diff --git a/qgroundcontrol.pro b/qgroundcontrol.pro
index 6f0f51ca488c79ca9411c2dff946f03d7d5ae09c..cf714d579cebe5cdffb54d27365344a2b40e85c9 100644
--- a/qgroundcontrol.pro
+++ b/qgroundcontrol.pro
@@ -470,7 +470,8 @@ HEADERS += src/MG.h \
     src/ui/configuration/ApmHighlighter.h \
     src/ui/configuration/ApmFirmwareConfig.h \
     src/uas/UASParameterDataModel.h \
-    src/uas/UASParameterCommsMgr.h
+    src/uas/UASParameterCommsMgr.h \
+    src/ui/QGCPendingParamWidget.h
 
 # Google Earth is only supported on Mac OS and Windows with Visual Studio Compiler
 macx|macx-g++|macx-g++42|win32-msvc2008|win32-msvc2010|win32-msvc2012::HEADERS += src/ui/map3D/QGCGoogleEarthView.h
@@ -687,7 +688,8 @@ SOURCES += src/main.cc \
     src/ui/configuration/ApmHighlighter.cc \
     src/ui/configuration/ApmFirmwareConfig.cc \
     src/uas/UASParameterDataModel.cc \
-    src/uas/UASParameterCommsMgr.cc
+    src/uas/UASParameterCommsMgr.cc \
+    src/ui/QGCPendingParamWidget.cc
 
 # Enable Google Earth only on Mac OS and Windows with Visual Studio compiler
 macx|macx-g++|macx-g++42|win32-msvc2008|win32-msvc2010|win32-msvc2012::SOURCES += src/ui/map3D/QGCGoogleEarthView.cc
diff --git a/src/uas/QGCUASParamManager.cc b/src/uas/QGCUASParamManager.cc
index fcc78a6cb669391de11a8245515ac321b4a6f16c..f1fd085bff87d2552484aba7042afb60e152eb25 100644
--- a/src/uas/QGCUASParamManager.cc
+++ b/src/uas/QGCUASParamManager.cc
@@ -18,9 +18,6 @@ QGCUASParamManager::QGCUASParamManager(UASInterface* uas, QWidget *parent) :
 
     // Load default values and tooltips
     loadParamMetaInfoCSV();
-
-
-
 }
 
 
@@ -75,6 +72,11 @@ void QGCUASParamManager::sendPendingParameters()
     paramCommsMgr->sendPendingParameters();
 }
 
+void QGCUASParamManager::setPendingParam(int compId,  QString& paramName,  const QVariant& value)
+{
+    paramDataModel->setPendingParam(compId,paramName,value);
+}
+
 
 
 void QGCUASParamManager::loadParamMetaInfoCSV()
diff --git a/src/uas/QGCUASParamManager.h b/src/uas/QGCUASParamManager.h
index 5612334e6e987690f58e57653b2a6ed3789bb6ee..6c910509cd7f74375ae335731d4894d02ff9a58c 100644
--- a/src/uas/QGCUASParamManager.h
+++ b/src/uas/QGCUASParamManager.h
@@ -49,6 +49,8 @@ public slots:
     /** @brief Request list of parameters from MAV */
     virtual void requestParameterList();
 
+    virtual void setPendingParam(int componentId,  QString& key,  const QVariant& value);
+
     /** @brief Request a single parameter by name from the MAV */
     virtual void requestParameterUpdate(int component, const QString& parameter);
 
diff --git a/src/ui/ParameterInterface.cc b/src/ui/ParameterInterface.cc
index c7d5f811b3ab8b23c29d623bb49b3a77d6425b09..93624d50ea6b871f87277d651bc76816092b2683 100644
--- a/src/ui/ParameterInterface.cc
+++ b/src/ui/ParameterInterface.cc
@@ -98,6 +98,7 @@ void ParameterInterface::addUAS(UASInterface* uas)
     }
 
