diff --git a/src/uas/QGCUASParamManager.cc b/src/uas/QGCUASParamManager.cc
index 79b03d20598a899b0099a1d0b6689d54d233f61f..186bfac74b0f33b63a71a1510e4e19a8eb6f12d6 100644
--- a/src/uas/QGCUASParamManager.cc
+++ b/src/uas/QGCUASParamManager.cc
@@ -1,6 +1,9 @@
 #include "QGCUASParamManager.h"
-#include "UASInterface.h"
 
+#include <QApplication>>
+#include <QDir>
+
+#include "UASInterface.h"
 #include "UASParameterCommsMgr.h"
 
 QGCUASParamManager::QGCUASParamManager(UASInterface* uas, QWidget *parent) :
@@ -28,15 +31,15 @@ QGCUASParamManager::QGCUASParamManager(UASInterface* uas, QWidget *parent) :
     void parameterUpdated(int compId, int paramId, QString paramName, QVariant value);
 
     connect(paramDataModel, SIGNAL(parameterUpdated(int, int, QString , QVariant )),
-            this, SLOT(handleParameterUpdate(int,int,int,QString,QVariant));
+            this, SLOT(handleParameterUpdate(int,int,int,QString,QVariant)));
 
 //    connect(uas, SIGNAL(parameterChanged(int,int,int,int,QString,QVariant)),
 //            this, SLOT(receivedParameterUpdate(int,int,int,int,QString,QVariant)));
 
 
     // Listen for param list reload finished
-    connect(paramCommsMgr, SIGNAL(parameterListUpToDate(int)),
-            this, SLOT(handleParameterListUpToDate(int))));
+    connect(paramCommsMgr, SIGNAL(parameterListUpToDate()),
+            this, SLOT(handleParameterListUpToDate()));
 
 
 
@@ -206,6 +209,10 @@ void QGCUASParamManager::setParamDescriptions(const QMap<QString,QString>& param
 }
 
 
+void QGCUASParamManager::setParameter(int component, QString parameterName, QVariant value)
+{
+    paramCommsMgr->setParameter(component,parameterName,value);
+}
 
 
 void QGCUASParamManager::loadParamMetaInfoCSV()
diff --git a/src/uas/QGCUASParamManager.h b/src/uas/QGCUASParamManager.h
index 313c0927adc1ada1f9e44b618ae45d61917f1115..3c1fb7e78cd868dfcfffa65a7fa2cef90f484fe0 100644
--- a/src/uas/QGCUASParamManager.h
+++ b/src/uas/QGCUASParamManager.h
@@ -43,16 +43,17 @@ signals:
 
 
 public slots:
-    /** @brief Write one parameter to the MAV */
-    virtual void setParameter(int component, QString parameterName, QVariant value) = 0;
+    /** @brief Send one parameter to the MAV: changes value in transient memory of MAV */
+    virtual void setParameter(int component, QString parameterName, QVariant value);
+
     /** @brief Request list of parameters from MAV */
     virtual void requestParameterList();
 
-    /** @brief Request a single parameter by name */
+    /** @brief Request a single parameter by name from the MAV */
     virtual void requestParameterUpdate(int component, const QString& parameter);
 
     virtual void handleParameterUpdate(int component, int paramCount, int paramId, const QString& parameterName, QVariant value) = 0;
-    virtual void handleParameterListUpToDate(int component) = 0;
+    virtual void handleParameterListUpToDate() = 0;
 
 
 protected:
diff --git a/src/uas/UASParameterCommsMgr.cc b/src/uas/UASParameterCommsMgr.cc
index 22940e5fd3ec270755e5f494f26d4c08a7df60b6..594e2447ec69ba805b5eadca58dbed0c95c01429 100644
--- a/src/uas/UASParameterCommsMgr.cc
+++ b/src/uas/UASParameterCommsMgr.cc
@@ -1,5 +1,7 @@
 #include "UASParameterCommsMgr.h"
 
+#include <QSettings>
+
 #include "QGCUASParamManager.h"
 #include "UASInterface.h"
 
