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ArduPilot · May 31, 2024 · 10d7a33 · 10d7a33
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diff --git a/Copter-4.5/Parameters.html b/Copter-4.5/Parameters.html
diff --git a/Copter-4.5/Parameters.md b/Copter-4.5/Parameters.md
diff --git a/Copter-4.5/Parameters.rst b/Copter-4.5/Parameters.rst
@@ -7871,11 +7871,11 @@ Avoidance behaviour \(slide or stop\)
 
 .. _AVOID_BACKUP_SPD:
 
-AVOID\_BACKUP\_SPD: Avoidance maximum backup speed
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+AVOID\_BACKUP\_SPD: Avoidance maximum horizontal backup speed
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
 
 
-Maximum speed that will be used to back away from obstacles in GPS modes \(m\/s\)\. Set zero to disable
+Maximum speed that will be used to back away from obstacles horizontally in position control modes \(m\/s\)\. Set zero to disable horizontal backup\.
 
 
 +--------+-------------------+
@@ -7941,6 +7941,24 @@ Distance beyond AVOID\_MARGIN parameter\, after which vehicle will backaway from
 
 
 
+.. _AVOID_BACKZ_SPD:
+
+AVOID\_BACKZ\_SPD: Avoidance maximum vertical backup speed
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+
+Maximum speed that will be used to back away from obstacles vertically in height control modes \(m\/s\)\. Set zero to disable vertical backup\.
+
+
++--------+-------------------+
+| Range  | Units             |
++========+===================+
+| 0 to 2 | meters per second |
++--------+-------------------+
+
+
+
+
 
 .. _parameters_BARO: