset;
 
     const float tiltMultiplier = 1.0f / fmaxf(getCosTiltAngle(), 0.5f);
@@ -203,7 +202,7 @@ void altitudeControl(float targetAltitudeCm, float taskIntervalS, float targetAl
     throttleOffset *= tiltMultiplier;
 
     float newThrottle = PWM_RANGE_MIN + throttleOffset;
-    newThrottle = constrainf(newThrottle, apConfig()->throttle_min, apConfig()->throttle_max);
+    newThrottle = constrainf(newThrottle, autopilotConfig()->throttleMin, autopilotConfig()->throttleMax);
     DEBUG_SET(DEBUG_AUTOPILOT_ALTITUDE, 0, lrintf(newThrottle)); // normal range 1000-2000 but is before constraint
 
     newThrottle = scaleRangef(newThrottle, MAX(rxConfig()->mincheck, PWM_RANGE_MIN), PWM_RANGE_MAX, 0.0f, 1.0f);
@@ -386,7 +385,7 @@ bool positionControl(void)
 
 bool isBelowLandingAltitude(void)
 {
-    return getAltitudeCm() < 100.0f * apConfig()->landing_altitude_m;
+    return getAltitudeCm() < 100.0f * autopilotConfig()->landingAltitudeM;
 }
 
 float getAutopilotThrottle(void)
diff --git a/src/main/flight/gps_rescue_multirotor.c b/src/main/flight/gps_rescue_multirotor.c
index cfb3b83feb..2321629ad0 100644
--- a/src/main/flight/gps_rescue_multirotor.c
+++ b/src/main/flight/gps_rescue_multirotor.c
@@ -630,7 +630,7 @@ static void descend(bool newGpsData)
 {
     if (newGpsData) {
         // consider landing area to be a circle half landing height around home, to avoid overshooting home point
-        const float distanceToLandingAreaM = rescueState.sensor.distanceToHomeM - (0.5f * apConfig()->landing_altitude_m);
+        const float distanceToLandingAreaM = rescueState.sensor.distanceToHomeM - (0.5f * autopilotConfig()->landingAltitudeM);
         const float proximityToLandingArea = constrainf(distanceToLandingAreaM / rescueState.intent.descentDistanceM, 0.0f, 1.0f);
 
         // increase the velocity lowpass filter cutoff for more aggressive responses when descending, especially close to home
diff --git a/src/main/flight/pid.c b/src/main/flight/pid.c
index dbc9b08da0..38dfdee169 100644
--- a/src/main/flight/pid.c
+++ b/src/main/flight/pid.c
@@ -586,7 +586,7 @@ STATIC_UNIT_TESTED FAST_CODE_NOINLINE float pidLevel(int axis, const pidProfile_
             angleLimit = 85.0f; // allow autopilot to use whatever angle it needs to stop
         }
         // limit pilot requested angle to half the autopilot angle to avoid excess speed and chaotic stops
-        angleLimit = fminf(0.5f * apConfig()->max_angle, angleLimit);
+        angleLimit = fminf(0.5f * autopilotConfig()->maxAngle, angleLimit);
     }
 #endif
 
diff --git a/src/main/flight/pos_hold_multirotor.c b/src/main/flight/pos_hold_multirotor.c
index de4147a2df..ba977d8589 100644
--- a/src/main/flight/pos_hold_multirotor.c
+++ b/src/main/flight/pos_hold_multirotor.c
@@ -51,8 +51,8 @@ static posHoldState_t posHold;
 
 void posHoldInit(void)
 {
-    posHold.deadband = posHoldConfig()->pos_hold_deadband * 0.01f;
-    posHold.useStickAdjustment = posHoldConfig()->pos_hold_deadband;
+    posHold.deadband = posHoldConfig()->deadband * 0.01f;
+    posHold.useStickAdjustment = posHoldConfig()->deadband;
 }
 
