diff --git a/src/uas/QGCUASParamManager.cc b/src/uas/QGCUASParamManager.cc
index f1fd085bff87d2552484aba7042afb60e152eb25..569daebb671d19db3f7b0f7eed0d556e6c366405 100644
--- a/src/uas/QGCUASParamManager.cc
+++ b/src/uas/QGCUASParamManager.cc
@@ -62,9 +62,10 @@ void QGCUASParamManager::setParamDescriptions(const QMap<QString,QString>& param
 }
 
 
-void QGCUASParamManager::setParameter(int component, QString parameterName, QVariant value)
+void QGCUASParamManager::setParameter(int compId, QString paramName, QVariant value)
 {
-    paramCommsMgr->setParameter(component,parameterName,value);
+    //paramCommsMgr->setParameter(compId,paramName,value);
+    paramDataModel->updatePendingParamWithValue(compId,paramName,value);
 }
 
 void QGCUASParamManager::sendPendingParameters()
@@ -74,7 +75,7 @@ void QGCUASParamManager::sendPendingParameters()
 
 void QGCUASParamManager::setPendingParam(int compId,  QString& paramName,  const QVariant& value)
 {
-    paramDataModel->setPendingParam(compId,paramName,value);
+    paramDataModel->updatePendingParamWithValue(compId,paramName,value);
 }
 
 
diff --git a/src/uas/UASParameterCommsMgr.cc b/src/uas/UASParameterCommsMgr.cc
index 27ee774faff260d54d74173afd45460e33aabe9d..63ccac48398ee1c329ffe6682d056f2d4dd3cad5 100644
--- a/src/uas/UASParameterCommsMgr.cc
+++ b/src/uas/UASParameterCommsMgr.cc
@@ -27,7 +27,7 @@ UASParameterCommsMgr::UASParameterCommsMgr(QObject *parent, UASInterface *uas) :
             mav, SLOT(requestParameter(int,int)));
 
     // Sending params to the UAS
-    connect(this, SIGNAL(parameterChanged(int,QString,QVariant)),
+    connect(this, SIGNAL(commitPendingParameter(int,QString,QVariant)),
             mav, SLOT(setParameter(int,QString,QVariant)));
 
     // Received parameter updates from UAS
@@ -113,16 +113,16 @@ void UASParameterCommsMgr::clearRetransmissionLists(int& missingReadCount, int&
     }
 
     missingWriteCount = 0;
-    QList<int> writeKeys = transmissionMissingWriteAckPackets.keys();
+    QList<int> writeKeys = missingWriteAckPackets.keys();
     foreach (int compId, writeKeys) {
-        missingWriteCount += transmissionMissingWriteAckPackets.value(compId)->count();
-        transmissionMissingWriteAckPackets.value(compId)->clear();
+        missingWriteCount += missingWriteAckPackets.value(compId)->count();
+        missingWriteAckPackets.value(compId)->clear();
     }
 
 }
 
 
-void UASParameterCommsMgr::emitParameterChanged(int compId, const QString& key, QVariant& value)
+void UASParameterCommsMgr::emitPendingParameterCommit(int compId, const QString& key, QVariant& value)
 {
     int paramType = (int)value.type();
     switch (paramType)
@@ -130,25 +130,25 @@ void UASParameterCommsMgr::emitParameterChanged(int compId, const QString& key,
     case QVariant::Char:
     {
         QVariant fixedValue(QChar((unsigned char)value.toInt()));
-        emit parameterChanged(compId, key, fixedValue);
+        emit commitPendingParameter(compId, key, fixedValue);
     }
         break;
     case QVariant::Int:
     {
         QVariant fixedValue(value.toInt());
-        emit parameterChanged(compId, key, fixedValue);
+        emit commitPendingParameter(compId, key, fixedValue);
     }
         break;
     case QVariant::UInt:
     {
         QVariant fixedValue(value.toUInt());
-        emit parameterChanged(compId, key, fixedValue);
+        emit commitPendingParameter(compId, key, fixedValue);
     }
         break;
     case QMetaType::Float:
     {
         QVariant fixedValue(value.toFloat());
-        emit parameterChanged(compId, key, fixedValue);
+        emit commitPendingParameter(compId, key, fixedValue);
     }
         break;
     default:
@@ -190,14 +190,14 @@ void UASParameterCommsMgr::resendReadWriteRequests()
     // Re-request at maximum retransmissionBurstRequestSize parameters at once
     // to prevent write-request link flooding
     int requestedWriteCount = 0;
-    compIds = transmissionMissingWriteAckPackets.keys();
+    compIds = missingWriteAckPackets.keys();
     foreach (compId, compIds) {
-        QMap <QString, QVariant>* missingParams = transmissionMissingWriteAckPackets.value(compId);
+        QMap <QString, QVariant>* missingParams = missingWriteAckPackets.value(compId);
         foreach (QString key, missingParams->keys()) {
             if (requestedWriteCount < retransmissionBurstRequestSize) {
                 // Re-request write operation
                 QVariant value = missingParams->value(key);
-                emitParameterChanged(compId, key, value);
+                emitPendingParameterCommit(compId, key, value);
                 requestedWriteCount++;
             }
             else {
@@ -234,7 +234,7 @@ void UASParameterCommsMgr::retransmissionGuardTick()
     quint64 curTime = QGC::groundTimeMilliseconds();
 
