diff --git a/src/comm/MAVLinkSimulationLink.cc b/src/comm/MAVLinkSimulationLink.cc
index 82d7cf4c53db19d7d49451ad836f8986ed7a7f3c..96737477929788fee5a94c9942e63441feb3e38c 100644
--- a/src/comm/MAVLinkSimulationLink.cc
+++ b/src/comm/MAVLinkSimulationLink.cc
@@ -826,13 +826,16 @@ void MAVLinkSimulationLink::writeBytes(const char* data, qint64 size)
                         int j = 0;
                         for (i = onboardParams.begin(); i != onboardParams.end(); ++i)
                         {
-                            // Pack message and get size of encoded byte string
-                            mavlink_msg_param_value_pack(systemId, componentId, &msg, (int8_t*)i.key().toStdString().c_str(), i.value(), onboardParams.size(), j);
-                            // Allocate buffer with packet data
-                            bufferlength = mavlink_msg_to_send_buffer(buffer, &msg);
-                            //add data into datastream
-                            memcpy(stream+streampointer,buffer, bufferlength);
-                            streampointer+=bufferlength;
+                            if (j != 5)
+                            {
+                                // Pack message and get size of encoded byte string
+                                mavlink_msg_param_value_pack(systemId, componentId, &msg, (int8_t*)i.key().toStdString().c_str(), i.value(), onboardParams.size(), j);
+                                // Allocate buffer with packet data
+                                bufferlength = mavlink_msg_to_send_buffer(buffer, &msg);
+                                //add data into datastream
+                                memcpy(stream+streampointer,buffer, bufferlength);
+                                streampointer+=bufferlength;
+                            }
                             j++;
                         }
 
@@ -854,7 +857,7 @@ void MAVLinkSimulationLink::writeBytes(const char* data, qint64 size)
                             onboardParams.insert(key, set.param_value);
 
                             // Pack message and get size of encoded byte string
-                            mavlink_msg_param_value_pack(systemId, componentId, &msg, (int8_t*)key.toStdString().c_str(), set.param_value, onboardParams.size(), 0);
+                            mavlink_msg_param_value_pack(systemId, componentId, &msg, (int8_t*)key.toStdString().c_str(), set.param_value, onboardParams.size(), onboardParams.keys().indexOf(key));
                             // Allocate buffer with packet data
                             bufferlength = mavlink_msg_to_send_buffer(buffer, &msg);
                             //add data into datastream
@@ -863,15 +866,48 @@ void MAVLinkSimulationLink::writeBytes(const char* data, qint64 size)
                         }
                     }
                 }
+            case MAVLINK_MSG_ID_PARAM_REQUEST_READ:
+                {
+                    qDebug() << "SIMULATION RECEIVED COMMAND TO SEND PARAMETER";
+                    mavlink_param_request_read_t read;
+                    mavlink_msg_param_request_read_decode(&msg, &read);
+                    QByteArray bytes((char*)read.param_id, MAVLINK_MSG_PARAM_REQUEST_READ_FIELD_PARAM_ID_LEN);
+                    QString key = QString(bytes);
+                    if (onboardParams.contains(key))
+                    {
+                        float paramValue = onboardParams.value(key);
+
+                        // Pack message and get size of encoded byte string
+                        mavlink_msg_param_value_pack(systemId, componentId, &msg, (int8_t*)key.toStdString().c_str(), paramValue, onboardParams.size(), onboardParams.keys().indexOf(key));
+                        // Allocate buffer with packet data
+                        bufferlength = mavlink_msg_to_send_buffer(buffer, &msg);
+                        //add data into datastream
+                        memcpy(stream+streampointer,buffer, bufferlength);
+                        streampointer+=bufferlength;
+                    }
+                    else if (read.param_index < onboardParams.size())
+                    {
+                        key = onboardParams.keys().at(read.param_index);
+                        float paramValue = onboardParams.value(key);
+
+                        // Pack message and get size of encoded byte string
+                        mavlink_msg_param_value_pack(systemId, componentId, &msg, (int8_t*)key.toStdString().c_str(), paramValue, onboardParams.size(), onboardParams.keys().indexOf(key));
+                        // Allocate buffer with packet data
+                        bufferlength = mavlink_msg_to_send_buffer(buffer, &msg);
+                        //add data into datastream
+                        memcpy(stream+streampointer,buffer, bufferlength);
+                        streampointer+=bufferlength;
+                    }
+                }
                 break;
             }
 
