Pixhwak cube (2.1) uppgrade from PX4 1.6.3 to 1.7.3 fails, parameters not updated

#1

Frame: own design
Hardware: Pixhawk 2.1
Software. PX4
Tool: Qgroundcomtroller (QGC)

Process:
Connect to cube with QGC
Start update firmware update, GQC suggest latest stable i.e. 1.7.3
From: http://px4-travis.s3.amazonaws.com/Firmware/stable/px4fmu-v3_default.px4
Update successful, no errors.
Then started calibration, not successful, weird errors.

Checked parameters, and now it gets strange, at least for me.
Parameters are different in 1.7.3 and 1.6.3.
So I tried to upload parameters from 1.6.3, we had stored them, then QGC gave notification “Parameter load errors”
And could not load about 40% of parameters, and critical ones are missing, see at bottom examples.

So is this correct understanding.

  1. Loading parameters from QGC doesn’t work
  2. Parameters need to be changed at parameters.xml
  3. Then build new target version with this updated xml
    Is this correct way

CAL_MAG0_XSCALE
CAL_MAG0_YOFF
CAL_MAG0_YSCALE
CAL_MAG0_ZOFF
CAL_MAG0_ZSCALE
and
MC_PITCHRATE_D
MC_PITCHRATE_FF
MC_PITCHRATE_I
MC_PITCHRATE_MAX
MC_PITCHRATE_P
MC_PITCH_P
MC_PITCH_TC
MC_PR_INT_LIM
MC_RATT_TH
MC_ROLLRATE_D
MC_ROLLRATE_FF
MC_ROLLRATE_I
MC_ROLLRATE_MAX
MC_ROLLRATE_P
and
MPC_XY_FF
MPC_XY_MAN_EXPO
MPC_XY_P
MPC_XY_VEL_D
MPC_XY_VEL_I
MPC_XY_VEL_MAX
MPC_XY_VEL_P