diff --git a/src/qgcunittest/UASUnitTest.cc b/src/qgcunittest/UASUnitTest.cc
index b6c11b0f9284e938b2b6e1a673e7822a7a5d6ae4..2fc948c2469a59f471e6e5726b4008507405137f 100644
--- a/src/qgcunittest/UASUnitTest.cc
+++ b/src/qgcunittest/UASUnitTest.cc
@@ -73,15 +73,20 @@ void UASUnitTest::getCommunicationStatus_test()
 void UASUnitTest::filterVoltage_test()
 {
     float verificar=uas->filterVoltage(0.4f);
-    // Verify that upon construction the Comm status is disconnected
-    QCOMPARE(verificar, 8.52f);
+
+    // We allow the voltage returned to be within a small delta
+    const float allowedDelta = 0.05f;
+    const float desiredVoltage = 7.36f;
+    QVERIFY(verificar > (desiredVoltage - allowedDelta) && verificar < (desiredVoltage + allowedDelta));
 }
+
 void UASUnitTest:: getAutopilotType_test()
 {
     int type = uas->getAutopilotType();
     // Verify that upon construction the autopilot is set to -1
     QCOMPARE(type, -1);
 }
+
 void UASUnitTest::setAutopilotType_test()
 {
     uas->setAutopilotType(2);
diff --git a/src/uas/UAS.cc b/src/uas/UAS.cc
index fd6cfb7db18e446ac8eff23a5f4fd9a444e7cc4c..98ec5d79d65e370aa83b1a244be910ceb40ba44f 100644
--- a/src/uas/UAS.cc
+++ b/src/uas/UAS.cc
@@ -2552,76 +2552,110 @@ void UAS::processParamValueMsg(mavlink_message_t& msg, const QString& paramName,
         parameters.insert(compId, new QMap<QString, QVariant>());
     }
 
+    // Insert parameter into registry
+    if (parameters.value(compId)->contains(paramName)) {
+        parameters.value(compId)->remove(paramName);
+    }
 
     QVariant param;
 