 
         }
-        //unsigned char v=data[i];
-        //fprintf(stderr,"%02x ", v);
+        unsigned char v=data[i];
+        fprintf(stderr,"%02x ", v);
     }
-    //fprintf(stderr,"\n");
+    fprintf(stderr,"\n");
 
     readyBufferMutex.lock();
     for (int i = 0; i < streampointer; i++)
@@ -903,22 +939,22 @@ void MAVLinkSimulationLink::readBytes() {
 
     readyBufferMutex.unlock();
 
-    //    if (len > 0)
-    //    {
-    //        qDebug() << "Simulation sent " << len << " bytes to groundstation: ";
-    //
-    //        /* Increase write counter */
-    //        //bitsSentTotal += size * 8;
-    //
-    //        //Output all bytes as hex digits
-    //        int i;
-    //        for (i=0; i<len; i++)
-    //        {
-    //            unsigned int v=data[i];
-    //            fprintf(stderr,"%02x ", v);
-    //        }
-    //        fprintf(stderr,"\n");
-    //    }
+//    if (len > 0)
+//    {
+//        qDebug() << "Simulation sent " << len << " bytes to groundstation: ";
+
+//        /* Increase write counter */
+//        //bitsSentTotal += size * 8;
+
+//        //Output all bytes as hex digits
+//        int i;
+//        for (i=0; i<len; i++)
+//        {
+//            unsigned int v=data[i];
+//            fprintf(stderr,"%02x ", v);
+//        }
+//        fprintf(stderr,"\n");
+//    }
 }
 
 /**
diff --git a/src/uas/UAS.cc b/src/uas/UAS.cc
index aaf5e4778986100d02182a0dabd15afef3d141ca..6aad8073a271312426a40d7be83cb2544dd149c5 100644
--- a/src/uas/UAS.cc
+++ b/src/uas/UAS.cc
@@ -535,9 +535,8 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
                 emit valueChanged(uasId, "latitude", "deg", latitude, time);
                 emit valueChanged(uasId, "longitude", "deg", longitude, time);
                 emit valueChanged(uasId, "altitude", "m", altitude, time);
-                emit valueChanged(uasId, "gps x speed", "m/s", speedX, time);
-                emit valueChanged(uasId, "gps y speed", "m/s", speedY, time);
-                emit valueChanged(uasId, "gps z speed", "m/s", speedZ, time);
+                double totalSpeed = sqrt(speedX*speedX + speedY*speedY + speedZ*speedZ);
+                emit valueChanged(uasId, "gps speed", "m/s", totalSpeed, time);
                 emit globalPositionChanged(this, longitude, latitude, altitude, time);
                 emit speedChanged(this, speedX, speedY, speedZ, time);
                 // Set internal state
@@ -565,12 +564,10 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
                 emit valueChanged(uasId, "latitude", "deg", latitude, time);
                 emit valueChanged(uasId, "longitude", "deg", longitude, time);
                 emit valueChanged(uasId, "altitude", "m", altitude, time);
-                emit valueChanged(uasId, "gps x speed", "m/s", speedX, time);
-                emit valueChanged(uasId, "gps y speed", "m/s", speedY, time);
-                emit valueChanged(uasId, "gps z speed", "m/s", speedZ, time);
+                double totalSpeed = sqrt(speedX*speedX + speedY*speedY + speedZ*speedZ);
+                emit valueChanged(uasId, "gps speed", "m/s", totalSpeed, time);
                 emit globalPositionChanged(this, longitude, latitude, altitude, time);
                 emit speedChanged(this, speedX, speedY, speedZ, time);
-                emit valueChanged(uasId, "gpsspeed", "m/s", sqrt(speedX*speedX+speedY*speedY+speedZ*speedZ), time);
                 // Set internal state
                 if (!positionLock)
                 {
@@ -600,7 +597,7 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
                 if (pos.fix_type > 0)
                 {
                     emit globalPositionChanged(this, pos.lon, pos.lat, pos.alt, time);
-                    emit valueChanged(uasId, "gpsspeed", "m/s", pos.v, time);
+                    emit valueChanged(uasId, "gps speed", "m/s", pos.v, time);
 
                     // Check for NaN
                     int alt = pos.alt;
@@ -1515,11 +1512,11 @@ void UAS::setParameter(const int component, const QString& id, const float value
         {
             p.param_id[i] = id.toAscii()[i];
         }
-        // Null termination at end of string or end of buffer
-        else if ((int)i == id.length() || i == (sizeof(p.param_id) - 1))
-        {
-            p.param_id[i] = '\0';
-        }
+//        // Null termination at end of string or end of buffer
+//        else if ((int)i == id.length() || i == (sizeof(p.param_id) - 1))
+//        {
+//            p.param_id[i] = '\0';
+//        }
         // Zero fill
         else
         {
@@ -1531,6 +1528,18 @@ void UAS::setParameter(const int component, const QString& id, const float value
     }
 }
 
+void UAS::requestParameter(int component, int parameter)
+{
+    mavlink_message_t msg;
+    mavlink_param_request_read_t read;
+    read.param_index = parameter;
+    read.target_system = uasId;
+    read.target_component = component;
+    mavlink_msg_param_request_read_encode(mavlink->getSystemId(), mavlink->getComponentId(), &msg, &read);
+    sendMessage(msg);
+    qDebug() << __FILE__ << __LINE__ << "REQUESTING PARAM RETRANSMISSION FROM COMPONENT" << component << "FOR PARAM ID" << parameter;
+}
+
 void UAS::setSystemType(int systemType)
 {
     type = systemType;
diff --git a/src/uas/UAS.h b/src/uas/UAS.h
index 7261fe2a6ccfa89c0cf1dab68848c7fbf878727e..df92cdff8670afb3d15f2925636ce153e17ce59c 100644
--- a/src/uas/UAS.h
+++ b/src/uas/UAS.h
@@ -259,6 +259,9 @@ public slots:
     /** @brief Request all parameters */
     void requestParameters();
 
+    /** @brief Request a single parameter by index */
+    void requestParameter(int component, int parameter);
+
     /** @brief Set a system parameter */
     void setParameter(const int component, const QString& id, const float value);
 
diff --git a/src/uas/UASInterface.h b/src/uas/UASInterface.h
index e0d7978d1f3fc28ae5e161507f24735054e8508a..517ade9feb164447631ed15f9b5c76a1d3d12d8f 100644
--- a/src/uas/UASInterface.h
+++ b/src/uas/UASInterface.h
@@ -226,6 +226,8 @@ public slots:
     virtual void setLocalOriginAtCurrentGPSPosition() = 0;
     /** @brief Request all onboard parameters of all components */
     virtual void requestParameters() = 0;
+    /** @brief Request one specific onboard parameter */
+    virtual void requestParameter(int component, int parameter) = 0;
     /** @brief Write parameter to permanent storage */
     virtual void writeParametersToStorage() = 0;
     /** @brief Read parameter from permanent storage */
diff --git a/src/ui/DebugConsole.cc b/src/ui/DebugConsole.cc
index aca9edaabddd9e8ab08f7521f7a51db6cc89ed66..4e28f07a37afc49ecf2c2af5928ad620de3169b3 100644
--- a/src/ui/DebugConsole.cc
+++ b/src/ui/DebugConsole.cc
@@ -85,10 +85,10 @@ DebugConsole::DebugConsole(QWidget *parent) :
     snapShotTimer.setInterval(snapShotInterval);
     snapShotTimer.start();
 