     QGCParamWidget* param = new QGCParamWidget(uas, this);
+    param->init();
     QString ptrStr;
     ptrStr.sprintf("QGCParamWidget %8p (parent %8p)", param,this);
     qDebug() << "Created " << ptrStr << " for UAS id: " << uasId << " count: " << paramWidgets->count();
diff --git a/src/ui/QGCPX4VehicleConfig.cc b/src/ui/QGCPX4VehicleConfig.cc
index 177a5e0660ea149044c107782fd8d2edd3b49e9e..e28569335bbe26f23be31d767acb388a65235954 100644
--- a/src/ui/QGCPX4VehicleConfig.cc
+++ b/src/ui/QGCPX4VehicleConfig.cc
@@ -15,6 +15,7 @@
 #include "QGCPX4VehicleConfig.h"
 
 #include "QGC.h"
+#include "QGCPendingParamWidget.h"
 #include "QGCToolWidget.h"
 #include "UASManager.h"
 #include "UASParameterCommsMgr.h"
@@ -82,7 +83,9 @@ QGCPX4VehicleConfig::QGCPX4VehicleConfig(QWidget *parent) :
     connect(ui->rcModeComboBox, SIGNAL(currentIndexChanged(int)), this, SLOT(setRCModeIndex(int)));
     //connect(ui->setTrimButton, SIGNAL(clicked()), this, SLOT(setTrimPositions()));
 
-
+    //TODO connect buttons here to save/clear actions?
+    ui->pendingCommitsWidget->init();
+    ui->pendingCommitsWidget->update();
 
     //TODO the following methods are not yet implemented
 
@@ -301,7 +304,6 @@ void QGCPX4VehicleConfig::loadQgcConfig(bool primary)
     }
 
     // Generate widgets for the Advanced tab.
-    left = true;
     foreach (QString file,vehicledir.entryList(QDir::Files | QDir::NoDotAndDotDot))
     {
         if (file.toLower().endsWith(".qgw")) {
@@ -1232,8 +1234,6 @@ void QGCPX4VehicleConfig::handleRcParameterChange(QString parameterName, QVarian
 
 void QGCPX4VehicleConfig::parameterChanged(int uas, int component, QString parameterName, QVariant value)
 {
-    Q_UNUSED(uas);
-    Q_UNUSED(component);
     if (!doneLoadingConfig) {
         //We do not want to attempt to generate any UI elements until loading of the config file is complete.
         //We should re-request params later if needed, that is not implemented yet.
diff --git a/src/ui/QGCPX4VehicleConfig.h b/src/ui/QGCPX4VehicleConfig.h
index 93761d52f2aeb43a3fbe1571a868dc981e906582..a242fcf9d3d4b9c210b9dcb83edef26a7225f717 100644
--- a/src/ui/QGCPX4VehicleConfig.h
+++ b/src/ui/QGCPX4VehicleConfig.h
@@ -187,6 +187,7 @@ protected:
     QTimer updateTimer;                 ///< Controls update intervals
     enum RC_MODE rc_mode;               ///< Mode of the remote control, according to usual convention
     QList<QGCToolWidget*> toolWidgets;  ///< Configurable widgets
+    QMap<QString,QGCToolWidget*> toolWidgetsByName; ///<
     bool calibrationEnabled;            ///< calibration mode on / off
 
