diff --git a/src/uas/UAS.cc b/src/uas/UAS.cc
index 772341413ce0fe7773495c07fb6d9d0c498c2c26..89f9d44e87a68bd81551be57eb3f77c84cf5b7d9 100644
--- a/src/uas/UAS.cc
+++ b/src/uas/UAS.cc
@@ -1999,7 +1999,7 @@ void UAS::sendMessage(mavlink_message_t message)
         if (LinkManager::instance()->getLinks().contains(link))
         {
             sendMessage(link, message);
-            qDebug() << "SENT MESSAGE id" << message.msgid;
+            qDebug() << "SENT MESSAGE id" << message.msgid << "component" << message.compid;
         }
         else
         {
diff --git a/src/uas/UASParameterCommsMgr.cc b/src/uas/UASParameterCommsMgr.cc
index 26a5ce4da29f7d4c24a667294802d329e450ce96..e2231064db4a8c0145712a6b6182dd757a90b521 100644
--- a/src/uas/UASParameterCommsMgr.cc
+++ b/src/uas/UASParameterCommsMgr.cc
@@ -70,18 +70,23 @@ void UASParameterCommsMgr::requestParameterList()
     //TODO check: no need to cause datamodel to forget params here?
 //    paramDataModel->forgetAllOnboardParameters();
 
-    // Clear transmission state
-    receivedParamsList.clear();
-    transmissionListSizeKnown.clear();
+    if (!transmissionListMode) {
+        // Clear transmission state
+        receivedParamsList.clear();
+        transmissionListSizeKnown.clear();
 
-    transmissionListMode = true;
-    foreach (int key, transmissionMissingPackets.keys()) {
-        transmissionMissingPackets.value(key)->clear();
-    }
-    transmissionActive = true;
+        transmissionListMode = true;
+        foreach (int key, transmissionMissingPackets.keys()) {
+            transmissionMissingPackets.value(key)->clear();
+        }
+        transmissionActive = true;
 
-    setParameterStatusMsg(tr("Requested param list.. waiting"));
-    mav->requestParameters();
+        setParameterStatusMsg(tr("Requested param list.. waiting"));
+        mav->requestParameters();
+    }
+    else {
+        qDebug() << __FILE__ << __LINE__ << "Ignoring requestParameterList because we're receiving params list";
+    }
 
 }
 
diff --git a/src/uas/UASParameterCommsMgr.h b/src/uas/UASParameterCommsMgr.h
index 03f24bb1d74a3894fecf84d0aa7b1cdba6d7f360..8f5a2eeb6784a95a91da0cd9d900ed36b7070b62 100644
--- a/src/uas/UASParameterCommsMgr.h
+++ b/src/uas/UASParameterCommsMgr.h
@@ -62,6 +62,7 @@ public slots:
 
     /** @brief Request list of parameters from MAV */
     virtual void requestParameterList();
+
     /** @brief Check for missing parameters */
     virtual void retransmissionGuardTick();
 
diff --git a/src/ui/QGCPX4VehicleConfig.cc b/src/ui/QGCPX4VehicleConfig.cc
index 708d5a0b7b484a3db9f0d8b4097f68b767368d1f..177a5e0660ea149044c107782fd8d2edd3b49e9e 100644
--- a/src/ui/QGCPX4VehicleConfig.cc
+++ b/src/ui/QGCPX4VehicleConfig.cc
@@ -795,9 +795,12 @@ void QGCPX4VehicleConfig::loadConfig()
         xml.readNext();
     }
 
-    mav->getParamManager()->setParamDescriptions(paramTooltips);
+    if (!paramTooltips.isEmpty()) {
+           mav->getParamManager()->setParamDescriptions(paramTooltips);
+    }
     doneLoadingConfig = true;
-    mav->requestParameters(); //Config is finished, lets do a parameter request to ensure none are missed if someone else started requesting before we were finished.
+    //Config is finished, lets do a parameter request to ensure none are missed if someone else started requesting before we were finished.
+    mav->getParamCommsMgr()->requestParameterList();
 }
 
 void QGCPX4VehicleConfig::setActiveUAS(UASInterface* active)
@@ -826,31 +829,28 @@ void QGCPX4VehicleConfig::setActiveUAS(UASInterface* active)
         // Disconnect old system
         disconnect(mav, SIGNAL(remoteControlChannelRawChanged(int,float)), this,
                    SLOT(remoteControlChannelRawChanged(int,float)));
+        //TODO use paramCommsMgr instead
         disconnect(mav, SIGNAL(parameterChanged(int,int,QString,QVariant)), this,
                    SLOT(parameterChanged(int,int,QString,QVariant)));
-        disconnect(ui->refreshButton,SIGNAL(clicked()),mav,SLOT(requestParameters()));
+        disconnect(ui->refreshButton,SIGNAL(clicked()),
+                   paramCommsMgr,SLOT(requestParameterList()));
 
         // Delete all children from all fixed tabs.
-        foreach(QWidget* child, ui->generalLeftContents->findChildren<QWidget*>())
-        {
+        foreach(QWidget* child, ui->generalLeftContents->findChildren<QWidget*>()) {
             child->deleteLater();
         }
-        foreach(QWidget* child, ui->generalRightContents->findChildren<QWidget*>())
-        {
+        foreach(QWidget* child, ui->generalRightContents->findChildren<QWidget*>()) {
             child->deleteLater();
         }
-        foreach(QWidget* child, ui->advanceColumnContents->findChildren<QWidget*>())
-        {
+        foreach(QWidget* child, ui->advanceColumnContents->findChildren<QWidget*>()) {
             child->deleteLater();
         }
-        foreach(QWidget* child, ui->sensorContents->findChildren<QWidget*>())
-        {
+        foreach(QWidget* child, ui->sensorContents->findChildren<QWidget*>()) {
             child->deleteLater();
         }
 
