diff --git a/src/FactSystem/ParameterManager.cc b/src/FactSystem/ParameterManager.cc
index 1adfafe65d814daff91fc7ec987570e1caa48171..2c8bf1bbe6dae77be1b01566dc5359e1a5c2a0f5 100644
--- a/src/FactSystem/ParameterManager.cc
+++ b/src/FactSystem/ParameterManager.cc
@@ -72,7 +72,7 @@ ParameterManager::ParameterManager(Vehicle* vehicle)
     _mavlink = qgcApp()->toolbox()->mavlinkProtocol();
 
     _initialRequestTimeoutTimer.setSingleShot(true);
-    _initialRequestTimeoutTimer.setInterval(20000);
+    _initialRequestTimeoutTimer.setInterval(5000);
     connect(&_initialRequestTimeoutTimer, &QTimer::timeout, this, &ParameterManager::_initialRequestTimeout);
 
     _waitingParamTimeoutTimer.setSingleShot(true);
@@ -135,12 +135,8 @@ void ParameterManager::_parameterUpdate(int vehicleId, int componentId, QString
         return;
     }
 
-    if (parameterId >= parameterCount) {
-        qCDebug(ParameterManagerLog) << _logVehiclePrefix() << "Discarding bogus update name:id:count" << parameterName << parameterId << parameterCount;
-        return;
-    }
-
     _initialRequestTimeoutTimer.stop();
+    _waitingParamTimeoutTimer.stop();
 
     _dataMutex.lock();
 
@@ -179,14 +175,9 @@ void ParameterManager::_parameterUpdate(int vehicleId, int componentId, QString
         componentParamsComplete = true;
     }
 
-    if (_waitingReadParamIndexMap[componentId].contains(parameterId) ||
-        _waitingReadParamNameMap[componentId].contains(parameterName) ||
-        _waitingWriteParamNameMap[componentId].contains(parameterName)) {
-        // We were waiting for this parameter, restart wait timer. Otherwise it is a spurious parameter update which
-        // means we should not reset the wait timer.
-        qCDebug(ParameterManagerVerbose1Log) << _logVehiclePrefix() << "Restarting _waitingParamTimeoutTimer (valid param received)";
-        _waitingParamTimeoutTimer.start();
-    } else {
+    if (!_waitingReadParamIndexMap[componentId].contains(parameterId) &&
+        !_waitingReadParamNameMap[componentId].contains(parameterName) &&
+        !_waitingWriteParamNameMap[componentId].contains(parameterName)) {
         qCDebug(ParameterManagerVerbose1Log) << _logVehiclePrefix() << "Unrequested param update" << parameterName;
     }
 
@@ -234,12 +225,17 @@ void ParameterManager::_parameterUpdate(int vehicleId, int componentId, QString
     int readWaitingParamCount = waitingReadParamIndexCount + waitingReadParamNameCount;
     int totalWaitingParamCount = readWaitingParamCount + waitingWriteParamNameCount;
     if (totalWaitingParamCount) {
-        qCDebug(ParameterManagerVerbose1Log) << _logVehiclePrefix(componentId) << "totalWaitingParamCount:" << totalWaitingParamCount;
-    } else if (_defaultComponentId != MAV_COMP_ID_ALL || _defaultComponentIdParam.isEmpty()) {
-        // No more parameters to wait for, stop the timeout. Be careful to not stop timer if we don't have the default
-        // component yet.
-        qCDebug(ParameterManagerVerbose1Log) << _logVehiclePrefix() << "Stopping _waitingParamTimeoutTimer (all requests satisfied)";
-        _waitingParamTimeoutTimer.stop();
+        // More params to wait for, restart timer
+        _waitingParamTimeoutTimer.start();
+        qCDebug(ParameterManagerVerbose1Log) << _logVehiclePrefix() << "Restarting _waitingParamTimeoutTimer: totalWaitingParamCount:" << totalWaitingParamCount;
+    } else {
+        if (_defaultComponentId == MAV_COMP_ID_ALL && !_defaultComponentIdParam.isEmpty()) {
+            // Still waiting for default component id, restart timer
+            qCDebug(ParameterManagerVerbose1Log) << _logVehiclePrefix() << "Restarting _waitingParamTimeoutTimer (still waiting for default component)";
+            _waitingParamTimeoutTimer.start();
+        } else {
+            qCDebug(ParameterManagerVerbose1Log) << _logVehiclePrefix() << "Not restarting _waitingParamTimeoutTimer (all requests satisfied)";
+        }
     }
 
     // Update progress bar for waiting reads
@@ -1064,6 +1060,7 @@ void ParameterManager::_checkInitialLoadComplete(bool failIfNoDefaultComponent)
 void ParameterManager::_initialRequestTimeout(void)
 {
     if (!_disableAllRetries && ++_initialRequestRetryCount <= _maxInitialRequestListRetry) {
+        qCDebug(ParameterManagerLog) << _logVehiclePrefix() << "Retyring initial parameter request list";
         refreshAllParameters();
         _initialRequestTimeoutTimer.start();
     } else {
diff --git a/src/FactSystem/ParameterManagerTest.cc b/src/FactSystem/ParameterManagerTest.cc
index ae362f2780f6ed657bb18b3f50aa3bebbe0c3bb2..9ed18f0cdefd10f01ea56bc0a3e91bf422283273 100644
--- a/src/FactSystem/ParameterManagerTest.cc
+++ b/src/FactSystem/ParameterManagerTest.cc
@@ -64,10 +64,12 @@ void ParameterManagerTest::_requestListMissingParamSuccess(void)
     _noFailureWorker(MockConfiguration::FailMissingParamOnInitialReqest);
 }
 
-#if 0
 // Test no response to param_request_list
 void ParameterManagerTest::_requestListNoResponse(void)
 {
+    // Will pop error about request failure
+    setExpectedMessageBox(QMessageBox::Ok);
+
     Q_ASSERT(!_mockLink);
     _mockLink = MockLink::startPX4MockLink(false, MockConfiguration::FailParamNoReponseToRequestList);
 
@@ -93,9 +95,8 @@ void ParameterManagerTest::_requestListNoResponse(void)
     QCOMPARE(spyParamsReady.wait(40000), false);
 
     // User should have been notified
-    checkMultipleExpectedMessageBox(5);
+    checkExpectedMessageBox();
 }
-#endif
 
 // MockLink will fail to send a param on initial request, it will also fail to send it on subsequent
 // param_read requests.
diff --git a/src/FactSystem/ParameterManagerTest.h b/src/FactSystem/ParameterManagerTest.h
index 7d732169f2354b855490dc8cd2516942b305f142..374eebba5a91df0b1497e94f91ef8b46c5d227d6 100644
--- a/src/FactSystem/ParameterManagerTest.h
+++ b/src/FactSystem/ParameterManagerTest.h
@@ -22,8 +22,7 @@ class ParameterManagerTest : public UnitTest
     
 private slots:
     void _noFailure(void);
-    // FIXME: Hack to work around changed no reponse handling
-    //void _requestListNoResponse(void);
+    void _requestListNoResponse(void);
     void _requestListMissingParamSuccess(void);
     void _requestListMissingParamFail(void);