diff --git a/src/uas/UASInterface.h b/src/uas/UASInterface.h
index dac13355b09c45d2a092b1a3c15f981a9abdc4b4..d83e85f3401d51b5fb3d541b25f03aec8293a5ad 100644
--- a/src/uas/UASInterface.h
+++ b/src/uas/UASInterface.h
@@ -271,6 +271,10 @@ public slots:
     virtual void enableRCChannelDataTransmission(int rate) = 0;
     virtual void enableRawControllerDataTransmission(int rate) = 0;
     //virtual void enableRawSensorFusionTransmission(int rate) = 0;
+    virtual void enablePositionTransmission(int rate) = 0;
+    virtual void enableExtra1Transmission(int rate) = 0;
+    virtual void enableExtra2Transmission(int rate) = 0;
+    virtual void enableExtra3Transmission(int rate) = 0;
 
     virtual void setLocalPositionSetpoint(float x, float y, float z, float yaw) = 0;
     virtual void setLocalPositionOffset(float x, float y, float z, float yaw) = 0;
diff --git a/src/ui/MainWindow.cc b/src/ui/MainWindow.cc
index 98d7f5a40b333bc8148363eb40edeb3f2c0c00b7..420705b79a68f9b6451333af39c9975456fcc052 100644
--- a/src/ui/MainWindow.cc
+++ b/src/ui/MainWindow.cc
@@ -243,6 +243,7 @@ void MainWindow::resizeEvent(QResizeEvent * event)
         ui.statusBar->setVisible(false);
     } else {
         ui.statusBar->setVisible(true);
+        ui.statusBar->setSizeGripEnabled(true);
     }
 }
 
diff --git a/src/ui/QGCSensorSettingsWidget.cc b/src/ui/QGCSensorSettingsWidget.cc
index 0083b9faa36dd360c14e22fe819f3f7f2e1f2b19..6f2e30697d7d1473fd20adc3fcdfe53ae05a0bf9 100644
--- a/src/ui/QGCSensorSettingsWidget.cc
+++ b/src/ui/QGCSensorSettingsWidget.cc
@@ -37,16 +37,34 @@ QGCSensorSettingsWidget::QGCSensorSettingsWidget(UASInterface* uas, QWidget *par
     ui(new Ui::QGCSensorSettingsWidget)
 {
     ui->setupUi(this);
-    // FIXME James Goppert
-    // XXX: This might be a bad idea sending a message every time the value changes
-    connect(ui->spinBox_rawSensor, SIGNAL(valueChanged(int)), mav, SLOT(enableRawSensorDataTransmission(int)));
-    connect(ui->spinBox_controller, SIGNAL(valueChanged(int)), mav, SLOT(enableRawControllerDataTransmission(int)));
-    connect(ui->spinBox_extended, SIGNAL(valueChanged(int)), mav, SLOT(enableExtendedSystemStatusTransmission(int)));
-    connect(ui->spinBox_rc, SIGNAL(valueChanged(int)), mav, SLOT(enableRCChannelDataTransmission(int)));
-    connect(ui->spinBox_position, SIGNAL(valueChanged(int)), mav, SLOT(enablePositionTransmission(int)));
-    connect(ui->spinBox_extra1, SIGNAL(valueChanged(int)), mav, SLOT(enableExtra1Transmission(int)));
-    connect(ui->spinBox_extra2, SIGNAL(valueChanged(int)), mav, SLOT(enableExtra2Transmission(int)));
-    connect(ui->spinBox_extra3, SIGNAL(valueChanged(int)), mav, SLOT(enableExtra3Transmission(int)));
+    // Set up delay timers
+     delayedSendRawSensorTimer.setInterval(800);
+     delayedSendControllerTimer.setInterval(800);
+     delayedSendExtendedTimer.setInterval(800);
+     delayedSendRCTimer.setInterval(800);
+     delayedSendPositionTimer.setInterval(800);
+     delayedSendExtra1Timer.setInterval(800);
+     delayedSendExtra2Timer.setInterval(800);
+     delayedSendExtra3Timer.setInterval(800);
+
+     connect(&delayedSendRawSensorTimer, SIGNAL(timeout()), this, SLOT(sendRawSensor()));
+     connect(&delayedSendControllerTimer, SIGNAL(timeout()), this, SLOT(sendController()));
+     connect(&delayedSendExtendedTimer, SIGNAL(timeout()), this, SLOT(sendExtended()));
+     connect(&delayedSendRCTimer, SIGNAL(timeout()), this, SLOT(sendRC()));
+     connect(&delayedSendPositionTimer, SIGNAL(timeout()), this, SLOT(sendPosition()));
+     connect(&delayedSendExtra1Timer, SIGNAL(timeout()), this, SLOT(sendExtra1()));
+     connect(&delayedSendExtra2Timer, SIGNAL(timeout()), this, SLOT(sendExtra2()));
+    connect(&delayedSendExtra3Timer, SIGNAL(timeout()), this, SLOT(sendExtra3()));
+
+    // Connect UI
+    connect(ui->spinBox_rawSensor, SIGNAL(valueChanged(int)), this, SLOT(delayedSendRawSensor(int)));//mav, SLOT(enableRawSensorDataTransmission(int)));
+    connect(ui->spinBox_controller, SIGNAL(valueChanged(int)), this, SLOT(delayedSendController(int)));
+    connect(ui->spinBox_extended, SIGNAL(valueChanged(int)), this, SLOT(delayedSendExtended(int)));
+    connect(ui->spinBox_rc, SIGNAL(valueChanged(int)), this, SLOT(delayedSendRC(int)));
+    connect(ui->spinBox_position, SIGNAL(valueChanged(int)), this, SLOT(delayedSendPosition(int)));
+    connect(ui->spinBox_extra1, SIGNAL(valueChanged(int)), this, SLOT(delayedSendExtra1(int)));
+    connect(ui->spinBox_extra2, SIGNAL(valueChanged(int)), this, SLOT(delayedSendExtra2(int)));
+    connect(ui->spinBox_extra3, SIGNAL(valueChanged(int)), this, SLOT(delayedSendExtra3(int)));
 