-    // Set hex checkbox checked
-    m_ui->hexCheckBox->setChecked(!convertToAscii);
-    m_ui->mavlinkCheckBox->setChecked(filterMAVLINK);
-    m_ui->holdCheckBox->setChecked(autoHold);
+//    // Set hex checkbox checked
+//    m_ui->hexCheckBox->setChecked(!convertToAscii);
+//    m_ui->mavlinkCheckBox->setChecked(filterMAVLINK);
+//    m_ui->holdCheckBox->setChecked(autoHold);
 
     // Get a list of all existing links
     links = QList<LinkInterface*>();
@@ -120,8 +120,6 @@ DebugConsole::DebugConsole(QWidget *parent) :
     // Allow to send via return
     connect(m_ui->sendText, SIGNAL(returnPressed()), this, SLOT(sendBytes()));
 
-    hold(false);
-
     loadSettings();
 
     // Warn user about not activated hold
@@ -146,8 +144,8 @@ void DebugConsole::loadSettings()
     m_ui->specialComboBox->setCurrentIndex(settings.value("SPECIAL_SYMBOL", m_ui->specialComboBox->currentIndex()).toInt());
     m_ui->specialCheckBox->setChecked(settings.value("SPECIAL_SYMBOL_CHECKBOX_STATE", m_ui->specialCheckBox->isChecked()).toBool());
     hexModeEnabled(settings.value("HEX_MODE_ENABLED", m_ui->hexCheckBox->isChecked()).toBool());
-    MAVLINKfilterEnabled(settings.value("MAVLINK_FILTER_ENABLED", m_ui->mavlinkCheckBox->isChecked()).toBool());
-    setAutoHold(settings.value("AUTO_HOLD_ENABLED", m_ui->holdCheckBox->isChecked()).toBool());
+    MAVLINKfilterEnabled(settings.value("MAVLINK_FILTER_ENABLED", filterMAVLINK).toBool());
+    setAutoHold(settings.value("AUTO_HOLD_ENABLED", autoHold).toBool());
     settings.endGroup();
 
     // Update visibility settings
@@ -166,8 +164,8 @@ void DebugConsole::storeSettings()
     settings.setValue("SPECIAL_SYMBOL", m_ui->specialComboBox->currentIndex());
     settings.setValue("SPECIAL_SYMBOL_CHECKBOX_STATE", m_ui->specialCheckBox->isChecked());
     settings.setValue("HEX_MODE_ENABLED", m_ui->hexCheckBox->isChecked());
-    settings.setValue("MAVLINK_FILTER_ENABLED", m_ui->mavlinkCheckBox->isChecked());
-    settings.setValue("AUTO_HOLD_ENABLED", m_ui->holdCheckBox->isChecked());
+    settings.setValue("MAVLINK_FILTER_ENABLED", filterMAVLINK);
+    settings.setValue("AUTO_HOLD_ENABLED", autoHold);
     settings.endGroup();
     settings.sync();
     //qDebug() << "Storing settings!";
@@ -242,8 +240,16 @@ void DebugConsole::setAutoHold(bool hold)
         this->hold(false);
         m_ui->holdButton->setChecked(false);
     }
+    // Set auto hold checkbox
+    if (m_ui->holdCheckBox->isChecked() != hold)
+    {
+        m_ui->holdCheckBox->setChecked(hold);
+    }
     // Set new state
     autoHold = hold;
+
+    // FIXME REMOVE THIS HERE
+    storeSettings();
 }
 
 /**
@@ -699,6 +705,8 @@ void DebugConsole::hexModeEnabled(bool mode)
         m_ui->sentText->clear();
         commandHistory.clear();
     }
+    // FIXME REMOVE THIS HERE
+    storeSettings();
 }
 