 static void posHoldCheckSticks(void)
@@ -73,7 +73,7 @@ static bool sensorsOk(void)
 #ifdef USE_MAG
         !compassIsHealthy() &&
 #endif
-        (!posHoldConfig()->pos_hold_without_mag || !canUseGPSHeading)) {
+        (!posHoldConfig()->posHoldWithoutMag || !canUseGPSHeading)) {
         return false;
     }
     return true;
diff --git a/src/main/msp/msp.c b/src/main/msp/msp.c
index 0d39f90533..025df2fc7b 100644
--- a/src/main/msp/msp.c
+++ b/src/main/msp/msp.c
@@ -1530,9 +1530,9 @@ case MSP_NAME:
         sbufWriteU16(dst, gpsRescueConfig()->returnAltitudeM);
         sbufWriteU16(dst, gpsRescueConfig()->descentDistanceM);
         sbufWriteU16(dst, gpsRescueConfig()->groundSpeedCmS);
-        sbufWriteU16(dst, apConfig()->throttle_min);
-        sbufWriteU16(dst, apConfig()->throttle_max);
-        sbufWriteU16(dst, apConfig()->hover_throttle);
+        sbufWriteU16(dst, autopilotConfig()->throttleMin);
+        sbufWriteU16(dst, autopilotConfig()->throttleMax);
+        sbufWriteU16(dst, autopilotConfig()->hoverThrottle);
         sbufWriteU8(dst,  gpsRescueConfig()->sanityChecks);
         sbufWriteU8(dst,  gpsRescueConfig()->minSats);
 
@@ -1548,9 +1548,9 @@ case MSP_NAME:
         break;
 
     case MSP_GPS_RESCUE_PIDS:
-        sbufWriteU16(dst, apConfig()->altitude_P);
-        sbufWriteU16(dst, apConfig()->altitude_I);
-        sbufWriteU16(dst, apConfig()->altitude_D);
+        sbufWriteU16(dst, autopilotConfig()->altitudeP);
+        sbufWriteU16(dst, autopilotConfig()->altitudeI);
+        sbufWriteU16(dst, autopilotConfig()->altitudeD);
         // altitude_F not implemented yet
         sbufWriteU16(dst, gpsRescueConfig()->velP);
         sbufWriteU16(dst, gpsRescueConfig()->velI);
@@ -1797,7 +1797,7 @@ case MSP_NAME:
         sbufWriteU8(dst, rcControlsConfig()->deadband);
         sbufWriteU8(dst, rcControlsConfig()->yaw_deadband);
 #if defined(USE_POSITION_HOLD) && !defined(USE_WING)
-        sbufWriteU8(dst, posHoldConfig()->pos_hold_deadband);
+        sbufWriteU8(dst, posHoldConfig()->deadband);
 #else
         sbufWriteU8(dst, 0);
 #endif
@@ -2901,9 +2901,9 @@ static mspResult_e mspProcessInCommand(mspDescriptor_t srcDesc, int16_t cmdMSP,
         gpsRescueConfigMutable()->returnAltitudeM = sbufReadU16(src);
         gpsRescueConfigMutable()->descentDistanceM = sbufReadU16(src);
         gpsRescueConfigMutable()->groundSpeedCmS = sbufReadU16(src);
-        apConfigMutable()->throttle_min = sbufReadU16(src);
-        apConfigMutable()->throttle_max = sbufReadU16(src);
-        apConfigMutable()->hover_throttle = sbufReadU16(src);
+        autopilotConfigMutable()->throttleMin = sbufReadU16(src);
+        autopilotConfigMutable()->throttleMax = sbufReadU16(src);
+        autopilotConfigMutable()->hoverThrottle = sbufReadU16(src);
         gpsRescueConfigMutable()->sanityChecks = sbufReadU8(src);
         gpsRescueConfigMutable()->minSats = sbufReadU8(src);
         if (sbufBytesRemaining(src) >= 6) {
@@ -2924,9 +2924,9 @@ static mspResult_e mspProcessInCommand(mspDescriptor_t srcDesc, int16_t cmdMSP,
         break;
 