     // Calibration
     connect(ui->rcCalButton, SIGNAL(clicked()), mav, SLOT(startRadioControlCalibration()));
@@ -55,6 +73,102 @@ QGCSensorSettingsWidget::QGCSensorSettingsWidget(UASInterface* uas, QWidget *par
     connect(ui->gyroCalButton, SIGNAL(clicked()), mav, SLOT(startGyroscopeCalibration()));
 }
 
+void QGCSensorSettingsWidget::delayedSendRawSensor(int rate)
+{
+    Q_UNUSED(rate);
+    delayedSendRawSensorTimer.start();
+}
+
+void QGCSensorSettingsWidget::delayedSendController(int rate)
+{
+    Q_UNUSED(rate);
+    delayedSendControllerTimer.start();
+}
+
+void QGCSensorSettingsWidget::delayedSendExtended(int rate)
+{
+    Q_UNUSED(rate);
+    delayedSendExtendedTimer.start();
+}
+
+void QGCSensorSettingsWidget::delayedSendRC(int rate)
+{
+    Q_UNUSED(rate);
+    delayedSendRCTimer.start();
+}
+
+void QGCSensorSettingsWidget::delayedSendPosition(int rate)
+{
+    Q_UNUSED(rate);
+    delayedSendPositionTimer.start();
+}
+
+void QGCSensorSettingsWidget::delayedSendExtra1(int rate)
+{
+    Q_UNUSED(rate);
+    delayedSendExtra1Timer.start();
+}
+
+void QGCSensorSettingsWidget::delayedSendExtra2(int rate)
+{
+    Q_UNUSED(rate);
+    delayedSendExtra2Timer.start();
+}
+
+void QGCSensorSettingsWidget::delayedSendExtra3(int rate)
+{
+    Q_UNUSED(rate);
+    delayedSendExtra3Timer.start();
+}
+
+void QGCSensorSettingsWidget::sendRawSensor()
+{
+    delayedSendRawSensorTimer.stop();
+    mav->enableRawSensorDataTransmission(ui->spinBox_rawSensor->value());
+}
+
+void QGCSensorSettingsWidget::sendController()
+{
+    delayedSendControllerTimer.stop();
+    mav->enableRawControllerDataTransmission(ui->spinBox_controller->value());
+}
+
+void QGCSensorSettingsWidget::sendExtended()
+{
+    delayedSendExtendedTimer.stop();
+    mav->enableExtendedSystemStatusTransmission(ui->spinBox_extended->value());
+}
+
+void QGCSensorSettingsWidget::sendRC()
+{
+    delayedSendRCTimer.stop();
+    mav->enableRCChannelDataTransmission(ui->spinBox_rc->value());
+}
+
+void QGCSensorSettingsWidget::sendPosition()
+{
+    delayedSendPositionTimer.stop();
+    mav->enablePositionTransmission(ui->spinBox_position->value());
+}
+
+void QGCSensorSettingsWidget::sendExtra1()
+{
+    delayedSendExtra1Timer.stop();
+    mav->enableExtra1Transmission(ui->spinBox_extra1->value());
+}
+
+void QGCSensorSettingsWidget::sendExtra2()
+{
+    delayedSendExtra2Timer.stop();
+    mav->enableExtra2Transmission(ui->spinBox_extra2->value());
+}
+
+void QGCSensorSettingsWidget::sendExtra3()
+{
+    delayedSendExtra3Timer.stop();
+    mav->enableExtra3Transmission(ui->spinBox_extra3->value());
+}
+
 QGCSensorSettingsWidget::~QGCSensorSettingsWidget()
 {
     delete ui;
diff --git a/src/ui/QGCSensorSettingsWidget.h b/src/ui/QGCSensorSettingsWidget.h
index b0600321f3fd73c0843a1db1dcbe5fa050e63912..1f78fa7954b604279e2549fd4d39a24b10152a1a 100644
--- a/src/ui/QGCSensorSettingsWidget.h
+++ b/src/ui/QGCSensorSettingsWidget.h
@@ -46,10 +46,38 @@ public:
     QGCSensorSettingsWidget(UASInterface* uas, QWidget *parent = 0);
     ~QGCSensorSettingsWidget();
 
+public slots:
+    void delayedSendRawSensor(int rate);
+    void delayedSendController(int rate);
+    void delayedSendExtended(int rate);
+    void delayedSendRC(int rate);
+    void delayedSendPosition(int rate);
+    void delayedSendExtra1(int rate);
+    void delayedSendExtra2(int rate);
+    void delayedSendExtra3(int rate);
+
 protected:
     UASInterface* mav;
+    QTimer delayedSendRawSensorTimer;
+    QTimer delayedSendControllerTimer;
+    QTimer delayedSendExtendedTimer;
+    QTimer delayedSendRCTimer;
+    QTimer delayedSendPositionTimer;
+    QTimer delayedSendExtra1Timer;
+    QTimer delayedSendExtra2Timer;
+    QTimer delayedSendExtra3Timer;
     void changeEvent(QEvent *e);
 
+protected slots:
+    void sendRawSensor();
+    void sendController();
+    void sendExtended();
+    void sendRC();
+    void sendPosition();
+    void sendExtra1();
+    void sendExtra2();
+    void sendExtra3();
+
 private:
     Ui::QGCSensorSettingsWidget *ui;
 };