     // Insert with correct type
     // TODO: This is a hack for MAV_AUTOPILOT_ARDUPILOTMEGA until the new version of MAVLink and a fix for their param handling.
-    switch (rawValue.param_type) {
-        case MAV_PARAM_TYPE_REAL32:
-            if (getAutopilotType() == MAV_AUTOPILOT_ARDUPILOTMEGA) {
-                param = QVariant(paramValue.param_float);
-            } else {
-                param = QVariant(paramValue.param_float);
-            }
-            break;
-        case MAV_PARAM_TYPE_UINT8:
-            if (getAutopilotType() == MAV_AUTOPILOT_ARDUPILOTMEGA) {
-                param = QVariant(QChar((unsigned char)paramValue.param_float));
-            } else {
-                param = QVariant(QChar((quint8)paramValue.param_float));
-            }
-            break;
-        case MAV_PARAM_TYPE_INT8:
-            if (getAutopilotType() == MAV_AUTOPILOT_ARDUPILOTMEGA) {
-                param = QVariant(QChar((char)paramValue.param_float));
-            } else {
-                param = QVariant(QChar((qint8)paramValue.param_float));
-            }
-            break;
-        case MAV_PARAM_TYPE_INT16:
-            if (getAutopilotType() == MAV_AUTOPILOT_ARDUPILOTMEGA) {
-                param = QVariant((short)paramValue.param_float);
-            } else {
-                param = QVariant((qint16)paramValue.param_float);
-            }
-            break;
-        case MAV_PARAM_TYPE_UINT16:
-            if (getAutopilotType() == MAV_AUTOPILOT_ARDUPILOTMEGA) {
-                param = QVariant((unsigned short)paramValue.param_float);
-            } else {
-                param = QVariant((quint16)paramValue.param_float);
-            }
-            break;
-        case MAV_PARAM_TYPE_UINT32:
-            if (getAutopilotType() == MAV_AUTOPILOT_ARDUPILOTMEGA) {
-                param = QVariant((unsigned int)paramValue.param_float);
-            } else {
-                param = QVariant((quint32)paramValue.param_float);
-            }
-            break;
-        case MAV_PARAM_TYPE_INT32:
-            if (getAutopilotType() == MAV_AUTOPILOT_ARDUPILOTMEGA) {
-                param = QVariant((int)paramValue.param_float);
-            } else {
-                param = QVariant((qint32)paramValue.param_float);
-            }
-            break;
-        default:
-            qCritical() << "INVALID DATA TYPE USED AS PARAMETER VALUE: " << rawValue.param_type;
-            return;
+    switch (rawValue.param_type)
+    {
+    case MAV_PARAM_TYPE_REAL32:
+    {
+        if (getAutopilotType() == MAV_AUTOPILOT_ARDUPILOTMEGA) {
+            param = QVariant(paramValue.param_float);
+        }
+        else {
+            param = QVariant(paramValue.param_float);
+        }
+        parameters.value(compId)->insert(paramName, param);
+        // Emit change
+        emit parameterChanged(uasId, compId, paramName, param);
+        emit parameterChanged(uasId, compId, rawValue.param_count, rawValue.param_index, paramName, param);
+//                qDebug() << "RECEIVED PARAM:" << param;
+    }
+        break;
+    case MAV_PARAM_TYPE_UINT8:
+    {
+        if (getAutopilotType() == MAV_AUTOPILOT_ARDUPILOTMEGA) {
+            param = QVariant(QChar((unsigned char)paramValue.param_float));
+        }
+        else {
+            param = QVariant(QChar((unsigned char)paramValue.param_uint8));
+        }
+        parameters.value(compId)->insert(paramName, param);
+        // Emit change
+        emit parameterChanged(uasId, compId, paramName, param);
+        emit parameterChanged(uasId, compId, rawValue.param_count, rawValue.param_index, paramName, param);
+        //qDebug() << "RECEIVED PARAM:" << param;
+    }
+        break;
+    case MAV_PARAM_TYPE_INT8:
+    {
+        if (getAutopilotType() == MAV_AUTOPILOT_ARDUPILOTMEGA) {
+            param = QVariant(QChar((char)paramValue.param_float));
+        }
+        else  {
+            param = QVariant(QChar((char)paramValue.param_int8));
+        }
+        parameters.value(compId)->insert(paramName, param);
+        // Emit change
+        emit parameterChanged(uasId, compId, paramName, param);
+        emit parameterChanged(uasId, compId, rawValue.param_count, rawValue.param_index, paramName, param);
+        //qDebug() << "RECEIVED PARAM:" << param;
+    }
+        break;
+    case MAV_PARAM_TYPE_INT16:
+    {
+        if (getAutopilotType() == MAV_AUTOPILOT_ARDUPILOTMEGA) {
+            param = QVariant((short)paramValue.param_float);
+        }
+        else {
+            param = QVariant(paramValue.param_int16);
+        }
+        parameters.value(compId)->insert(paramName, param);
+        // Emit change
+        emit parameterChanged(uasId, compId, paramName, param);
+        emit parameterChanged(uasId, compId, rawValue.param_count, rawValue.param_index, paramName, param);
+        //qDebug() << "RECEIVED PARAM:" << param;
+    }
+        break;
+    case MAV_PARAM_TYPE_UINT32:
+    {
+        if (getAutopilotType() == MAV_AUTOPILOT_ARDUPILOTMEGA) {
+            param = QVariant((unsigned int)paramValue.param_float);
+        }
+        else {
+            param = QVariant(paramValue.param_uint32);
+        }
+        parameters.value(compId)->insert(paramName, param);
+        // Emit change
+        emit parameterChanged(uasId, compId, paramName, param);
+        emit parameterChanged(uasId, compId, rawValue.param_count, rawValue.param_index, paramName, param);
+    }
+        break;
+    case MAV_PARAM_TYPE_INT32:
+    {
+        if (getAutopilotType() == MAV_AUTOPILOT_ARDUPILOTMEGA) {
+            param = QVariant((int)paramValue.param_float);
+        }
+        else {
+            param = QVariant(paramValue.param_int32);
+        }
+        parameters.value(compId)->insert(paramName, param);
+        // Emit change
+        emit parameterChanged(uasId, compId, paramName, param);
+        emit parameterChanged(uasId, compId, rawValue.param_count, rawValue.param_index, paramName, param);
+//                qDebug() << "RECEIVED PARAM:" << param;
+    }
+        break;
+    default:
+        qCritical() << "INVALID DATA TYPE USED AS PARAMETER VALUE: " << rawValue.param_type;
     } //switch (value.param_type)
 