     case MSP_SET_GPS_RESCUE_PIDS:
-        apConfigMutable()->altitude_P = sbufReadU16(src);
-        apConfigMutable()->altitude_I = sbufReadU16(src);
-        apConfigMutable()->altitude_D = sbufReadU16(src);
+        autopilotConfigMutable()->altitudeP = sbufReadU16(src);
+        autopilotConfigMutable()->altitudeI = sbufReadU16(src);
+        autopilotConfigMutable()->altitudeD = sbufReadU16(src);
         // altitude_F not included in msp yet
         gpsRescueConfigMutable()->velP = sbufReadU16(src);
         gpsRescueConfigMutable()->velI = sbufReadU16(src);
@@ -2990,7 +2990,7 @@ static mspResult_e mspProcessInCommand(mspDescriptor_t srcDesc, int16_t cmdMSP,
         rcControlsConfigMutable()->deadband = sbufReadU8(src);
         rcControlsConfigMutable()->yaw_deadband = sbufReadU8(src);
 #if defined(USE_POSITION_HOLD) && !defined(USE_WING)
-        posHoldConfigMutable()->pos_hold_deadband = sbufReadU8(src);
+        posHoldConfigMutable()->deadband = sbufReadU8(src);
 #else
         sbufReadU8(src);
 #endif
diff --git a/src/main/pg/alt_hold_multirotor.c b/src/main/pg/alt_hold_multirotor.c
index c229fcf66a..5c29527219 100644
--- a/src/main/pg/alt_hold_multirotor.c
+++ b/src/main/pg/alt_hold_multirotor.c
@@ -35,8 +35,8 @@
 PG_REGISTER_WITH_RESET_TEMPLATE(altHoldConfig_t, altHoldConfig, PG_ALTHOLD_CONFIG, 4);
 
 PG_RESET_TEMPLATE(altHoldConfig_t, altHoldConfig,
-    .alt_hold_adjust_rate = 50, // max vertical velocity change at full/zero throttle. 50 means 5 m/s
-    .alt_hold_deadband = 20, // throttle deadband in percent of stick travel
+    .climbRate = 50, // max vertical velocity change at full/zero throttle. 50 means 5 m/s
+    .deadband = 20, // throttle deadband in percent of stick travel
 );
 #endif
 
diff --git a/src/main/pg/alt_hold_multirotor.h b/src/main/pg/alt_hold_multirotor.h
index 88f0933b0c..2310328fe0 100644
--- a/src/main/pg/alt_hold_multirotor.h
+++ b/src/main/pg/alt_hold_multirotor.h
@@ -28,8 +28,8 @@
 #include "pg/pg.h"
 
 typedef struct altHoldConfig_s {
-    uint8_t alt_hold_adjust_rate;
-    uint8_t alt_hold_deadband;
+    uint8_t climbRate;
+    uint8_t deadband;
 } altHoldConfig_t;
 
 PG_DECLARE(altHoldConfig_t, altHoldConfig);
diff --git a/src/main/pg/autopilot_multirotor.c b/src/main/pg/autopilot_multirotor.c
index 898cfdc205..7854c33c4b 100644
--- a/src/main/pg/autopilot_multirotor.c
+++ b/src/main/pg/autopilot_multirotor.c
@@ -30,23 +30,23 @@
 
 #include "autopilot.h"
 
-PG_REGISTER_WITH_RESET_TEMPLATE(apConfig_t, apConfig, PG_AUTOPILOT, 2);
+PG_REGISTER_WITH_RESET_TEMPLATE(autopilotConfig_t, autopilotConfig, PG_AUTOPILOT, 2);
 
-PG_RESET_TEMPLATE(apConfig_t, apConfig,
-    .landing_altitude_m = 4,
-    .hover_throttle = 1275,
-    .throttle_min = 1100,
-    .throttle_max = 1700,
-    .altitude_P = 15,
-    .altitude_I = 15,
-    .altitude_D = 15,
-    .altitude_F = 15,
-    .position_P = 30,
-    .position_I = 30,
-    .position_D = 30,
-    .position_A = 30,
-    .position_cutoff = 80,
-    .max_angle = 50,
+PG_RESET_TEMPLATE(autopilotConfig_t, autopilotConfig,
+    .landingAltitudeM = 4,
+    .hoverThrottle = 1275,
+    .throttleMin = 1100,
+    .throttleMax = 1700,
+    .altitudeP = 15,
+    .altitudeI = 15,
+    .altitudeD = 15,
+    .altitudeF = 15,
+    .positionP = 30,
+    .positionI = 30,
+    .positionD = 30,
+    .positionA = 30,
+    .positionCutoff = 80,
+    .maxAngle = 50,
 );
 
