diff --git a/src/FactSystem/ParameterManager.cc b/src/FactSystem/ParameterManager.cc
index d81511870089908387851b5a2b12d351123e421d..a05cb8ec935ebca2276ae38966942207a7a11b56 100644
--- a/src/FactSystem/ParameterManager.cc
+++ b/src/FactSystem/ParameterManager.cc
@@ -59,6 +59,7 @@ ParameterManager::ParameterManager(Vehicle* vehicle)
     , _prevWaitingWriteParamNameCount(0)
     , _initialRequestRetryCount(0)
     , _disableAllRetries(false)
+    , _indexBatchQueueActive(false)
     , _totalParamCount(0)
 {
     _versionParam = vehicle->firmwarePlugin()->getVersionParam();
@@ -75,7 +76,7 @@ ParameterManager::ParameterManager(Vehicle* vehicle)
     connect(&_initialRequestTimeoutTimer, &QTimer::timeout, this, &ParameterManager::_initialRequestTimeout);
 
     _waitingParamTimeoutTimer.setSingleShot(true);
-    _waitingParamTimeoutTimer.setInterval(30000);
+    _waitingParamTimeoutTimer.setInterval(3000);
     connect(&_waitingParamTimeoutTimer, &QTimer::timeout, this, &ParameterManager::_waitingParamTimeout);
 
     connect(_vehicle->uas(), &UASInterface::parameterUpdate, this, &ParameterManager::_parameterUpdate);
@@ -117,11 +118,13 @@ void ParameterManager::_parameterUpdate(int vehicleId, int componentId, QString
     _initialRequestTimeoutTimer.stop();
 
 #if 0
-    // Handy for testing retry logic
-    static int counter = 0;
-    if (counter++ & 0x8) {
-        qCDebug(ParameterManagerLog) << "Artificial discard" << counter;
-        return;
+    if (!_initialLoadComplete && !_indexBatchQueueActive) {
+        // Handy for testing retry logic
+        static int counter = 0;
+        if (counter++ & 0x8) {
+            qCDebug(ParameterManagerLog) << "Artificial discard" << counter;
+            return;
+        }
     }
 #endif
 
@@ -179,7 +182,11 @@ void ParameterManager::_parameterUpdate(int vehicleId, int componentId, QString
     }
 
     // Remove this parameter from the waiting lists
-    _waitingReadParamIndexMap[componentId].remove(parameterId);
+    if (_waitingReadParamIndexMap[componentId].contains(parameterId)) {
+        _waitingReadParamIndexMap[componentId].remove(parameterId);
+        _indexBatchQueue.removeOne(parameterId);
+        _fillIndexBatchQueue(false /* waitingParamTimeout */);
+    }
     _waitingReadParamNameMap[componentId].remove(parameterName);
     _waitingWriteParamNameMap[componentId].remove(parameterName);
     if (_waitingReadParamIndexMap[componentId].count()) {
@@ -507,25 +514,39 @@ const QMap<int, QMap<QString, QStringList> >& ParameterManager::getGroupMap(void
     return _mapGroup2ParameterName;
 }
 
-void ParameterManager::_waitingParamTimeout(void)
+/// Requests missing index based parameters from the vehicle.
+///     @param waitingParamTimeout: true: being called due to timeout, false: being called to re-fill the batch queue
+/// return true: Parameters were requested, false: No more requests needed
+bool ParameterManager::_fillIndexBatchQueue(bool waitingParamTimeout)
 {
-    bool paramsRequested = false;
-    const int maxBatchSize = 10;
-    int batchCount = 0;
+    if (!_indexBatchQueueActive) {
+        return false;
+    }
 
-    qCDebug(ParameterManagerLog) << _logVehiclePrefix() << "_waitingParamTimeout";
+    const int maxBatchSize = 10;
 
-    // First check for any missing parameters from the initial index based load
+    if (waitingParamTimeout) {
+        // We timed out, clear the queue and try again
+        qCDebug(ParameterManagerLog) << "Refilling index based batch queue due to timeout";
+        _indexBatchQueue.clear();
+    } else {
+        qCDebug(ParameterManagerLog) << "Refilling index based batch queue due to received parameter";
+    }
 
-    batchCount = 0;
     foreach(int componentId, _waitingReadParamIndexMap.keys()) {
         if (_waitingReadParamIndexMap[componentId].count()) {
-            qCDebug(ParameterManagerLog) << _logVehiclePrefix() << "_waitingReadParamIndexMap" << _waitingReadParamIndexMap[componentId];
+            qCDebug(ParameterManagerLog) << _logVehiclePrefix() << "_waitingReadParamIndexMap count" << _waitingReadParamIndexMap[componentId].count();
+            qCDebug(ParameterManagerVerbose1Log) << _logVehiclePrefix() << "_waitingReadParamIndexMap" << _waitingReadParamIndexMap[componentId];
         }
 