     //Workaround for an apparent Qt bug that causes retransmission guard timer to fire prematurely (350ms)
-    quint64 elapsed = (curTime - lastTimerReset);
+    int elapsed = (int)(curTime - lastTimerReset);
     if (elapsed < retransmissionTimeout) {
         qDebug() << "retransmissionGuardTick elapsed:" << (curTime - lastTimerReset);
         //reset the guard timer: it fired prematurely
@@ -374,16 +374,16 @@ void UASParameterCommsMgr::setParameter(int component, QString parameterName, QV
         return;
     }
 
-    emitParameterChanged(component, parameterName, value);
+    emitPendingParameterCommit(component, 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>());
+    if (!missingWriteAckPackets.contains(component)) {
+        missingWriteAckPackets.insert(component, new QMap<QString, QVariant>());
     }
 
     // Insert it in missing write ACK list
-    transmissionMissingWriteAckPackets.value(component)->insert(parameterName, value);
+    missingWriteAckPackets.value(component)->insert(parameterName, value);
 
     // Set timeouts
     if (transmissionActive) {
@@ -466,42 +466,42 @@ void UASParameterCommsMgr::receivedParameterUpdate(int uas, int compId, int para
     bool writeMismatch = false;
 
     // Mark this parameter as received in write ACK list
-    QMap<QString, QVariant>* map = transmissionMissingWriteAckPackets.value(compId);
+    QMap<QString, QVariant>* map = missingWriteAckPackets.value(compId);
     if (map && map->contains(paramName)) {
         justWritten = true;
-        QVariant newval = map->value(paramName);
         if (map->value(paramName) != value) {
             writeMismatch = true;
         }
         map->remove(paramName);
     }
 
-    int missCount = 0;
+    int missReadCount = 0;
     foreach (int key, transmissionMissingPackets.keys()) {
-        missCount +=  transmissionMissingPackets.value(key)->count();
+        missReadCount +=  transmissionMissingPackets.value(key)->count();
     }
 
     int missWriteCount = 0;
-    foreach (int key, transmissionMissingWriteAckPackets.keys()) {
-        missWriteCount += transmissionMissingWriteAckPackets.value(key)->count();
+    foreach (int key, missingWriteAckPackets.keys()) {
+        missWriteCount += missingWriteAckPackets.value(key)->count();
     }
 