 #endif // !USE_WING
diff --git a/src/main/pg/autopilot_multirotor.h b/src/main/pg/autopilot_multirotor.h
index 6e1f6cfecd..978c9a0c92 100644
--- a/src/main/pg/autopilot_multirotor.h
+++ b/src/main/pg/autopilot_multirotor.h
@@ -27,23 +27,23 @@
 
 #include "pg/pg.h"
 
-typedef struct apConfig_s {
-    uint8_t landing_altitude_m;   // altitude below which landing behaviours can change, metres
-    uint16_t hover_throttle;      // value used at the start of a rescue or position hold
-    uint16_t throttle_min;
-    uint16_t throttle_max;
-    uint8_t altitude_P;
-    uint8_t altitude_I;
-    uint8_t altitude_D;
-    uint8_t altitude_F;
-    uint8_t position_P;
-    uint8_t position_I;
-    uint8_t position_D;
-    uint8_t position_A;
-    uint8_t position_cutoff;
-    uint8_t max_angle;
-} apConfig_t;
+typedef struct autopilotConfig_s {
+    uint8_t landingAltitudeM;   // altitude below which landing behaviours can change, metres
+    uint16_t hoverThrottle;      // value used at the start of a rescue or position hold
+    uint16_t throttleMin;
+    uint16_t throttleMax;
+    uint8_t altitudeP;
+    uint8_t altitudeI;
+    uint8_t altitudeD;
+    uint8_t altitudeF;
+    uint8_t positionP;
+    uint8_t positionI;
+    uint8_t positionD;
+    uint8_t positionA;
+    uint8_t positionCutoff;
+    uint8_t maxAngle;
+} autopilotConfig_t;
 
-PG_DECLARE(apConfig_t, apConfig);
+PG_DECLARE(autopilotConfig_t, autopilotConfig);
 
 #endif // !USE_WING
diff --git a/src/main/pg/autopilot_wing.c b/src/main/pg/autopilot_wing.c
index 06dc476c1c..73a351f45f 100644
--- a/src/main/pg/autopilot_wing.c
+++ b/src/main/pg/autopilot_wing.c
@@ -30,9 +30,9 @@
 
 #include "autopilot.h"
 
-PG_REGISTER_WITH_RESET_TEMPLATE(apConfig_t, apConfig, PG_AUTOPILOT, 2);
+PG_REGISTER_WITH_RESET_TEMPLATE(autopilotConfig_t, autopilotConfig, PG_AUTOPILOT, 2);
 
-PG_RESET_TEMPLATE(apConfig_t, apConfig,
+PG_RESET_TEMPLATE(autopilotConfig_t, autopilotConfig,
 );
 
 #endif // USE_WING
diff --git a/src/main/pg/autopilot_wing.h b/src/main/pg/autopilot_wing.h
index ee01e0a6f9..567db81cc3 100644
--- a/src/main/pg/autopilot_wing.h
+++ b/src/main/pg/autopilot_wing.h
@@ -27,10 +27,10 @@
 
 #include "pg/pg.h"
 
-typedef struct apConfig_s {
+typedef struct autopilotConfig_s {
     uint8_t dummy;
-} apConfig_t;
+} autopilotConfig_t;
 
-PG_DECLARE(apConfig_t, apConfig);
+PG_DECLARE(autopilotConfig_t, autopilotConfig);
 
 #endif // USE_WING
diff --git a/src/main/pg/pos_hold_multirotor.c b/src/main/pg/pos_hold_multirotor.c
index 2a7a332241..68e907165f 100644
--- a/src/main/pg/pos_hold_multirotor.c
+++ b/src/main/pg/pos_hold_multirotor.c
@@ -35,8 +35,8 @@
 PG_REGISTER_WITH_RESET_TEMPLATE(posHoldConfig_t, posHoldConfig, PG_POSHOLD_CONFIG, 0);
 