     QMap<QString,QGCToolWidget*> paramToWidgetMap;                     ///< Holds the current active MAV's parameter widgets.
diff --git a/src/ui/QGCPX4VehicleConfig.ui b/src/ui/QGCPX4VehicleConfig.ui
index 8607a55643c540d831a7b0290ace9a4f673e7e58..da0ddfd9b14f9b30ad3c3eb374727e2d1a4551db 100644
--- a/src/ui/QGCPX4VehicleConfig.ui
+++ b/src/ui/QGCPX4VehicleConfig.ui
@@ -138,7 +138,7 @@ Config</string>
      <item>
       <widget class="QStackedWidget" name="stackedWidget">
        <property name="currentIndex">
-        <number>0</number>
+        <number>3</number>
        </property>
        <widget class="QWidget" name="rcTab">
         <layout class="QVBoxLayout" name="verticalLayout_17">
@@ -1035,8 +1035,8 @@ p, li { white-space: pre-wrap; }
                   <rect>
                    <x>0</x>
                    <y>0</y>
-                   <width>16</width>
-                   <height>16</height>
+                   <width>597</width>
+                   <height>569</height>
                   </rect>
                  </property>
                  <layout class="QVBoxLayout" name="verticalLayout_7">
@@ -1168,7 +1168,17 @@ p, li { white-space: pre-wrap; }
                 <number>0</number>
                </property>
                <item>
-                <widget class="QTreeView" name="pendingCommitsTreeView"/>
+                <widget class="QGCPendingParamWidget" name="pendingCommitsWidget" native="true">
+                 <property name="minimumSize">
+                  <size>
+                   <width>0</width>
+                   <height>30</height>
+                  </size>
+                 </property>
+                 <property name="autoFillBackground">
+                  <bool>true</bool>
+                 </property>
+                </widget>
                </item>
                <item>
                 <widget class="QPushButton" name="setButton">
@@ -1259,6 +1269,12 @@ p, li { white-space: pre-wrap; }
    <header>ui/designer/QGCRadioChannelDisplay.h</header>
    <container>1</container>
   </customwidget>
+  <customwidget>
+   <class>QGCPendingParamWidget</class>
+   <extends>QWidget</extends>
+   <header>/ui/QGCPendingParamWidget.h</header>
+   <container>1</container>
+  </customwidget>
  </customwidgets>
  <resources/>
  <connections/>
diff --git a/src/ui/QGCParamWidget.cc b/src/ui/QGCParamWidget.cc
index ab8624c64f7d2a3c26dae6af774a7ecdcb765914..1f4889603d14fc343ad8f6bd5dc4bd3605f209ad 100644
--- a/src/ui/QGCParamWidget.cc
+++ b/src/ui/QGCParamWidget.cc
@@ -55,9 +55,19 @@ QGCParamWidget::QGCParamWidget(UASInterface* uas, QWidget *parent) :
     updatingParamNameLock("")
 {
 
+}
+
+void QGCParamWidget::init()
+{
     layoutWidget();
+    connectSignalsAndSlots();
+
+    // Ensure we're receiving the list of params
+    requestAllParamsUpdate();
+}
 
-    // Connect signals/slots
+void QGCParamWidget::connectSignalsAndSlots()
+{
 
     // Listen for edits to the tree UI
     connect(tree, SIGNAL(itemChanged(QTreeWidgetItem*,int)),
@@ -77,15 +87,8 @@ QGCParamWidget::QGCParamWidget(UASInterface* uas, QWidget *parent) :
     // Listen to communications status messages so we can display them
     connect(paramCommsMgr, SIGNAL(parameterStatusMsgUpdated(QString,int)),
             this, SLOT(handleParamStatusMsgUpdate(QString , int )));
-
-    // Ensure we're receiving the list of params
-    requestAllParamsUpdate();
-
 }
 
-
-
-
 void QGCParamWidget::layoutWidget()
 {
     // Create tree widget
diff --git a/src/ui/QGCParamWidget.h b/src/ui/QGCParamWidget.h
index 3578ed04ba5fe36dcd6b9ce1c3d1a1c738d6be70..f23a627d339ac20cd5dc1d4310f736365e4ce2b3 100644
--- a/src/ui/QGCParamWidget.h
+++ b/src/ui/QGCParamWidget.h
@@ -48,10 +48,12 @@ class QGCParamWidget : public QGCUASParamManager
     Q_OBJECT
 public:
     QGCParamWidget(UASInterface* uas, QWidget *parent = 0);
+    virtual void init(); ///< Two-stage construction: initialize the object
 