     //TODO simplify this if-else tree
-    if (justWritten && !writeMismatch && missWriteCount == 0) {
-        // Just wrote one and count went to 0 - this was the last missing write parameter
-        setParameterStatusMsg(tr("SUCCESS: WROTE ALL PARAMETERS"));
-    }
-    else if (justWritten && !writeMismatch) {
-        setParameterStatusMsg(tr("SUCCESS: Wrote %2 (#%1/%4): %3").arg(paramId+1).arg(paramName).arg(value.toDouble()).arg(paramCount));
-    }
-    else if (justWritten && writeMismatch) {
-        // Mismatch, tell user
-        setParameterStatusMsg(tr("FAILURE: Wrote %1: sent %2 != onboard %3").arg(paramName).arg(map->value(paramName).toDouble()).arg(value.toDouble()),
-                              ParamCommsStatusLevel_Warning);
+    if (justWritten) {
+        if (!writeMismatch) {
+            setParameterStatusMsg(tr("SUCCESS: Wrote %2 (#%1/%4): %3").arg(paramId+1).arg(paramName).arg(value.toDouble()).arg(paramCount));
+            if (0 == missWriteCount) {
+                setParameterStatusMsg(tr("SUCCESS: WROTE ALL PARAMETERS"));
+                paramDataModel->commitAllPendingParams();
+            }
+        }
+        else  {
+            // Mismatch, tell user
+            setParameterStatusMsg(tr("FAILURE: Wrote %1: sent %2 != onboard %3").arg(paramName).arg(map->value(paramName).toDouble()).arg(value.toDouble()),
+                                  ParamCommsStatusLevel_Warning);
+        }
     }
     else {
-        QString val = QString("%1").arg(value.toFloat(), 5, 'f', 1, QChar(' '));
-        if (missCount == 0) {
+        if (missReadCount == 0) {
             // Transmission done
             QTime time = QTime::currentTime();
             QString timeString = time.toString();
@@ -509,13 +509,14 @@ void UASParameterCommsMgr::receivedParameterUpdate(int uas, int compId, int para
         }
         else {
             // Transmission in progress
-            setParameterStatusMsg(tr("OK: %1 %2 (%3/%4)").arg(paramName).arg(val).arg(paramCount-missCount).arg(paramCount),
+            QString val = QString("%1").arg(value.toFloat(), 5, 'f', 1, QChar(' '));
+            setParameterStatusMsg(tr("OK: %1 %2 (%3/%4)").arg(paramName).arg(val).arg(paramCount-missReadCount).arg(paramCount),
                                   ParamCommsStatusLevel_Warning);
         }
     }
 
     // Check if last parameter was received
-    if (missCount == 0 && missWriteCount == 0) {
+    if (missReadCount == 0 && missWriteCount == 0) {
         resetAfterListReceive();
         setRetransmissionGuardEnabled(false);
         //all parameters have been received, broadcast to UI
diff --git a/src/uas/UASParameterCommsMgr.h b/src/uas/UASParameterCommsMgr.h
index 006d45d83fc8c17d3ce08e056ba850291f707364..d554e0021a0ee56c0beabf0b3edd9d4bf66b8e90 100644
--- a/src/uas/UASParameterCommsMgr.h
+++ b/src/uas/UASParameterCommsMgr.h
@@ -44,10 +44,10 @@ protected:
     void resendReadWriteRequests();
     void resetAfterListReceive();
 
-    void emitParameterChanged(int compId, const QString& key, QVariant& value);
+    void emitPendingParameterCommit(int compId, const QString& key, QVariant& value);
 
 signals:
-    void parameterChanged(int component, QString parameter, QVariant value);
+    void commitPendingParameter(int component, QString parameter, QVariant value);
     void parameterChanged(int component, int parameterIndex, QVariant value);
     void parameterValueConfirmed(int uas, int component,int paramCount, int paramId, QString parameter, QVariant value);
 
@@ -93,7 +93,7 @@ protected:
     // Communications management
     QVector<bool> receivedParamsList; ///< Successfully received parameters
     QMap<int, QList<int>* > transmissionMissingPackets; ///< Missing packets
-    QMap<int, QMap<QString, QVariant>* > transmissionMissingWriteAckPackets; ///< Missing write ACK packets
+    QMap<int, QMap<QString, QVariant>* > missingWriteAckPackets; ///< Missing write ACK packets
     bool transmissionListMode;       ///< Currently requesting list
     QMap<int, bool> transmissionListSizeKnown;  ///< List size initialized?
     bool transmissionActive;         ///< Missing packets, working on list?
diff --git a/src/uas/UASParameterDataModel.cc b/src/uas/UASParameterDataModel.cc
index 1806ec23fc59ace10749a22f287354238b73d20e..ab444d4962753f8f24e0aadc1f36b961619fdddb 100644
--- a/src/uas/UASParameterDataModel.cc
+++ b/src/uas/UASParameterDataModel.cc
@@ -18,9 +18,42 @@ UASParameterDataModel::UASParameterDataModel(QObject *parent) :
 