-        foreach(int paramIndex, _waitingReadParamIndexMap[componentId].keys()) {            
-            if (++batchCount > maxBatchSize) {
-                goto Out;
+        foreach(int paramIndex, _waitingReadParamIndexMap[componentId].keys()) {
+            if (_indexBatchQueue.contains(paramIndex)) {
+                // Don't add more than once
+                continue;
+            }
+
+            if (_indexBatchQueue.count() > maxBatchSize) {
+                break;
             }
 
             _waitingReadParamIndexMap[componentId][paramIndex]++;   // Bump retry count
@@ -536,13 +557,30 @@ void ParameterManager::_waitingParamTimeout(void)
                 _waitingReadParamIndexMap[componentId].remove(paramIndex);
             } else {
                 // Retry again
-                paramsRequested = true;
+                _indexBatchQueue.append(paramIndex);
                 _readParameterRaw(componentId, "", paramIndex);
                 qCDebug(ParameterManagerLog) << _logVehiclePrefix(componentId) << "Read re-request for (paramIndex:" << paramIndex << "retryCount:" << _waitingReadParamIndexMap[componentId][paramIndex] << ")";
             }
         }
     }
 
+    return _indexBatchQueue.count() != 0;
+}
+
+void ParameterManager::_waitingParamTimeout(void)
+{
+    bool paramsRequested = false;
+    const int maxBatchSize = 10;
+    int batchCount = 0;
+
+    qCDebug(ParameterManagerLog) << _logVehiclePrefix() << "_waitingParamTimeout";
+
+    // Now that we have timed out for possibly the first time we can activate the index batch queue
+    _indexBatchQueueActive = true;
+
+    // First check for any missing parameters from the initial index based load
+    paramsRequested = _fillIndexBatchQueue(true /* waitingParamTimeout */);
+
     if (!paramsRequested && !_waitingForDefaultComponent && !_mapParameterName2Variant.contains(_vehicle->defaultComponentId())) {
         // Initial load is complete but we still don't have any default component params. Wait one more cycle to see if the
         // any show up.
diff --git a/src/FactSystem/ParameterManager.h b/src/FactSystem/ParameterManager.h
index a2c65c015dea67afdbf6014152eb1664d57f12e8..97b4ffaeeee9d7bedac385570c2383168c01d064 100644
--- a/src/FactSystem/ParameterManager.h
+++ b/src/FactSystem/ParameterManager.h
@@ -147,6 +147,7 @@ private:
     void _loadOfflineEditingParams(void);
     QString _logVehiclePrefix(int componentId = -1);
     void _setLoadProgress(double loadProgress);
+    bool _fillIndexBatchQueue(bool waitingParamTimeout);
 
     MAV_PARAM_TYPE _factTypeToMavType(FactMetaData::ValueType_t factType);
     FactMetaData::ValueType_t _mavTypeToFactType(MAV_PARAM_TYPE mavType);
@@ -178,13 +179,15 @@ private:
     int         _prevWaitingReadParamNameCount;
     int         _prevWaitingWriteParamNameCount;
 
-
     static const int    _maxInitialRequestListRetry = 4;        ///< Maximum retries for request list
     int                 _initialRequestRetryCount;              ///< Current retry count for request list
     static const int    _maxInitialLoadRetrySingleParam = 5;    ///< Maximum retries for initial index based load of a single param
     static const int    _maxReadWriteRetry = 5;                 ///< Maximum retries read/write
     bool                _disableAllRetries;                     ///< true: Don't retry any requests (used for testing)
 
+    bool        _indexBatchQueueActive; ///< true: we are actively batching re-requests for missing index base params, false: index based re-request has not yet started
+    QList<int>  _indexBatchQueue;       ///< The current queue of index re-requests
+
     QMap<int, int>                  _paramCountMap;             ///< Key: Component id, Value: count of parameters in this component
     QMap<int, QMap<int, int> >      _waitingReadParamIndexMap;  ///< Key: Component id, Value: Map { Key: parameter index still waiting for, Value: retry count }
     QMap<int, QMap<QString, int> >  _waitingReadParamNameMap;   ///< Key: Component id, Value: Map { Key: parameter name still waiting for, Value: retry count }