 protected:
     virtual void setParameterStatusMsg(const QString& msg);
-    virtual void layoutWidget();
+    virtual void layoutWidget();///< Layout the appearance of this widget
+    virtual void connectSignalsAndSlots();///< Connect signals/slots as needed
     virtual QTreeWidgetItem* getParentWidgetItemForParam(int compId, const QString& paramName);
     virtual QTreeWidgetItem* findChildWidgetItemForParam(QTreeWidgetItem* parentItem, const QString& paramName);
 
diff --git a/src/ui/QGCPendingParamWidget.cc b/src/ui/QGCPendingParamWidget.cc
new file mode 100644
index 0000000000000000000000000000000000000000..800ca354e0cca9744f12a91e43b8e550ad9318fd
--- /dev/null
+++ b/src/ui/QGCPendingParamWidget.cc
@@ -0,0 +1,33 @@
+#include "QGCPendingParamWidget.h"
+
+#include "UASManager.h"
+#include "UASParameterCommsMgr.h"
+
+
+QGCPendingParamWidget::QGCPendingParamWidget(QObject *parent) :
+    QGCParamWidget(UASManager::instance()->getActiveUAS(),(QWidget*)parent)
+{
+}
+
+
+void QGCPendingParamWidget::init()
+{
+    //we override a lot of the super's init methods
+    layoutWidget();
+    connectSignalsAndSlots();
+
+    //don't request update params here...assume that everything we need is in the data model
+}
+
+void QGCPendingParamWidget::connectSignalsAndSlots()
+{
+    // Listing for pending list update
+    connect(paramDataModel, SIGNAL(pendingParamUpdate(int , const QString&, QVariant , bool )),
+            this, SLOT(handlePendingParamUpdate(int , const QString& ,  QVariant, bool )));
+
+    // Listen to communications status messages so we can display them
+    connect(paramCommsMgr, SIGNAL(parameterStatusMsgUpdated(QString,int)),
+            this, SLOT(handleParamStatusMsgUpdate(QString , int )));
+}
+
+
diff --git a/src/ui/QGCPendingParamWidget.h b/src/ui/QGCPendingParamWidget.h
new file mode 100644
index 0000000000000000000000000000000000000000..91f08a522fd982ef675c77c784e5063349cbf6e2
--- /dev/null
+++ b/src/ui/QGCPendingParamWidget.h
@@ -0,0 +1,26 @@
+#ifndef QGCPENDINGPARAMWIDGET_H
+#define QGCPENDINGPARAMWIDGET_H
+
+
+#include "QGCParamWidget.h"
+
+class QGCPendingParamWidget : public QGCParamWidget
+{
+    Q_OBJECT
+
+public:
+    explicit QGCPendingParamWidget(QObject* parent);
+    virtual void init(); ///< Two-stage construction: initialize the object
+
+protected:
+    virtual void connectSignalsAndSlots();
+
+
+
+signals:
+    
+public slots:
+    
+};
+
+#endif // QGCPENDINGPARAMWIDGET_H
diff --git a/src/ui/designer/QGCComboBox.cc b/src/ui/designer/QGCComboBox.cc
index 91f9dfc21bd0c68a63ca1c6120f108516f079d95..01ca3881b888730de03ab424bcfd9dce6f3a8269 100644
--- a/src/ui/designer/QGCComboBox.cc
+++ b/src/ui/designer/QGCComboBox.cc
@@ -48,7 +48,7 @@ QGCComboBox::QGCComboBox(QWidget *parent) :
     connect(ui->editRemoveItemButton,SIGNAL(clicked()),this,SLOT(delButtonClicked()));
 
     // Sending actions
-    connect(ui->writeButton, SIGNAL(clicked()), this, SLOT(sendParameter()));
+    connect(ui->writeButton, SIGNAL(clicked()), this, SLOT(setParamPending()));
     connect(ui->editSelectComponentComboBox, SIGNAL(currentIndexChanged(int)), this, SLOT(selectComponent(int)));
     connect(ui->editSelectParamComboBox, SIGNAL(currentIndexChanged(int)), this, SLOT(selectParameter(int)));
     //connect(ui->valueSlider, SIGNAL(valueChanged(int)), this, SLOT(setSliderValue(int)));
@@ -233,24 +233,13 @@ void QGCComboBox::endEditMode()
     emit editingFinished();
 }
 