@@ -38,14 +40,14 @@ void UASParameterCommsMgr::loadParamCommsSettings()
 {
     QSettings settings;
     settings.beginGroup("QGC_MAVLINK_PROTOCOL");
-    bool valid;
+    bool ok;
     int val = settings.value("PARAMETER_RETRANSMISSION_TIMEOUT", retransmissionTimeout).toInt(&ok);
-    if (valid) {
-        retransmissionTimeout = temp;
+    if (ok) {
+        retransmissionTimeout = val;
     }
     val = settings.value("PARAMETER_REWRITE_TIMEOUT", rewriteTimeout).toInt(&ok);
-    if (valid) {
-        rewriteTimeout = temp;
+    if (ok) {
+        rewriteTimeout = val;
     }
     settings.endGroup();
 }
@@ -224,17 +226,23 @@ void UASParameterCommsMgr::setParameter(int component, QString parameterName, QV
     double dblValue = value.toDouble();
 
     if (paramDataModel->isValueLessThanParamMin(parameterName,dblValue)) {
-        setParameterStatusMsg(tr("REJ. %1, %2 < min").arg(parameterName).arg(dblValue));
+        setParameterStatusMsg(tr("REJ. %1, %2 < min").arg(parameterName).arg(dblValue),
+                              ParamCommsStatusLevel_Error
+                              );
         return;
     }
     if (paramDataModel->isValueGreaterThanParamMax(parameterName,dblValue)) {
-        setParameterStatusMsg(tr("REJ. %1, %2 > max").arg(parameterName).arg(dblValue));
+        setParameterStatusMsg(tr("REJ. %1, %2 > max").arg(parameterName).arg(dblValue),
+                              ParamCommsStatusLevel_Error
+                              );
         return;
     }
     QVariant onboardVal;
     paramDataModel->getOnboardParameterValue(component,parameterName,onboardVal);
     if (onboardVal == value) {
-        setParameterStatusMsg(tr("REJ. %1 already %2").arg(parameterName).arg(dblValue));
+        setParameterStatusMsg(tr("REJ. %1 already %2").arg(parameterName).arg(dblValue),
+                              ParamCommsStatusLevel_Warning
+                              );
         return;
     }
 
@@ -246,28 +254,24 @@ void UASParameterCommsMgr::setParameter(int component, QString parameterName, QV
     {
         QVariant fixedValue(QChar((unsigned char)value.toInt()));
         emit parameterChanged(component, parameterName, fixedValue);
-        //qDebug() << "PARAM WIDGET SENT:" << fixedValue;
     }
         break;
     case QVariant::Int:
     {
         QVariant fixedValue(value.toInt());
         emit parameterChanged(component, parameterName, fixedValue);
-        //qDebug() << "PARAM WIDGET SENT:" << fixedValue;
     }
         break;
     case QVariant::UInt:
     {
         QVariant fixedValue(value.toUInt());
         emit parameterChanged(component, parameterName, fixedValue);
-        //qDebug() << "PARAM WIDGET SENT:" << fixedValue;
     }
         break;
     case QMetaType::Float:
     {
         QVariant fixedValue(value.toFloat());
         emit parameterChanged(component, parameterName, fixedValue);
-        //qDebug() << "PARAM WIDGET SENT:" << fixedValue;
     }
         break;
     default:
@@ -309,6 +313,8 @@ void UASParameterCommsMgr::setParameterStatusMsg(const QString& msg, ParamCommsS
     qDebug() << "parameterStatusMsg: " << msg;
     parameterStatusMsg = msg;
 
+    emit parameterStatusMsgUpdated(msg,level);
+
     //TODO indicate OK status somehow (eg color)
 //        QPalette pal = statusLabel->palette();
 //        pal.setColor(backgroundRole(), QGC::colorGreen);
@@ -360,7 +366,7 @@ void UASParameterCommsMgr::receivedParameterUpdate(int uas, int compId, int para
 
         // Start retransmission guard
         // or reset timer
-        paramCommsMgr->setRetransmissionGuardEnabled(true); //TODO
+        setRetransmissionGuardEnabled(true); //TODO
     }
 
     // Mark this parameter as received in read list
diff --git a/src/uas/UASParameterCommsMgr.h b/src/uas/UASParameterCommsMgr.h
index ff366c38e1c8bfabfced09d4f70fa29c7b826107..68c908bade48ce361cee10055871064e2c4163c9 100644
--- a/src/uas/UASParameterCommsMgr.h
+++ b/src/uas/UASParameterCommsMgr.h
@@ -16,16 +16,16 @@ class UASParameterCommsMgr : public QObject
 {
     Q_OBJECT
 