 /**
@@ -715,6 +723,8 @@ void DebugConsole::MAVLINKfilterEnabled(bool filter)
             m_ui->mavlinkCheckBox->setChecked(filter);
         }
     }
+    // FIXME REMOVE THIS HERE
+    storeSettings();
 }
 /**
  * @param hold Freeze the input and thus any scrolling
diff --git a/src/ui/DebugConsole.ui b/src/ui/DebugConsole.ui
index e7245d5edae4dfc86dc429c7a6f5a4ad9223a319..9fcfe00d4989ebb2c89f58ef62511bba2ddf0f92 100644
--- a/src/ui/DebugConsole.ui
+++ b/src/ui/DebugConsole.ui
@@ -50,6 +50,9 @@
        <property name="toolTip">
         <string>Ignore MAVLINK protocol messages in display</string>
        </property>
+       <property name="statusTip">
+        <string>Ignore MAVLINK protocol messages in display</string>
+       </property>
        <property name="text">
         <string>Hide MAVLink</string>
        </property>
@@ -58,7 +61,10 @@
      <item>
       <widget class="QCheckBox" name="hexCheckBox">
        <property name="toolTip">
-        <string>Display and send bytes in HEX representation</string>
+        <string>Display and enter bytes in HEX representation (e.g. 0xAA)</string>
+       </property>
+       <property name="statusTip">
+        <string>Display and enter bytes in HEX representation (e.g. 0xAA)</string>
        </property>
        <property name="text">
         <string>HEX</string>
diff --git a/src/ui/MainWindow.cc b/src/ui/MainWindow.cc
index 942352825c7dc7227d324a077137d2411f090d27..9fdbf365e493f3fe986ccbfe7ae044d6afc293f5 100644
--- a/src/ui/MainWindow.cc
+++ b/src/ui/MainWindow.cc
@@ -391,7 +391,7 @@ void MainWindow::buildCommonWidgets()
     if (!dataplotWidget)
     {
         dataplotWidget    = new QGCDataPlot2D(this);
-        addToCentralWidgetsMenu (dataplotWidget, "Data Plot", SLOT(showCentralWidget()),CENTRAL_DATA_PLOT);
+        addToCentralWidgetsMenu (dataplotWidget, "Logfile Plot", SLOT(showCentralWidget()),CENTRAL_DATA_PLOT);
     }
 }
 
@@ -431,27 +431,27 @@ void MainWindow::buildPxWidgets()
     {
         // Center widgets
         linechartWidget   = new Linecharts(this);
-        addToCentralWidgetsMenu(linechartWidget, "Line Plots", SLOT(showCentralWidget()), CENTRAL_LINECHART);
+        addToCentralWidgetsMenu(linechartWidget, tr("Realtime Plot"), SLOT(showCentralWidget()), CENTRAL_LINECHART);
     }
 
 
     if (!hudWidget)
     {
         hudWidget         = new HUD(320, 240, this);
-        addToCentralWidgetsMenu(hudWidget, "HUD", SLOT(showCentralWidget()), CENTRAL_HUD);
+        addToCentralWidgetsMenu(hudWidget, tr("Head Up Display"), SLOT(showCentralWidget()), CENTRAL_HUD);
     }
 
     if (!dataplotWidget)
     {
         dataplotWidget    = new QGCDataPlot2D(this);
-        addToCentralWidgetsMenu(dataplotWidget, "Data Plots", SLOT(showCentralWidget()), CENTRAL_DATA_PLOT);
+        addToCentralWidgetsMenu(dataplotWidget, "Logfile Plot", SLOT(showCentralWidget()), CENTRAL_DATA_PLOT);
     }
 