-
-    // We did not return a critical error, now insert parameter into registry
-    if (parameters.value(compId)->contains(paramName)) {
-        parameters.value(compId)->remove(paramName);
-    }
-    // add new values
-    parameters.value(compId)->insert(paramName, param);
-    // Emit change
-    emit parameterChanged(uasId, compId, paramName, param);
-    emit parameterChanged(uasId, compId, rawValue.param_count, rawValue.param_index, paramName, param);
 }
 
 /**
diff --git a/src/ui/px4_configuration/QGCPX4AirframeConfig.cc b/src/ui/px4_configuration/QGCPX4AirframeConfig.cc
index f77111754d23e725bd59b0c4e0e31067d53eeb12..949073732864d8399336edcd87d0ca75c891ce60 100644
--- a/src/ui/px4_configuration/QGCPX4AirframeConfig.cc
+++ b/src/ui/px4_configuration/QGCPX4AirframeConfig.cc
@@ -99,6 +99,7 @@ QGCPX4AirframeConfig::QGCPX4AirframeConfig(QWidget *parent) :
 
     ui->hComboBox->addItem(tr("3DR Iris"), 10016);
     ui->hComboBox->addItem(tr("TBS Discovery"), 10015);
+    ui->hComboBox->addItem(tr("SteadiDrone QU4D"), 10017);
 
     connect(ui->hPushButton, SIGNAL(clicked()), this, SLOT(hSelected()));
     connect(ui->hComboBox, SIGNAL(activated(int)), this, SLOT(hSelected(int)));
diff --git a/src/ui/uas/UASView.cc b/src/ui/uas/UASView.cc
index 61843f6092ed791adcb733bfd6367b856e834f3c..7affc73f143e323898f85deb6bb3c990b2d65758 100644
--- a/src/ui/uas/UASView.cc
+++ b/src/ui/uas/UASView.cc
@@ -634,16 +634,26 @@ void UASView::refresh()
         // Thrust
         m_ui->thrustBar->setValue(thrust * 100);
 
+        // Time Elapsed
+        //QDateTime time = MG::TIME::msecToQDateTime(uas->getUptime());
+
+       quint64 filterTime = uas->getUptime() / 1000;
+       int hours = static_cast<int>(filterTime / 3600);
+       int min = static_cast<int>((filterTime - 3600 * hours) / 60);
+       int sec = static_cast<int>(filterTime - 60 * min - 3600 * hours);
+       QString timeText;
+       timeText = timeText.sprintf("%02d:%02d:%02d", hours, min, sec);
+       m_ui->timeElapsedLabel->setText(timeText);
+
         if(this->timeRemaining > 1 && this->timeRemaining < QGC::MAX_FLIGHT_TIME)
         {
             // Filter output to get a higher stability
             filterTime = static_cast<int>(this->timeRemaining);
-            filterTime = 0.8 * filterTime + 0.2 * static_cast<int>(this->timeRemaining);
-            int sec = static_cast<int>(filterTime - static_cast<int>(filterTime / 60.0f) * 60);
-            int min = static_cast<int>(filterTime / 60);
-            int hours = static_cast<int>(filterTime - min * 60 - sec);
+            // filterTime = 0.8 * filterTime + 0.2 * static_cast<int>(this->timeRemaining);
+            hours = static_cast<int>(filterTime / 3600);
+            min = static_cast<int>((filterTime - 3600 * hours) / 60);
+            sec = static_cast<int>(filterTime - 60 * min - 3600 * hours);
 
-            QString timeText;
             timeText = timeText.sprintf("%02d:%02d:%02d", hours, min, sec);
             m_ui->timeRemainingLabel->setText(timeText);
         }
@@ -652,16 +662,7 @@ void UASView::refresh()
             m_ui->timeRemainingLabel->setText(tr("Calc.."));
         }
 
-        // Time Elapsed
-        //QDateTime time = MG::TIME::msecToQDateTime(uas->getUptime());
 
-        quint64 filterTime = uas->getUptime() / 1000;
-        int sec = static_cast<int>(filterTime - static_cast<int>(filterTime / 60) * 60);
-        int min = static_cast<int>(filterTime / 60);
-        int hours = static_cast<int>(filterTime - min * 60 - sec);
-        QString timeText;
-        timeText = timeText.sprintf("%02d:%02d:%02d", hours, min, sec);
-        m_ui->timeElapsedLabel->setText(timeText);
     }
     generalUpdateCount++;