-typedef enum ParamCommsStatusLevel {
-    ParamCommsStatusLevel_OK = 0,
-    ParamCommsStatusLevel_Warning = 2,
-    ParamCommsStatusLevel_Error = 4,
-    ParamCommsStatusLevel_Count
-} ParamCommsStatusLevel_t;
 
 public:
     explicit UASParameterCommsMgr(QObject *parent = 0, UASInterface* uas = NULL);
-    
+    typedef enum ParamCommsStatusLevel {
+        ParamCommsStatusLevel_OK = 0,
+        ParamCommsStatusLevel_Warning = 2,
+        ParamCommsStatusLevel_Error = 4,
+        ParamCommsStatusLevel_Count
+    } ParamCommsStatusLevel_t;
+
 
 protected:
     /** @brief Activate / deactivate parameter retransmission */
@@ -41,7 +41,9 @@ signals:
     void parameterChanged(int component, int parameterIndex, QVariant value);
     void parameterValueConfirmed(int uas, int component,int paramCount, int paramId, QString parameter, QVariant value);
 
-    void parameterListUpToDate(int component);
+    /** @brief We have received a complete list of all parameters onboard the MAV */
+    void parameterListUpToDate();
+
     void parameterUpdateRequested(int component, const QString& parameter);
     void parameterUpdateRequestedById(int componentId, int paramId);
 
@@ -57,6 +59,7 @@ public slots:
 
     /** @brief Write one parameter to the MAV */
     virtual void setParameter(int component, QString parameterName, QVariant value);
+
     /** @brief Request list of parameters from MAV */
     virtual void requestParameterList();
     /** @brief Check for missing parameters */
@@ -67,9 +70,9 @@ public slots:
 
     virtual void receivedParameterUpdate(int uas, int compId, int paramCount, int paramId, QString paramName, QVariant value);
 
-protected slots:
-    void receivedParameterChange(int uas, int component, QString parameterName, QVariant value);
-    void receivedParameterListChange(int uas, int component, int parameterCount, int parameterId, QString parameterName, QVariant value);
+//protected slots:
+//    void receivedParameterChange(int uas, int component, QString parameterName, QVariant value);
+//    void receivedParameterListChange(int uas, int component, int parameterCount, int parameterId, QString parameterName, QVariant value);
 
 protected:
 
diff --git a/src/ui/QGCParamWidget.cc b/src/ui/QGCParamWidget.cc
index 97e0d1eb31a05e40bd9cfb954de9a75e9122ecd8..09ee9c970a7741685de6f9bcee1ac13e59054550 100644
--- a/src/ui/QGCParamWidget.cc
+++ b/src/ui/QGCParamWidget.cc
@@ -27,16 +27,17 @@ This file is part of the QGROUNDCONTROL project
  */
 #include <cmath>
 #include <float.h>
-#include <QGridLayout>
-#include <QPushButton>
-#include <QFileDialog>
+#include <QApplication>
+#include <QDebug>
 #include <QFile>
+#include <QFileDialog>
+#include <QGridLayout>
+
 #include <QList>
-#include <QTime>
-#include <QSettings>
 #include <QMessageBox>
-#include <QApplication>
-#include <QDebug>
+#include <QPushButton>
+#include <QSettings>
+#include <QTime>
 
 #include "MainWindow.h"
 #include "QGC.h"
@@ -338,7 +339,7 @@ void QGCParamWidget::handleParameterUpdate(int componentId, int paramCount, int
 }
 
 
-void QGCParamWidget::handleParameterListUpToDate(int component)
+void QGCParamWidget::handleParameterListUpToDate()
 {
     // Expand visual tree
     tree->expandItem(tree->topLevelItem(0));
@@ -593,94 +594,95 @@ void QGCParamWidget::writeParameters()
  * @param parameterName name of the parameter, as delivered by the system
  * @param value value of the parameter
  */
-void QGCParamWidget::setParameter(int component, QString parameterName, QVariant value)
-{
-    if (parameterName.isEmpty()) {
-        return;
-    }
+//void QGCParamWidget::setParameter(int component, QString parameterName, QVariant value)
+//{
 
-    double dblValue = value.toDouble();
+//    if (parameterName.isEmpty()) {
+//        return;
+//    }
 