 
 
+int UASParameterDataModel::countPendingParams()
+{
+    int totalPending = 0;
+    QMap<int, QMap<QString, QVariant>*>::iterator i;
+    for (i = pendingParameters.begin(); i != pendingParameters.end(); ++i) {
+        // Iterate through the parameters of the component
+        QMap<QString, QVariant>* paramList = i.value();
+        totalPending += paramList->count();
+    }
+
+    return totalPending;
+}
+
+void UASParameterDataModel::commitAllPendingParams()
+{
+    qDebug() << "commitAllPendingParams:" << countPendingParams();
+
+    QList<int> allCompIds = pendingParameters.keys();
+    foreach (int compId, allCompIds) {
+        // Iterate through the parameters of the component
+        QMap<QString, QVariant>* compParams = pendingParameters.value(compId);
+        QList<QString> paramNames = compParams->keys();
+        qDebug() <<  paramNames.count() << "committed params for component" << compId;
+
+        foreach (QString paramName, paramNames) {
+            QVariant value = compParams->value(paramName);
+            setOnboardParamWithType( compId, paramName, value);//update the onboard value to match pending value
+            emit pendingParamUpdate(compId,paramName,value,false); //no longer pending
+            emit parameterUpdated(compId,paramName,value);//ensure the new onboard value is broadcast
+        }
+
+    }
+}
 
 
-bool UASParameterDataModel::updatePendingParamWithValue(int compId, QString& key,  QVariant& value)
+bool UASParameterDataModel::updatePendingParamWithValue(int compId, QString& key, const QVariant& value)
 {
     bool pending = true;
     //ensure we have this component in our onboard and pending lists already
@@ -44,27 +77,36 @@ bool UASParameterDataModel::updatePendingParamWithValue(int compId, QString& key
     return pending;
 }
 
-void UASParameterDataModel::removePendingParam(int compId, QString& key)
+
+bool UASParameterDataModel::isParamChangePending(int compId, const QString& key)
 {
-    QMap<QString, QVariant> *params = getPendingParamsForComponent(compId);
-    if (params) {
-        params->remove(key);
-        //broadcast the existing value
-        QVariant existVal;
-        bool ok = getOnboardParamValue(compId,key,existVal);
-        emit pendingParamUpdate(compId, key,existVal, false);
-    }
+    QMap<QString , QVariant>* pendingParms =  getPendingParamsForComponent(compId);
+    return ((NULL != pendingParms) && pendingParms->contains(key));
 }
 
-
 void UASParameterDataModel::setPendingParam(int compId, QString& key,  const QVariant &value)
 {
     //ensure we have a placeholder map for this component
     addComponent(compId);
-    QMap<QString, QVariant> *params = getPendingParamsForComponent(compId);
-    params->insert(key,value);
-    emit pendingParamUpdate(compId, key, value, true);
+    QMap<QString, QVariant> *pendParams = getPendingParamsForComponent(compId);
+    if (pendParams) {
+        pendParams->insert(key,value);
+        emit pendingParamUpdate(compId, key, value, true);
+     }
+}
 
+void UASParameterDataModel::removePendingParam(int compId, QString& key)
+{
+    qDebug() << "removePendingParam:" << key;
+
+    QMap<QString, QVariant> *pendParams = getPendingParamsForComponent(compId);
+    if (pendParams) {
+        pendParams->remove(key);
+        //broadcast the existing value
+        QVariant existVal;
+        getOnboardParamValue(compId,key,existVal);
+        emit pendingParamUpdate(compId, key,existVal, false);
+    }
 }
 
 void UASParameterDataModel::setOnboardParam(int compId, QString& key,  const QVariant& value)
@@ -78,7 +120,6 @@ void UASParameterDataModel::setOnboardParam(int compId, QString& key,  const QVa
 void UASParameterDataModel::setOnboardParamWithType(int compId, QString& key, QVariant& value)
 {
 