-void QGCComboBox::sendParameter()
+void QGCComboBox::setParamPending()
 {
-    if (uas)
-    {
-        // Set value, param manager handles retransmission
-        if (uas->getParamManager())
-        {
-            qDebug() << "Sending param:" << parameterName << "to component" << component << "with a value of" << parameterValue;
-            uas->getParamManager()->setParameter(component, parameterName, parameterValue);
-        }
-        else
-        {
-            qDebug() << "UAS HAS NO PARAM MANAGER, DOING NOTHING";
-        }
+    if (uas)  {
+        uas->getParamManager()->setPendingParam(component, parameterName, parameterValue);
     }
-    else
-    {
-        qDebug() << __FILE__ << __LINE__ << "NO UAS SET, DOING NOTHING";
+    else  {
+        qWarning() << __FILE__ << __LINE__ << "NO UAS SET, DOING NOTHING";
     }
 }
 
diff --git a/src/ui/designer/QGCComboBox.h b/src/ui/designer/QGCComboBox.h
index 4c5491580e5c7da5af777354a7a4e03bb675bdb8..ecc71126b5b3bdc976e22abe40979582da5546a7 100644
--- a/src/ui/designer/QGCComboBox.h
+++ b/src/ui/designer/QGCComboBox.h
@@ -23,8 +23,8 @@ public:
 public slots:
     void startEditMode();
     void endEditMode();
-    /** @brief Send the parameter to the MAV */
-    void sendParameter();
+    /** @brief Queue parameter for sending to the MAV (add to pending list)*/
+    void setParamPending();
     /** @brief Update the UI with the new parameter value */
     void setParameterValue(int uas, int component, int paramCount, int paramIndex, QString parameterName, const QVariant value);
     void writeSettings(QSettings& settings);
diff --git a/src/ui/designer/QGCParamSlider.cc b/src/ui/designer/QGCParamSlider.cc
index 32b236a4b853e3cb6a55f4fb60ad587b1605be1b..54b3bd723ee827c814505ab81ad82a4ae89284f0 100644
--- a/src/ui/designer/QGCParamSlider.cc
+++ b/src/ui/designer/QGCParamSlider.cc
@@ -47,20 +47,31 @@ QGCParamSlider::QGCParamSlider(QWidget *parent) :
     connect(ui->editDoneButton, SIGNAL(clicked()), this, SLOT(endEditMode()));
 