-    if (paramDataModel->isValueLessThanParamMin(parameterName,dblValue)) {
-        statusLabel->setText(tr("REJ. %1, %2 < min").arg(parameterName).arg(dblValue));
-        return;
-    }
-    if (paramDataModel->isValueGreaterThanParamMax(parameterName,dblValue)) {
-        statusLabel->setText(tr("REJ. %1, %2 > max").arg(parameterName).arg(dblValue));
-        return;
-    }
-    QVariant onboardVal;
-    paramDataModel->getOnboardParameterValue(component,parameterName,onboardVal);
-    if (onboardVal == value) {
-        statusLabel->setText(tr("REJ. %1 already %2").arg(parameterName).arg(dblValue));
-        return;
-    }
+//    double dblValue = value.toDouble();
 
-    //int paramType = (int)onboardParameters.value(component)->value(parameterName).type();
-    int paramType = (int)value.type();
-    switch (paramType)
-    {
-    case QVariant::Char:
-    {
-        QVariant fixedValue(QChar((unsigned char)value.toInt()));
-        emit parameterChanged(component, parameterName, fixedValue);
-        //qDebug() << "PARAM WIDGET SENT:" << fixedValue;
-    }
-        break;
-    case QVariant::Int:
-    {
-        QVariant fixedValue(value.toInt());
-        emit parameterChanged(component, parameterName, fixedValue);
-        //qDebug() << "PARAM WIDGET SENT:" << fixedValue;
-    }
-        break;
-    case QVariant::UInt:
-    {
-        QVariant fixedValue(value.toUInt());
-        emit parameterChanged(component, parameterName, fixedValue);
-        //qDebug() << "PARAM WIDGET SENT:" << fixedValue;
-    }
-        break;
-    case QMetaType::Float:
-    {
-        QVariant fixedValue(value.toFloat());
-        emit parameterChanged(component, parameterName, fixedValue);
-        //qDebug() << "PARAM WIDGET SENT:" << fixedValue;
-    }
-        break;
-    default:
-        qCritical() << "ABORTED PARAM SEND, NO VALID QVARIANT TYPE";
-        return;
-    }
+//    if (paramDataModel->isValueLessThanParamMin(parameterName,dblValue)) {
+//        statusLabel->setText(tr("REJ. %1, %2 < min").arg(parameterName).arg(dblValue));
+//        return;
+//    }
+//    if (paramDataModel->isValueGreaterThanParamMax(parameterName,dblValue)) {
+//        statusLabel->setText(tr("REJ. %1, %2 > max").arg(parameterName).arg(dblValue));
+//        return;
+//    }
+//    QVariant onboardVal;
+//    paramDataModel->getOnboardParameterValue(component,parameterName,onboardVal);
+//    if (onboardVal == value) {
+//        statusLabel->setText(tr("REJ. %1 already %2").arg(parameterName).arg(dblValue));
+//        return;
+//    }
 
-    // Wait for parameter to be written back
-    // mark it therefore as missing
-    if (!transmissionMissingWriteAckPackets.contains(component))
-    {
-        transmissionMissingWriteAckPackets.insert(component, new QMap<QString, QVariant>());
-    }
+//    //int paramType = (int)onboardParameters.value(component)->value(parameterName).type();
+//    int paramType = (int)value.type();
+//    switch (paramType)
+//    {
+//    case QVariant::Char:
+//    {
+//        QVariant fixedValue(QChar((unsigned char)value.toInt()));
+//        emit parameterChanged(component, parameterName, fixedValue);
+//        //qDebug() << "PARAM WIDGET SENT:" << fixedValue;
+//    }
+//        break;
+//    case QVariant::Int:
+//    {
+//        QVariant fixedValue(value.toInt());
+//        emit parameterChanged(component, parameterName, fixedValue);
+//        //qDebug() << "PARAM WIDGET SENT:" << fixedValue;
+//    }
+//        break;
+//    case QVariant::UInt:
+//    {
+//        QVariant fixedValue(value.toUInt());
+//        emit parameterChanged(component, parameterName, fixedValue);
+//        //qDebug() << "PARAM WIDGET SENT:" << fixedValue;
+//    }
+//        break;
+//    case QMetaType::Float:
+//    {
+//        QVariant fixedValue(value.toFloat());
+//        emit parameterChanged(component, parameterName, fixedValue);
+//        //qDebug() << "PARAM WIDGET SENT:" << fixedValue;
+//    }
+//        break;
+//    default:
+//        qCritical() << "ABORTED PARAM SEND, NO VALID QVARIANT TYPE";
+//        return;
+//    }
 