 #ifdef QGC_OSG_ENABLED
     if (!_3DWidget)
     {
         _3DWidget         = Q3DWidgetFactory::get("PIXHAWK");
-        addToCentralWidgetsMenu(_3DWidget, "Local 3D", SLOT(showCentralWidget()), CENTRAL_3D_LOCAL);
+        addToCentralWidgetsMenu(_3DWidget, tr("Local 3D"), SLOT(showCentralWidget()), CENTRAL_3D_LOCAL);
     }
 #endif
 
@@ -459,7 +459,7 @@ void MainWindow::buildPxWidgets()
     if (!_3DMapWidget)
     {
         _3DMapWidget = Q3DWidgetFactory::get("MAP3D");
-        addToCentralWidgetsMenu(_3DMapWidget, "OSG Earth 3D", SLOT(showCentralWidget()), CENTRAL_OSGEARTH);
+        addToCentralWidgetsMenu(_3DMapWidget, tr("OSG Earth 3D"), SLOT(showCentralWidget()), CENTRAL_OSGEARTH);
     }
 #endif
 
@@ -467,7 +467,7 @@ void MainWindow::buildPxWidgets()
     if (!gEarthWidget)
     {
         gEarthWidget = new QGCGoogleEarthView(this);
-        addToCentralWidgetsMenu(gEarthWidget, "Google Earth", SLOT(showCentralWidget()), CENTRAL_GOOGLE_EARTH);
+        addToCentralWidgetsMenu(gEarthWidget, tr("Google Earth"), SLOT(showCentralWidget()), CENTRAL_GOOGLE_EARTH);
     }
 
 #endif
@@ -503,7 +503,7 @@ void MainWindow::buildPxWidgets()
         hsiDockWidget = new QDockWidget(tr("Horizontal Situation Indicator"), this);
         hsiDockWidget->setWidget( new HSIDisplay(this) );
         hsiDockWidget->setObjectName("HORIZONTAL_SITUATION_INDICATOR_DOCK_WIDGET");
-        addToToolsMenu (hsiDockWidget, tr("HSI"), SLOT(showToolWidget(bool)), MENU_HSI, Qt::BottomDockWidgetArea);
+        addToToolsMenu (hsiDockWidget, tr("Horizontal Situation"), SLOT(showToolWidget(bool)), MENU_HSI, Qt::BottomDockWidgetArea);
     }
 
     if (!headDown1DockWidget)
@@ -572,6 +572,7 @@ void MainWindow::buildSlugsWidgets()
     {
         // Center widgets
         linechartWidget   = new Linecharts(this);
+        addToCentralWidgetsMenu(linechartWidget, tr("Realtime Plot"), SLOT(showCentralWidget()), CENTRAL_LINECHART);
     }
 
     if (!headUpDockWidget)
@@ -580,7 +581,7 @@ void MainWindow::buildSlugsWidgets()
         headUpDockWidget = new QDockWidget(tr("Control Indicator"), this);
         headUpDockWidget->setWidget( new HUD(320, 240, this));
         headUpDockWidget->setObjectName("HEAD_UP_DISPLAY_DOCK_WIDGET");
-        addToToolsMenu (headUpDockWidget, tr("HUD"), SLOT(showToolWidget(bool)), MENU_HUD, Qt::LeftDockWidgetArea);
+        addToToolsMenu (headUpDockWidget, tr("Head Up Display"), SLOT(showToolWidget(bool)), MENU_HUD, Qt::LeftDockWidgetArea);
     }
 
     if (!rcViewDockWidget)
diff --git a/src/ui/ParameterInterface.cc b/src/ui/ParameterInterface.cc
index 5a0f194ebf77684eb27ee9ae2c0464e0da01d209..8d435449c9927ab08967a3f3c22921aa26ac4a78 100644
--- a/src/ui/ParameterInterface.cc
+++ b/src/ui/ParameterInterface.cc
@@ -44,12 +44,6 @@ ParameterInterface::ParameterInterface(QWidget *parent) :
         m_ui(new Ui::parameterWidget)
 {
     m_ui->setupUi(this);
-    // Make sure the combo box is empty
-    // because else indices get messed up
-    //m_ui->vehicleComboBox->clear();
-
-    // Setup UI connections
-    //connect(m_ui->vehicleComboBox, SIGNAL(activated(int)), this, SLOT(selectUAS(int)));
 