-//    switch ((int)onboardParameters.value(componentId)->value(key).type())
     switch ((int)value.type())
     {
     case QVariant::Int:
@@ -209,13 +250,13 @@ void UASParameterDataModel::readUpdateParamsFromStream( QTextStream& stream)
                     switch (paramType)
                     {
                     case MAV_PARAM_TYPE_REAL32:
-                        setPendingParam(componentId,key,QVariant(valStr.toFloat()));
+                        updatePendingParamWithValue(componentId,key,QVariant(valStr.toFloat()));
                         break;
                     case MAV_PARAM_TYPE_UINT32:
-                        setPendingParam(componentId,key, QVariant(valStr.toUInt()));
+                        updatePendingParamWithValue(componentId,key, QVariant(valStr.toUInt()));
                         break;
                     case MAV_PARAM_TYPE_INT32:
-                        setPendingParam(componentId,key,QVariant(valStr.toInt()));
+                        updatePendingParamWithValue(componentId,key,QVariant(valStr.toInt()));
                         break;
                     default:
                         qDebug() << "FAILED LOADING PARAM" << key << "UNKNOWN DATA TYPE";
diff --git a/src/uas/UASParameterDataModel.h b/src/uas/UASParameterDataModel.h
index fde760b703f28a4046aee7d070e5d5bc809f996a..f3da12f199e10c1e2366634e58596e169cb126f3 100644
--- a/src/uas/UASParameterDataModel.h
+++ b/src/uas/UASParameterDataModel.h
@@ -34,10 +34,9 @@ public:
       */
     virtual void addComponent(int compId);
 
-    /** @brief Write a new pending parameter value that may be eventually sent to the UAS */
-    virtual void setPendingParam(int componentId,  QString& key,  const QVariant& value);
 
     virtual void removePendingParam(int compId, QString& key);
+    virtual void commitAllPendingParams();///< Called by eg params comms mgr when all pending params have been sent & acked
 
     /** @brief Save the onboard parameter with a the type specified in the QVariant as fixed */
     virtual void setOnboardParamWithType(int componentId, QString& key, QVariant& value);
@@ -49,10 +48,12 @@ public:
     /** @brief add this parameter to pending list iff it has changed from onboard value
      * @return true if the parameter is now pending
     */
-    virtual bool updatePendingParamWithValue(int componentId, QString& key,  QVariant& value);
+    virtual bool updatePendingParamWithValue(int componentId, QString& key,  const QVariant &value);
     virtual void handleParamUpdate(int componentId, QString& key, QVariant& value);
     virtual bool getOnboardParamValue(int componentId, const QString& key, QVariant& value) const;
 
+    virtual bool isParamChangePending(int componentId,const QString& key);
+
     QMap<QString , QVariant>* getPendingParamsForComponent(int componentId) {
         return pendingParameters.value(componentId);
     }
@@ -79,6 +80,10 @@ public:
 
 protected:
     virtual void setOnboardParam(int componentId, QString& key, const QVariant& value);
+    /** @brief Write a new pending parameter value that may be eventually sent to the UAS */
+    virtual void setPendingParam(int componentId,  QString& key,  const QVariant& value);
+
+    int countPendingParams();
 
 signals:
     
@@ -88,6 +93,8 @@ signals:
     /** @brief Notifies listeners that a param was added to or removed from the pending list */
     void pendingParamUpdate(int compId, const QString& paramName, QVariant value, bool isPending);
 
+    void allPendingParamsCommitted(); ///< All pending params have been committed to the MAV
+
 public slots:
 
 
diff --git a/src/ui/QGCParamWidget.cc b/src/ui/QGCParamWidget.cc
index 1f4889603d14fc343ad8f6bd5dc4bd3605f209ad..571283d2d344f0164014f2d41a5cd1cc781a208b 100644
--- a/src/ui/QGCParamWidget.cc
+++ b/src/ui/QGCParamWidget.cc
@@ -206,10 +206,10 @@ void QGCParamWidget::addComponentItem(int compId, QString compName)
 
 void QGCParamWidget::handlePendingParamUpdate(int compId, const QString& paramName, QVariant value, bool isPending)
 {
-    qDebug() << "handlePendingParamUpdate:" << paramName << "with updatingParamNameLock:" << updatingParamNameLock;
+   // qDebug() << "handlePendingParamUpdate:" << paramName << "with updatingParamNameLock:" << updatingParamNameLock;
 
     if (updatingParamNameLock == paramName) {
-        qDebug() << "ignoring bounce from " << paramName;
+        //qDebug() << "ignoring bounce from " << paramName;
         return;
     }
     else {
@@ -230,10 +230,15 @@ void QGCParamWidget::handlePendingParamUpdate(int compId, const QString& paramNa
 