-    // Insert it in missing write ACK list
-    transmissionMissingWriteAckPackets.value(component)->insert(parameterName, value);
+//    // Wait for parameter to be written back
+//    // mark it therefore as missing
+//    if (!transmissionMissingWriteAckPackets.contains(component))
+//    {
+//        transmissionMissingWriteAckPackets.insert(component, new QMap<QString, QVariant>());
+//    }
 
-    // Set timeouts
-    if (transmissionActive)
-    {
-        transmissionTimeout += rewriteTimeout;
-    }
-    else
-    {
-        quint64 newTransmissionTimeout = QGC::groundTimeMilliseconds() + rewriteTimeout;
-        if (newTransmissionTimeout > transmissionTimeout)
-        {
-            transmissionTimeout = newTransmissionTimeout;
-        }
-        transmissionActive = true;
-    }
+//    // Insert it in missing write ACK list
+//    transmissionMissingWriteAckPackets.value(component)->insert(parameterName, value);
 
-    // Enable guard / reset timeouts
-    paramCommsMgr->setRetransmissionGuardEnabled(true); //TODO
-}
+//    // Set timeouts
+//    if (transmissionActive)
+//    {
+//        transmissionTimeout += rewriteTimeout;
+//    }
+//    else
+//    {
+//        quint64 newTransmissionTimeout = QGC::groundTimeMilliseconds() + rewriteTimeout;
+//        if (newTransmissionTimeout > transmissionTimeout)
+//        {
+//            transmissionTimeout = newTransmissionTimeout;
+//        }
+//        transmissionActive = true;
+//    }
+
+//    // Enable guard / reset timeouts
+//    paramCommsMgr->setRetransmissionGuardEnabled(true); //TODO
+//}
 
 void QGCParamWidget::readParameters()
 {
@@ -696,3 +698,20 @@ void QGCParamWidget::clear()
     tree->clear();
     componentItems->clear();
 }
+
+void QGCParamWidget::handleParamStatusMsgUpdate(QString msg, int level)
+{
+    QColor bgColor = QGC::colorGreen;
+    if ((int)UASParameterCommsMgr::ParamCommsStatusLevel_Warning == level) {
+        bgColor = QGC::colorOrange;
+    }
+    else if ((int)UASParameterCommsMgr::ParamCommsStatusLevel_Error == level) {
+        bgColor =  QGC::colorRed;
+    }
+
+    QPalette pal = statusLabel->palette();
+    pal.setColor(backgroundRole(), bgColor);
+    statusLabel->setPalette(pal);
+    statusLabel->setText(msg);
+
+}
diff --git a/src/ui/QGCParamWidget.h b/src/ui/QGCParamWidget.h
index 0ada126d7e15f94ce299e0c6b8761a5d183387f3..3d2f7779eb1579bfa69f183f9c1443106b0cb385 100644
--- a/src/ui/QGCParamWidget.h
+++ b/src/ui/QGCParamWidget.h
@@ -68,14 +68,16 @@ public slots:
 //    void receivedParameterUpdate(int uas, int component, int paramCount, int paramId, QString parameterName, QVariant value);
 
     virtual void handleParameterUpdate(int component, int paramCount, int paramId, const QString& parameterName, QVariant value);
-    virtual void handleParameterListUpToDate(int component);
+    virtual void handleParameterListUpToDate();
+
+    virtual void handleParamStatusMsgUpdate(QString msg, int level);
 
     /** @brief Ensure that view of parameter matches data in the model */
     void updateParameterDisplay(int component, QString parameterName, QVariant value);
     /** @brief Request list of parameters from MAV */
     void requestAllParamsUpdate();
     /** @brief Set one parameter, changes value in RAM of MAV */
-    virtual void setParameter(int component, QString parameterName, QVariant value);
+//    virtual void setParameter(int component, QString parameterName, QVariant value);
     /** @brief Set all parameters, changes the value in RAM of MAV */
     void setParameters();
     /** @brief Write the current parameters to permanent storage (EEPROM/HDD) */