         // And then delete any custom tabs
-        foreach(QWidget* child, additionalTabs)
-        {
+        foreach(QWidget* child, additionalTabs) {
             child->deleteLater();
         }
         additionalTabs.clear();
@@ -866,6 +866,7 @@ void QGCPX4VehicleConfig::setActiveUAS(UASInterface* active)
     // Connect new system
     mav = active;
 
+    paramCommsMgr = mav->getParamCommsMgr();
     // Reset current state
     resetCalibrationRC();
 
@@ -875,25 +876,23 @@ void QGCPX4VehicleConfig::setActiveUAS(UASInterface* active)
     chanCount = 0;
 
     // Connect new system
-    connect(active, SIGNAL(remoteControlChannelRawChanged(int,float)), this,
+    connect(mav, SIGNAL(remoteControlChannelRawChanged(int,float)), this,
                SLOT(remoteControlChannelRawChanged(int,float)));
-    connect(active, SIGNAL(parameterChanged(int,int,QString,QVariant)), this,
+    connect(mav, SIGNAL(parameterChanged(int,int,QString,QVariant)), this,
                SLOT(parameterChanged(int,int,QString,QVariant)));
-    connect(ui->refreshButton, SIGNAL(clicked()), active, SLOT(requestParameters()));
+    connect(ui->refreshButton, SIGNAL(clicked()),
+            paramCommsMgr,SLOT(requestParameterList()));
 
-    if (systemTypeToParamMap.contains(mav->getSystemTypeName()))
-    {
+    if (systemTypeToParamMap.contains(mav->getSystemTypeName())) {
         paramToWidgetMap = systemTypeToParamMap[mav->getSystemTypeName()];
     }
-    else
-    {
+    else {
         //Indication that we have no meta data for this system type.
         qDebug() << "No parameters defined for system type:" << mav->getSystemTypeName();
         paramToWidgetMap = systemTypeToParamMap[mav->getSystemTypeName()];
     }
 
-    if (!paramTooltips.isEmpty())
-    {
+    if (!paramTooltips.isEmpty()) {
            mav->getParamManager()->setParamDescriptions(paramTooltips);
     }
 
@@ -912,8 +911,7 @@ void QGCPX4VehicleConfig::setActiveUAS(UASInterface* active)
     ui->writeButton->setEnabled(true);
     ui->loadFileButton->setEnabled(true);
     ui->saveFileButton->setEnabled(true);
-    if (mav->getAutopilotTypeName() == "ARDUPILOTMEGA")
-    {
+    if (mav->getAutopilotTypeName() == "ARDUPILOTMEGA") {
         ui->readButton->hide();
         ui->writeButton->hide();
     }
@@ -978,8 +976,8 @@ void QGCPX4VehicleConfig::writeCalibrationRC()
 
 void QGCPX4VehicleConfig::requestCalibrationRC()
 {
-    if (mav) {
-        mav->getParamCommsMgr()->requestRcCalibrationParamsUpdate();
+    if (paramCommsMgr) {
+        paramCommsMgr->requestRcCalibrationParamsUpdate();
     }
 }
 
diff --git a/src/ui/QGCPX4VehicleConfig.h b/src/ui/QGCPX4VehicleConfig.h
index b11d2e60e2b9c3b62f014fed62c5888ab61c20d0..93761d52f2aeb43a3fbe1571a868dc981e906582 100644
--- a/src/ui/QGCPX4VehicleConfig.h
+++ b/src/ui/QGCPX4VehicleConfig.h
@@ -10,6 +10,8 @@
 #include "QGCToolWidget.h"
 #include "UASInterface.h"
 
+class UASParameterCommsMgr;
+
 namespace Ui {
 class QGCPX4VehicleConfig;
 }
@@ -159,6 +161,7 @@ protected slots:
 protected:
     bool doneLoadingConfig;
     UASInterface* mav;                  ///< The current MAV
+    UASParameterCommsMgr* paramCommsMgr; ///< param comms mgr for the mav
     static const unsigned int chanMax = 8;    ///< Maximum number of channels
     unsigned int chanCount;               ///< Actual channels
     int rcType;                         ///< Type of the remote control
diff --git a/src/ui/QGCVehicleConfig.cc b/src/ui/QGCVehicleConfig.cc
index a296f28ff33026f985150b4e47c5e4b1603abf85..2aa2ead2e6725bc5b138851337a6d4fee0996554 100644
--- a/src/ui/QGCVehicleConfig.cc
+++ b/src/ui/QGCVehicleConfig.cc
@@ -790,7 +790,8 @@ void QGCVehicleConfig::loadConfig()
 
     mav->getParamManager()->setParamDescriptions(paramTooltips);
     doneLoadingConfig = true;
-    mav->requestParameters(); //Config is finished, lets do a parameter request to ensure none are missed if someone else started requesting before we were finished.
+    //Config is finished, lets do a parameter request to ensure none are missed if someone else started requesting before we were finished.
+    mav->getParamCommsMgr()->requestParameterList();
 }
 
 void QGCVehicleConfig::setActiveUAS(UASInterface* active)