diff --git a/params/ardupilot/ArduRover/4.7/Navigator/BlueBoat120.params b/params/ardupilot/ArduRover/4.7/Navigator/BlueBoat120.params
index 701b17c..92a013b 100644
--- a/params/ardupilot/ArduRover/4.7/Navigator/BlueBoat120.params
+++ b/params/ardupilot/ArduRover/4.7/Navigator/BlueBoat120.params
@@ -299,17 +299,17 @@ EK3_RNG_M_NSE    0.5
 EK3_RNG_USE_HGT  -1
 EK3_RNG_USE_SPD  2
 EK3_SRC1_POSXY   3
-EK3_SRC1_POSZ    1
+EK3_SRC1_POSZ    3
 EK3_SRC1_VELXY   3
 EK3_SRC1_VELZ    3
 EK3_SRC1_YAW     1
 EK3_SRC2_POSXY   0
-EK3_SRC2_POSZ    1
+EK3_SRC2_POSZ    0
 EK3_SRC2_VELXY   0
 EK3_SRC2_VELZ    0
 EK3_SRC2_YAW     0
 EK3_SRC3_POSXY   0
-EK3_SRC3_POSZ    1
+EK3_SRC3_POSZ    0
 EK3_SRC3_VELXY   0
 EK3_SRC3_VELZ    0
 EK3_SRC3_YAW     0
diff --git a/params/ardupilot/ArduSub/4.5/navigator/Heavy BlueROV2.params b/params/ardupilot/ArduSub/4.5/navigator/Heavy BlueROV2.params
index 6713f4d..4bcfa81 100755
--- a/params/ardupilot/ArduSub/4.5/navigator/Heavy BlueROV2.params	
+++ b/params/ardupilot/ArduSub/4.5/navigator/Heavy BlueROV2.params	
@@ -11,7 +11,7 @@ SERVO11_FUNCTION: 0, // aux 3
 
 SERVO12_FUNCTION: 0, // unused
 
-SERVO13_FUNCTION: 59, // lights 1
-SERVO14_FUNCTION: 60, // lights 2
+SERVO13_FUNCTION: 181, // lights 1
+SERVO14_FUNCTION: 182, // lights 2
 SERVO15_FUNCTION: 0, // unused
 SERVO16_FUNCTION: 7, // mount pitch
diff --git a/params/ardupilot/ArduSub/4.5/navigator/Standard BlueROV2.params b/params/ardupilot/ArduSub/4.5/navigator/Standard BlueROV2.params
index f403c2e..30a959f 100755
--- a/params/ardupilot/ArduSub/4.5/navigator/Standard BlueROV2.params	
+++ b/params/ardupilot/ArduSub/4.5/navigator/Standard BlueROV2.params	
@@ -11,7 +11,7 @@ SERVO11_FUNCTION: 0, // aux 3
 
 SERVO12_FUNCTION: 0, // unused
 
-SERVO13_FUNCTION: 59, // lights 1
-SERVO14_FUNCTION: 60, // lights 2
+SERVO13_FUNCTION: 181, // lights 1
+SERVO14_FUNCTION: 182, // lights 2
 SERVO15_FUNCTION: 0, // unused
 SERVO16_FUNCTION: 7, // mount pitch
diff --git a/params/ardupilot/ArduSub/4.5/pixhawk1/Heavy BlueROV2.params b/params/ardupilot/ArduSub/4.5/pixhawk1/Heavy BlueROV2.params
index 262eff0..1a2c4a8 100644
--- a/params/ardupilot/ArduSub/4.5/pixhawk1/Heavy BlueROV2.params	
+++ b/params/ardupilot/ArduSub/4.5/pixhawk1/Heavy BlueROV2.params	
@@ -2,6 +2,6 @@
 %include "../base.params"
 %include "../heavy.params"
 
-SERVO10_FUNCTION: 7.0,
-SERVO9_FUNCTION: 59.0,
+SERVO10_FUNCTION: 7, // mount pitch
+SERVO9_FUNCTION: 181, // lights 1
 SERVO14_FUNCTION: -1,
diff --git a/params/ardupilot/ArduSub/4.7/pixhawk1/Heavy BlueROV2.params b/params/ardupilot/ArduSub/4.7/pixhawk1/Heavy BlueROV2.params
index 24fd9dc..99bc573 100644
--- a/params/ardupilot/ArduSub/4.7/pixhawk1/Heavy BlueROV2.params	
+++ b/params/ardupilot/ArduSub/4.7/pixhawk1/Heavy BlueROV2.params	
@@ -1,5 +1,5 @@
 %include "../../hardware/boards/pixhawk1.params"
 %include "../base.params"
 %include "../heavy.params"
-SERVO10_FUNCTION: 7.0
-SERVO9_FUNCTION: 59.0
+SERVO10_FUNCTION: 7, // mount pitch
+SERVO9_FUNCTION: 181, // lights 1