 PG_RESET_TEMPLATE(posHoldConfig_t, posHoldConfig,
-    .pos_hold_without_mag = false,   // position hold within this percentage stick deflection
-    .pos_hold_deadband = 5,          // deadband in percent of stick travel for roll and pitch. Must be non-zero, and exceeded, for target location to be changed with sticks
+    .posHoldWithoutMag = false,   // position hold within this percentage stick deflection
+    .deadband = 5,          // deadband in percent of stick travel for roll and pitch. Must be non-zero, and exceeded, for target location to be changed with sticks
 );
 #endif
 
diff --git a/src/main/pg/pos_hold_multirotor.h b/src/main/pg/pos_hold_multirotor.h
index 6187d9ba62..64f8f26716 100644
--- a/src/main/pg/pos_hold_multirotor.h
+++ b/src/main/pg/pos_hold_multirotor.h
@@ -28,8 +28,8 @@
 #include "pg/pg.h"
 
 typedef struct posHoldConfig_s {
-    bool pos_hold_without_mag;
-    uint8_t pos_hold_deadband;
+    bool posHoldWithoutMag;
+    uint8_t deadband;
 } posHoldConfig_t;
 
 PG_DECLARE(posHoldConfig_t, posHoldConfig);
diff --git a/src/test/unit/althold_unittest.cc b/src/test/unit/althold_unittest.cc
index 4dbba143bb..98e1d93abc 100644
--- a/src/test/unit/althold_unittest.cc
+++ b/src/test/unit/althold_unittest.cc
@@ -50,7 +50,7 @@ extern "C" {
 
     PG_REGISTER(accelerometerConfig_t, accelerometerConfig, PG_ACCELEROMETER_CONFIG, 0);
     PG_REGISTER(altHoldConfig_t, altHoldConfig, PG_ALTHOLD_CONFIG, 0);
-    PG_REGISTER(apConfig_t, apConfig, PG_AUTOPILOT, 0);
+    PG_REGISTER(autopilotConfig_t, autopilotConfig, PG_AUTOPILOT, 0);
     PG_REGISTER(gyroConfig_t, gyroConfig, PG_GYRO_CONFIG, 0);
     PG_REGISTER(positionConfig_t, positionConfig, PG_POSITION, 0);
     PG_REGISTER(rcControlsConfig_t, rcControlsConfig, PG_RC_CONTROLS_CONFIG, 0);
diff --git a/src/test/unit/arming_prevention_unittest.cc b/src/test/unit/arming_prevention_unittest.cc
index 82b0df4ac1..8b92be036f 100644
--- a/src/test/unit/arming_prevention_unittest.cc
+++ b/src/test/unit/arming_prevention_unittest.cc
@@ -79,7 +79,7 @@ extern "C" {
     PG_REGISTER(gpsConfig_t, gpsConfig, PG_GPS_CONFIG, 0);
     PG_REGISTER(gpsRescueConfig_t, gpsRescueConfig, PG_GPS_RESCUE, 0);
     PG_REGISTER(positionConfig_t, positionConfig, PG_POSITION, 0);
-    PG_REGISTER(apConfig_t, apConfig, PG_AUTOPILOT, 0);
+    PG_REGISTER(autopilotConfig_t, autopilotConfig, PG_AUTOPILOT, 0);
 
     float rcData[MAX_SUPPORTED_RC_CHANNEL_COUNT];
     uint16_t averageSystemLoadPercent = 0;
diff --git a/src/test/unit/flight_imu_unittest.cc b/src/test/unit/flight_imu_unittest.cc
index b8c1dda675..af839a3266 100644
--- a/src/test/unit/flight_imu_unittest.cc
+++ b/src/test/unit/flight_imu_unittest.cc
@@ -75,7 +75,7 @@ extern "C" {
     PG_REGISTER(rcControlsConfig_t, rcControlsConfig, PG_RC_CONTROLS_CONFIG, 0);
     PG_REGISTER(barometerConfig_t, barometerConfig, PG_BAROMETER_CONFIG, 0);
     PG_REGISTER(gpsConfig_t, gpsConfig, PG_GPS_CONFIG, 0);
-    PG_REGISTER(apConfig_t, apConfig, PG_AUTOPILOT, 0);
+    PG_REGISTER(autopilotConfig_t, autopilotConfig, PG_AUTOPILOT, 0);
 
     PG_RESET_TEMPLATE(featureConfig_t, featureConfig,
         .enabledFeatures = 0