 }
 
-void QGCParamWidget::handleParameterUpdate(int componentId, const QString& paramName, QVariant value)
+void QGCParamWidget::handleParameterUpdate(int compId, const QString& paramName, QVariant value)
 {
+//    qDebug() << "handlePendingParamUpdate:" << paramName << "with updatingParamNameLock:" << updatingParamNameLock;
+    if (paramName == updatingParamNameLock) {
+        qDebug() << "handlePendingParamUpdate ignoring bounce from " << paramName;
+        return;
+    }
     updatingParamNameLock = paramName;
-    updateParameterDisplay(componentId, paramName, value);
+    updateParameterDisplay(compId, paramName, value);
     updatingParamNameLock.clear();
 }
 
@@ -402,10 +407,10 @@ void QGCParamWidget::parameterItemChanged(QTreeWidgetItem* paramItem, int column
     if (paramItem && column > 0) {
 
         QString key = paramItem->data(0, Qt::DisplayRole).toString();
-        qDebug() << "parameterItemChanged:" << key << "with updatingParamNameLock:" << updatingParamNameLock;
+        //qDebug() << "parameterItemChanged:" << key << "with updatingParamNameLock:" << updatingParamNameLock;
 
         if (key == updatingParamNameLock) {
-            qDebug() << "ignoring parameterItemChanged" << key;
+            //qDebug() << "parameterItemChanged ignoring parameterItemChanged" << key;
             return;
         }
         else {
diff --git a/src/ui/QGCPendingParamWidget.cc b/src/ui/QGCPendingParamWidget.cc
index 800ca354e0cca9744f12a91e43b8e550ad9318fd..57ee57d5dba204f2967bceff05fa828ecce3209a 100644
--- a/src/ui/QGCPendingParamWidget.cc
+++ b/src/ui/QGCPendingParamWidget.cc
@@ -30,4 +30,33 @@ void QGCPendingParamWidget::connectSignalsAndSlots()
             this, SLOT(handleParamStatusMsgUpdate(QString , int )));
 }
 
+void QGCPendingParamWidget::handlePendingParamUpdate(int compId, const QString& paramName, QVariant value, bool isPending)
+{
+   // qDebug() << "handlePendingParamUpdate:" << paramName << "with updatingParamNameLock:" << updatingParamNameLock;
+
+    if (updatingParamNameLock == paramName) {
+        //qDebug() << "ignoring bounce from " << paramName;
+        return;
+    }
+    else {
+        updatingParamNameLock = paramName;
+    }
+
+    QTreeWidgetItem* paramItem = updateParameterDisplay(compId,paramName,value);
+
+    if (isPending) {
+        QTreeWidgetItem* paramItem = updateParameterDisplay(compId,paramName,value);
+        paramItem->setFlags(paramItem->flags() & ~Qt::ItemIsEditable); //disallow editing
+        paramItem->setBackground(0, QBrush(QColor(QGC::colorOrange)));
+        paramItem->setBackground(1, QBrush(QColor(QGC::colorOrange)));
+        tree->expandAll();
+    }
+    else {
+        //we don't display non-pending items
+        paramItem->parent()->removeChild(paramItem);
+    }
+
+    updatingParamNameLock.clear();
+
+}
 
diff --git a/src/ui/QGCPendingParamWidget.h b/src/ui/QGCPendingParamWidget.h
index 91f08a522fd982ef675c77c784e5063349cbf6e2..4c6e7370c45419d3748f2747766848de0688f572 100644
--- a/src/ui/QGCPendingParamWidget.h
+++ b/src/ui/QGCPendingParamWidget.h
@@ -20,7 +20,8 @@ protected:
 signals:
     
 public slots:
-    
+    virtual void handlePendingParamUpdate(int compId, const QString& paramName, QVariant value, bool isPending);
+
 };
 
 #endif // QGCPENDINGPARAMWIDGET_H