     // Get current MAV list
     QList<UASInterface*> systems = UASManager::instance()->getUASList();
@@ -84,8 +78,6 @@ void ParameterInterface::selectUAS(int index)
  */
 void ParameterInterface::addUAS(UASInterface* uas)
 {
-    //m_ui->vehicleComboBox->addItem(uas->getUASName());
-
     QGCParamWidget* param = new QGCParamWidget(uas, this);
     paramWidgets->insert(uas->getUASID(), param);
     m_ui->stackedWidget->addWidget(param);
diff --git a/src/ui/QGCParamWidget.cc b/src/ui/QGCParamWidget.cc
index 424e1cf1e7c53c8f39fb65a74160ff916bc14370..a6868a1ed92f6ba29a1ecc106a89b95478c7066f 100644
--- a/src/ui/QGCParamWidget.cc
+++ b/src/ui/QGCParamWidget.cc
@@ -30,6 +30,7 @@ This file is part of the QGROUNDCONTROL project
 #include <QPushButton>
 #include <QFileDialog>
 #include <QFile>
+#include <QList>
 
 #include "QGCParamWidget.h"
 #include "UASInterface.h"
@@ -127,6 +128,10 @@ QGCParamWidget::QGCParamWidget(UASInterface* uas, QWidget *parent) :
 
     // New parameters from UAS
     connect(uas, SIGNAL(parameterChanged(int,int,int,int,QString,float)), this, SLOT(addParameter(int,int,int,int,QString,float)));
+
+    // Connect retransmission guard
+    connect(this, SIGNAL(requestParameter(int,int)), uas, SLOT(requestParameter(int,int)));
+    connect(&retransmissionTimer, SIGNAL(timeout()), this, SLOT(retransmissionGuardTick()));
 }
 
 /**
@@ -202,6 +207,7 @@ void QGCParamWidget::addParameter(int uas, int component, int paramCount, int pa
                 transmissionMissingPackets.insert(component, new QList<int>());
             }
 
+            // Mark all parameters as missing
             for (int i = 0; i < paramCount; ++i)
             {
                 if (!transmissionMissingPackets.value(component)->contains(i))
@@ -209,6 +215,11 @@ void QGCParamWidget::addParameter(int uas, int component, int paramCount, int pa
                     transmissionMissingPackets.value(component)->append(i);
                 }
             }
+
+            // Start retransmission guard
+            setRetransmissionGuardEnabled(true);
+
+            // Mark list size as known
             transmissionListSizeKnown.insert(component, true);
         }
     }
@@ -532,6 +543,68 @@ void QGCParamWidget::loadParameters()
 