     // Sending actions
-    connect(ui->writeButton, SIGNAL(clicked()), this, SLOT(sendParameter()));
-    connect(ui->editSelectComponentComboBox, SIGNAL(currentIndexChanged(int)), this, SLOT(selectComponent(int)));
-    connect(ui->editSelectParamComboBox, SIGNAL(currentIndexChanged(int)), this, SLOT(selectParameter(int)));
-    connect(ui->valueSlider, SIGNAL(valueChanged(int)), this, SLOT(setSliderValue(int)));
-    connect(ui->doubleValueSpinBox, SIGNAL(valueChanged(double)), this, SLOT(setParamValue(double)));
-    connect(ui->intValueSpinBox, SIGNAL(valueChanged(int)), this, SLOT(setParamValue(int)));
-    connect(ui->editNameLabel, SIGNAL(textChanged(QString)), ui->nameLabel, SLOT(setText(QString)));
+    connect(ui->writeButton, SIGNAL(clicked()),
+            this, SLOT(setParamPending()));
+    connect(ui->editSelectComponentComboBox, SIGNAL(currentIndexChanged(int)),
+            this, SLOT(selectComponent(int)));
+    connect(ui->editSelectParamComboBox, SIGNAL(currentIndexChanged(int)),
+            this, SLOT(selectParameter(int)));
+    connect(ui->valueSlider, SIGNAL(valueChanged(int)),
+            this, SLOT(setSliderValue(int)));
+    connect(ui->doubleValueSpinBox, SIGNAL(valueChanged(double)),
+            this, SLOT(setParamValue(double)));
+    connect(ui->intValueSpinBox, SIGNAL(valueChanged(int)),
+            this, SLOT(setParamValue(int)));
+    connect(ui->editNameLabel, SIGNAL(textChanged(QString)),
+            ui->nameLabel, SLOT(setText(QString)));
     connect(ui->readButton, SIGNAL(clicked()), this, SLOT(requestParameter()));
-    connect(ui->editRefreshParamsButton, SIGNAL(clicked()), this, SLOT(refreshParamList()));
-    connect(ui->editInfoCheckBox, SIGNAL(clicked(bool)), this, SLOT(showInfo(bool)));
+    connect(ui->editRefreshParamsButton, SIGNAL(clicked()),
+            this, SLOT(refreshParamList()));
+    connect(ui->editInfoCheckBox, SIGNAL(clicked(bool)),
+            this, SLOT(showInfo(bool)));
     // connect to self
-    connect(ui->infoLabel, SIGNAL(released()), this, SLOT(showTooltip()));
+    connect(ui->infoLabel, SIGNAL(released()),
+            this, SLOT(showTooltip()));
     // Set the current UAS if present
-    connect(UASManager::instance(), SIGNAL(activeUASSet(UASInterface*)), this, SLOT(setActiveUAS(UASInterface*)));
+    connect(UASManager::instance(), SIGNAL(activeUASSet(UASInterface*)),
+            this, SLOT(setActiveUAS(UASInterface*)));
 }
 
 QGCParamSlider::~QGCParamSlider()
@@ -83,8 +94,7 @@ void QGCParamSlider::refreshParamList()
 {
     ui->editSelectParamComboBox->setEnabled(true);
     ui->editSelectComponentComboBox->setEnabled(true);
-    if (uas)
-    {
+    if (uas) {
         uas->getParamManager()->requestParameterList();
         ui->editStatusLabel->setText(tr("Parameter list updating.."));
     }
@@ -122,9 +132,8 @@ void QGCParamSlider::setActiveUAS(UASInterface* activeUas)
 
 void QGCParamSlider::requestParameter()
 {
-    if (!parameterName.isEmpty() && uas)
-    {
-        uas->getParamManager()->requestParameterUpdate(this->component, this->parameterName);
+    if (uas && !parameterName.isEmpty()) {
+        uas->getParamManager()->requestParameterUpdate(component, parameterName);
     }
 }
 
@@ -268,23 +277,13 @@ void QGCParamSlider::endEditMode()
     emit editingFinished();
 }
 
-void QGCParamSlider::sendParameter()
+void QGCParamSlider::setParamPending()
 {
-    if (uas)
-    {
-        // Set value, param manager handles retransmission
-        if (uas->getParamManager())
-        {
-            uas->getParamManager()->setParameter(component, parameterName, parameterValue);
-        }
-        else
-        {
-            qDebug() << "UAS HAS NO PARAM MANAGER, DOING NOTHING";
-        }
+    if (uas)  {
+        uas->getParamManager()->setPendingParam(component, parameterName, parameterValue);
     }
-    else
-    {
-        qDebug() << __FILE__ << __LINE__ << "NO UAS SET, DOING NOTHING";
+    else {
+        qWarning() << __FILE__ << __LINE__ << "NO UAS SET, DOING NOTHING";
     }
 }
 
