diff --git a/src/uas/QGCUASParamManager.cc b/src/uas/QGCUASParamManager.cc
index 3e610773107386afc5ce0f3d9d6cdae4d50323fb..532efe813a55e64403d95fd29e2aa88a0c489087 100644
--- a/src/uas/QGCUASParamManager.cc
+++ b/src/uas/QGCUASParamManager.cc
@@ -16,22 +16,13 @@ QGCUASParamManager::QGCUASParamManager(UASInterface* uas, QWidget *parent) :
 }
 
 
-/**
- * The .. signal is emitted
- */
-void QGCUASParamManager::requestParameterListUpdate(int component)
-{
-	Q_UNUSED(component);
-}
+
 
 bool QGCUASParamManager::getParameterValue(int component, const QString& parameter, QVariant& value) const {
     return paramDataModel->getOnboardParameterValue(component,parameter,value);
 }
 
 
-
-
-
 /**
  * Send a request to deliver the list of onboard parameters
  * to the MAV.
@@ -69,7 +60,7 @@ void QGCUASParamManager::requestParameterList()
  */
 void QGCUASParamManager::setRetransmissionGuardEnabled(bool enabled)
 {
-    qDebug() << "setRetransmissionGuardEnabled: " << enabled;
+//    qDebug() << "setRetransmissionGuardEnabled: " << enabled;
 
     if (enabled) {
         retransmissionTimer.start(retransmissionTimeout);
diff --git a/src/uas/QGCUASParamManager.h b/src/uas/QGCUASParamManager.h
index 6e3927b0851cd30ef543675b40443bc3fd310f0e..3607552df25461295c37897124d6ef7a27b089d3 100644
--- a/src/uas/QGCUASParamManager.h
+++ b/src/uas/QGCUASParamManager.h
@@ -17,8 +17,6 @@ public:
 
     virtual bool getParameterValue(int component, const QString& parameter, QVariant& value) const;
 
-    /** @brief Request an update for the parameter list */
-    void requestParameterListUpdate(int component = 0);
     /** @brief Request an update for this specific parameter */
     virtual void requestParameterUpdate(int component, const QString& parameter) = 0;
 
diff --git a/src/uas/UAS.cc b/src/uas/UAS.cc
index 597472af5a7da62ee2e0740f26f2e638c1cc56d8..3e34dd48ab67ca83700d6844f52b2b10f1d9aca4 100644
--- a/src/uas/UAS.cc
+++ b/src/uas/UAS.cc
@@ -1995,7 +1995,7 @@ void UAS::sendMessage(mavlink_message_t message)
         if (LinkManager::instance()->getLinks().contains(link))
         {
             sendMessage(link, message);
-            qDebug() << "SENT MESSAGE!";
+            qDebug() << "SENT MESSAGE id" << message.msgid;
         }
         else
         {
diff --git a/src/ui/ParameterInterface.cc b/src/ui/ParameterInterface.cc
index e387a20938fb47abfbf1676d8858f4156b5229d3..8ad4a450cad2ec7b3f118a8d32263baafa1d9958 100644
--- a/src/ui/ParameterInterface.cc
+++ b/src/ui/ParameterInterface.cc
@@ -89,8 +89,18 @@ void ParameterInterface::selectUAS(int index)
  */
 void ParameterInterface::addUAS(UASInterface* uas)
 {
+    int uasId = uas->getUASID();
+    if (paramWidgets->contains(uasId) ) {
+        qDebug() << "Already have QGCParamWidget for: " << uasId ;
+        return;
+    }
+
     QGCParamWidget* param = new QGCParamWidget(uas, this);
-    paramWidgets->insert(uas->getUASID(), param);
+    QString ptrStr;
+    ptrStr.sprintf("%8p", param);
+    qDebug() << "Created QGCParamWidget " << ptrStr << "for UAS id: " << uasId << " count: " << paramWidgets->count();
+
+    paramWidgets->insert(uasId, param);
     m_ui->stackedWidget->addWidget(param);
 