 }
 
+/**
+ * Enabling the retransmission guard enables the parameter widget to track
+ * dropped parameters and to re-request them. This works for both individual
+ * parameter reads as well for whole list requests.
+ *
+ * @param enabled True if retransmission checking should be enabled, false else
+ */
+void QGCParamWidget::setRetransmissionGuardEnabled(bool enabled)
+{
+    if (enabled)
+    {
+        retransmissionTimer.start(retransmissionTimeout);
+    }
+    else
+    {
+        retransmissionTimer.stop();
+    }
+}
+
+void QGCParamWidget::retransmissionGuardTick()
+{
+    if (transmissionActive)
+    {
+        qDebug() << __FILE__ << __LINE__ << "RETRANSMISSION GUARD ACTIVE, CHECKING FOR DROPS..";
+        // Re-request at maximum five parameters at once
+        // to prevent link flooding
+
+        QMap<int, QMap<QString, float>*>::iterator i;
+        for (i = parameters.begin(); i != parameters.end(); ++i)
+        {
+            // Iterate through the parameters of the component
+            int component = i.key();
+            // Request five parameters from this component (at maximum)
+            QList<int> * paramList = transmissionMissingPackets.value(component, NULL);
+            if (paramList)
+            {
+                int count = 0;
+                int maxCount = 5;
+                foreach (int id, *paramList)
+                {
+                    if (count < maxCount)
+                    {
+                        qDebug() << __FILE__ << __LINE__ << "RETRANSMISSION GUARD REQUESTS RETRANSMISSION OF PARAM #" << id << "FROM COMPONENT #" << component;
+                        emit requestParameter(component, id);
+                        statusLabel->setText(tr("Requ. retransmission of #%1").arg(id));
+                        count++;
+                    }
+                    else
+                    {
+                        break;
+                    }
+                }
+            }
+        }
+    }
+    else
+    {
+        qDebug() << __FILE__ << __LINE__ << "STOPPING RETRANSMISSION GUARD GRACEFULLY";
+        setRetransmissionGuardEnabled(false);
+    }
+}
+
 
 /**
  * @param component the subsystem which has the parameter
@@ -541,7 +614,23 @@ void QGCParamWidget::loadParameters()
 void QGCParamWidget::setParameter(int component, QString parameterName, float value)
 {
     emit parameterChanged(component, parameterName, value);
-
+//    // Wait for parameter to be written back
+//    // mark it therefore as missing
+//    if (!transmissionMissingPackets.contains(component))
+//    {
+//        transmissionMissingPackets.insert(component, new QList<int>());
+//    }
+
+//    for (int i = 0; i < paramCount; ++i)
+//    {
+//        if (!transmissionMissingPackets.value(component)->contains(i))
+//        {
+//            transmissionMissingPackets.value(component)->append(i);
+//        }
+//    }
+//    transmissionActive = true;
+//    transmissionStarted = QGC::groundTimeUsecs();
+//    setRetransmissionGuardEnabled(true);
 }
 
 /**
diff --git a/src/ui/QGCParamWidget.h b/src/ui/QGCParamWidget.h
index f30663f17081e01e5889fb4d6a4184fd088127fc..7064559b7f813253ccec68fe8733f7282300dc18 100644
--- a/src/ui/QGCParamWidget.h
+++ b/src/ui/QGCParamWidget.h
@@ -35,6 +35,7 @@ This file is part of the QGROUNDCONTROL project
 #include <QTreeWidgetItem>
 #include <QMap>
 #include <QLabel>
+#include <QTimer>
 
 #include "UASInterface.h"
 
@@ -51,6 +52,8 @@ public:
 signals:
     /** @brief A parameter was changed in the widget, NOT onboard */
     void parameterChanged(int component, QString parametername, float value);
+    /** @brief Request a single parameter */
+    void requestParameter(int component, int parameter);
 public slots:
     /** @brief Add a component to the list */
     void addComponent(int uas, int component, QString componentName);
@@ -77,6 +80,10 @@ public slots:
     void saveParameters();
     /** @brief Load parameters from a file */
     void loadParameters();
+
+    /** @brief Check for missing parameters */
+    void retransmissionGuardTick();
+
 protected:
     UASInterface* mav;   ///< The MAV this widget is controlling
     QTreeWidget* tree;   ///< The parameter tree
@@ -91,6 +98,11 @@ protected:
     QMap<int, bool> transmissionListSizeKnown;  ///< List size initialized?
     bool transmissionActive;         ///< Missing packets, working on list?
     quint64 transmissionStarted;     ///< Timeout
+    QTimer retransmissionTimer;      ///< Timer handling parameter retransmission
+    const static int retransmissionTimeout = 100; ///< Retransmission request timeout, in milliseconds
+
+    /** @brief Activate / deactivate parameter retransmission */
+    void setRetransmissionGuardEnabled(bool enabled);
 };
 
 #endif // QGCPARAMWIDGET_H