@@ -329,55 +328,48 @@ void QGCParamSlider::setSliderValue(int sliderValue)
  * @brief parameterName Key/name of the parameter
  * @brief value Value of the parameter
  */
-void QGCParamSlider::setParameterValue(int uas, int component, int paramCount, int paramIndex, QString parameterName, QVariant value)
+void QGCParamSlider::setParameterValue(int uasId, int compId, int paramCount, int paramIndex, QString paramName, QVariant value)
 {
     Q_UNUSED(paramCount);
-    if (ui->nameLabel->text() == "Name")
-    {
-        ui->nameLabel->setText(parameterName);
+    if (uasId != this->uas->getUASID()) {
+        return;
+    }
+
+    if (ui->nameLabel->text() == "Name")  {
+        ui->nameLabel->setText(paramName);
     }
     // Check if this component and parameter are part of the list
     bool found = false;
-    for (int i = 0; i< ui->editSelectComponentComboBox->count(); ++i)
-    {
-        if (component == ui->editSelectComponentComboBox->itemData(i).toInt())
-        {
+    for (int i = 0; i< ui->editSelectComponentComboBox->count(); ++i) {
+        if (compId == ui->editSelectComponentComboBox->itemData(i).toInt()) {
             found = true;
         }
     }
 
-    if (!found)
-    {
-        ui->editSelectComponentComboBox->addItem(tr("Component #%1").arg(component), component);
+    if (!found) {
+        ui->editSelectComponentComboBox->addItem(tr("Component #%1").arg(compId), compId);
     }
 
     // Parameter checking
     found = false;
-    for (int i = 0; i < ui->editSelectParamComboBox->count(); ++i)
-    {
-        if (parameterName == ui->editSelectParamComboBox->itemText(i))
-        {
+    for (int i = 0; i < ui->editSelectParamComboBox->count(); ++i) {
+        if (paramName == ui->editSelectParamComboBox->itemText(i))  {
             found = true;
         }
     }
 
-    if (!found)
-    {
-        ui->editSelectParamComboBox->addItem(parameterName, paramIndex);
+    if (!found) {
+        ui->editSelectParamComboBox->addItem(paramName, paramIndex);
     }
 
-    if (visibleParam != "")
-    {
-        if (parameterName == visibleParam)
-        {
-            if (visibleVal == value.toInt())
-            {
-                this->uas->requestParameter(this->component,this->parameterName);
+    if (visibleParam != "") {
+        if (paramName == visibleParam)  {
+            if (visibleVal == value.toInt())  {
+                uas->getParamManager()->requestParameterUpdate(compId,paramName);
                 visibleEnabled = true;
                 this->show();
             }
-            else
-            {
+            else  {
                 //Disable the component here.
                 ui->valueSlider->setEnabled(false);
                 ui->intValueSpinBox->setEnabled(false);
@@ -388,10 +380,8 @@ void QGCParamSlider::setParameterValue(int uas, int component, int paramCount, i
         }
     }
     Q_UNUSED(uas);
-    if (component == this->component && parameterName == this->parameterName)
-    {
-        if (!visibleEnabled)
-        {
+    if (compId == this->component && paramName == this->parameterName) {
+        if (!visibleEnabled) {
             return;
         }
         parameterValue = value;
@@ -460,8 +450,7 @@ void QGCParamSlider::setParameterValue(int uas, int component, int paramCount, i
         parameterMin = ui->editMinSpinBox->value();
     }
 
-    if (paramIndex == paramCount - 1)
-    {
+    if (paramIndex == paramCount - 1) {
         ui->editStatusLabel->setText(tr("Complete parameter list received."));
     }
 }
diff --git a/src/ui/designer/QGCParamSlider.h b/src/ui/designer/QGCParamSlider.h
index 7160cd937ef5e48f7930ab3cb99e448936d68429..3ef78fdf714d26e50b1f2a6e9cbd683b1c876a0c 100644
--- a/src/ui/designer/QGCParamSlider.h
+++ b/src/ui/designer/QGCParamSlider.h
@@ -23,8 +23,8 @@ public:
 public slots:
     void startEditMode();
     void endEditMode();
-    /** @brief Send the parameter to the MAV */
-    void sendParameter();
+    /** @brief Queue parameter for sending to the MAV (add to pending list)*/
+    void setParamPending();
     /** @brief Set the slider value as parameter value */
     void setSliderValue(int sliderValue);
     /** @brief Update the UI with the new parameter value */