     QGCSensorSettingsWidget* sensor = NULL;
diff --git a/src/ui/QGCParamWidget.cc b/src/ui/QGCParamWidget.cc
index 7b6f3330117b82b168d3891109ee4c1132653a31..b26348be63bd307badf63b380ed0365425511f7d 100644
--- a/src/ui/QGCParamWidget.cc
+++ b/src/ui/QGCParamWidget.cc
@@ -87,7 +87,7 @@ QGCParamWidget::QGCParamWidget(UASInterface* uas, QWidget *parent) :
     QPushButton* refreshButton = new QPushButton(tr("Get"));
     refreshButton->setToolTip(tr("Load parameters currently in non-permanent memory of aircraft."));
     refreshButton->setWhatsThis(tr("Load parameters currently in non-permanent memory of aircraft."));
-    connect(refreshButton, SIGNAL(clicked()), this, SLOT(requestParameterListUpdate()));
+    connect(refreshButton, SIGNAL(clicked()), this, SLOT(requestAllParamsUpdate()));
     horizontalLayout->addWidget(refreshButton, 2, 0);
 
     QPushButton* setButton = new QPushButton(tr("Set"));
@@ -151,7 +151,7 @@ QGCParamWidget::QGCParamWidget(UASInterface* uas, QWidget *parent) :
 
     // Get parameters
     if (uas) {
-        requestParameterListUpdate();
+        requestAllParamsUpdate();
     }
 }
 
@@ -245,7 +245,8 @@ void QGCParamWidget::addComponent(int uas, int component, QString componentName)
  */
 void QGCParamWidget::receivedParameterUpdate(int uas, int component, int paramCount, int paramId, QString parameterName, QVariant value)
 {
-    receivedParameterUpdate(uas, component, parameterName, value);
+
+    updateParameterDisplay(uas, component, parameterName, value);
 
     // Missing packets list has to be instantiated for all components
     if (!transmissionMissingPackets.contains(component)) {
@@ -390,10 +391,15 @@ void QGCParamWidget::receivedParameterUpdate(int uas, int component, int paramCo
  * @param component id of the component
  * @param parameterName human friendly name of the parameter
  */
-void QGCParamWidget::receivedParameterUpdate(int uas, int component, QString parameterName, QVariant value)
+void QGCParamWidget::updateParameterDisplay(int uas, int component, QString parameterName, QVariant value)
 {
-    qDebug() << "PARAM WIDGET GOT PARAM:" << parameterName;
     Q_UNUSED(uas);
+
+
+    QString ptrStr;
+    ptrStr.sprintf("%8p", this);
+    qDebug() <<  "QGCParamWidget " << ptrStr << " got param" <<  parameterName;
+
     // Reference to item in tree
     QTreeWidgetItem* parameterItem = NULL;
 
@@ -417,9 +423,8 @@ void QGCParamWidget::receivedParameterUpdate(int uas, int component, QString par
         addComponent(uas, component, componentName);
     }
 
-    // Replace value in map
-
-    paramDataModel->setOnboardParameter(component,parameterName,value);
+    // Replace value in data model
+    paramDataModel->handleParameterUpdate(component,parameterName,value);
 
 
     QString splitToken = "_";
@@ -564,7 +569,7 @@ void QGCParamWidget::parameterItemChanged(QTreeWidgetItem* current, int column)
             current->setBackground(1, QBrush(QColor(QGC::colorOrange)));
 
             //TODO this seems incorrect-- we're pre-updating the onboard value before we've received confirmation
-            paramDataModel->setOnboardParameterWithType(componentId,key,value);
+            //paramDataModel->setOnboardParameterWithType(componentId,key,value);
         }
 
     }
@@ -608,7 +613,7 @@ void QGCParamWidget::setParameterStatusMsg(const QString& msg)
 
 
 
-void QGCParamWidget::requestParameterListUpdate()
+void QGCParamWidget::requestAllParamsUpdate()
 {
     if (!mav) {
         return;
diff --git a/src/ui/QGCParamWidget.h b/src/ui/QGCParamWidget.h
index 9b34813b0617ee639974d243e877abf29c6c8594..48edbb3103f0baa446cb8d71584db2284c7e8830 100644
--- a/src/ui/QGCParamWidget.h
+++ b/src/ui/QGCParamWidget.h
@@ -65,9 +65,9 @@ public slots:
     /** @brief Add a parameter to the list with retransmission / safety checks */
     void receivedParameterUpdate(int uas, int component, int paramCount, int paramId, QString parameterName, QVariant value);
     /** @brief Add a parameter to the list */
-    void receivedParameterUpdate(int uas, int component, QString parameterName, QVariant value);
+    void updateParameterDisplay(int uas, int component, QString parameterName, QVariant value);
     /** @brief Request list of parameters from MAV */
-    void requestParameterListUpdate();
+    void requestAllParamsUpdate();
     /** @brief Request one single parameter */
     void requestParameterUpdate(int component, const QString& parameter);
     /** @brief Set one parameter, changes value in RAM of MAV */