diff --git a/docs/firmware.md b/docs/firmware.md
index 8db55cd..ad734f0 100644
--- a/docs/firmware.md
+++ b/docs/firmware.md
@@ -73,7 +73,7 @@ Parameters subsystem (`parameters.ino`) uses standard [Preferences.h](https://do
 
 To add a new parameter:
 
-1. Define a global variable for the parameter, two types are supported: `float` and `int`.
+1. Define a global variable for the parameter, three types are supported: `float`, `int`, and `bool`.
 2. Add an entry to the `parameters` array, with the parameter name, a pointer to the variable, and optionally a callback function to call when the parameter is changed.
 3. Everything else will be handled automatically.
 
diff --git a/flix/cli.ino b/flix/cli.ino
index c6273c1..662de44 100644
--- a/flix/cli.ino
+++ b/flix/cli.ino
@@ -105,7 +105,7 @@ void doCommand(String str, bool echo = false) {
 		if (success) {
 			print("%s = %g\n", arg0.c_str(), getParameter(arg0.c_str()));
 		} else {
-			print("Parameter not found: %s\n", arg0.c_str());
+			print("Cannot set parameter: %s\n", arg0.c_str());
 		}
 	} else if (command == "preset") {
 		resetParameters();
diff --git a/flix/parameters.ino b/flix/parameters.ino
index c478bbb..5232ec6 100644
--- a/flix/parameters.ino
+++ b/flix/parameters.ino
@@ -20,15 +20,11 @@ Preferences storage;
 
 struct Parameter {
 	const char *name; // max length is 15
-	bool integer;
-	union { float *f; int *i; }; // pointer to the variable
-	float inital; // default value
+	Value value; // pointer to the variable
+	float initial; // default value
 	float cache; // what's stored in flash
 	void (*callback)(); // called after parameter change
-	Parameter(const char *name, float *variable, void (*callback)() = nullptr) : name(name), integer(false), f(variable), callback(callback) {};
-	Parameter(const char *name, int *variable, void (*callback)() = nullptr) : name(name), integer(true), i(variable), callback(callback) {};
-	float getValue() const { return integer ? *i : *f; };
-	void setValue(const float value) { if (integer) *i = value; else *f = value; };
+	Parameter(const char *name, Value value, void (*callback)() = nullptr) : name(name), value(value), callback(callback) {};
 };
 
 Parameter parameters[] = {
@@ -168,11 +164,11 @@ void setupParameters() {
 	storage.begin("flix");
 	// Read parameters from storage
 	for (auto &parameter : parameters) {
-		parameter.inital = parameter.getValue();
+		parameter.initial = parameter.value.get();
 		if (storage.isKey(parameter.name)) {
-			parameter.setValue(storage.getFloat(parameter.name));
+			parameter.value.set(storage.getFloat(parameter.name));
 		}
-		parameter.cache = parameter.getValue();
+		parameter.cache = parameter.value.get();
 	}
 }
 
@@ -187,13 +183,13 @@ const char *getParameterName(int index) {
 
 float getParameter(int index) {
 	if (index < 0 || index >= parametersCount()) return NAN;
-	return parameters[index].getValue();
+	return parameters[index].value.get();
 }
 
 float getParameter(const char *name) {
 	for (auto &parameter : parameters) {
 		if (strcasecmp(parameter.name, name) == 0) {
-			return parameter.getValue();
+			return parameter.value.get();
 		}
 	}
 	return NAN;
@@ -202,10 +198,9 @@ float getParameter(const char *name) {
 bool setParameter(const char *name, const float value) {
 	for (auto &parameter : parameters) {
 		if (strcasecmp(parameter.name, name) == 0) {
-			if (parameter.integer && !isfinite(value)) return false; // can't set integer to NaN or Inf
-			parameter.setValue(value);
+			bool success = parameter.value.set(value);
 			if (parameter.callback) parameter.callback();
-			return true;
+			return success;
 		}
 	}
 	return false;
@@ -217,10 +212,10 @@ void syncParameters() {
 	if (motorsActive()) return; // don't use flash while flying, it may cause a delay
 
 	for (auto &parameter : parameters) {
-		if (floatEquals(parameter.getValue(), parameter.cache)) continue; // no change
+		if (floatEquals(parameter.value.get(), parameter.cache)) continue; // no change
 
-		storage.putFloat(parameter.name, parameter.getValue());
-		parameter.cache = parameter.getValue(); // update cache
+		storage.putFloat(parameter.name, parameter.value.get());
+		parameter.cache = parameter.value.get(); // update cache
 	}
 }
 
@@ -229,10 +224,10 @@ void printParameters(const char *filter) {
 	for (auto &parameter : parameters) {
 		if (strncasecmp(parameter.name, filter, strlen(filter))) continue;
 
-		if (floatEquals(parameter.getValue(), parameter.inital)) { // parameter changed
-			print("%-15s  %-13g\n", parameter.name, parameter.getValue());
+		if (floatEquals(parameter.value.get(), parameter.initial)) { // parameter changed
+			print("%-15s  %-13g\n", parameter.name, parameter.value.get());
 		} else {
-			print("%-15s  %-13g  [%g]\n", parameter.name, parameter.getValue(), parameter.inital);
+			print("%-15s  %-13g  [%g]\n", parameter.name, parameter.value.get(), parameter.initial);
 		}
 	}
 }
diff --git a/flix/util.h b/flix/util.h
index 3672c98..e4ddd48 100644
--- a/flix/util.h
+++ b/flix/util.h
@@ -99,13 +99,19 @@ struct Value {
 		}
 	};
 
-	void set(float value) const {
-		switch (type) {
-			case FLOAT: *_float = value; break;
-			case INT: *_int = value; break;
-			case BOOL: *_bool = (value != 0); break;
-			default: break;
+	bool set(float value) const {
+		if (type == FLOAT) {
+			*_float = value;
+			return true;
+		} else if (type == INT) {
+			if (!isfinite(value)) return false;
+			*_int = value;
+			return true;
+		} else if (type == BOOL) {
+			*_bool = (value != 0);
+			return true;
 		}
+		return false;
 	};
 };