diff --git a/libs/mavlink/include/mavlink/v1.0 b/libs/mavlink/include/mavlink/v1.0
index c0a0dff2b36a97614208559a23a9804ab9f2e636..c96b64adc3ff126559366c445633f88252d53b2d 160000
--- a/libs/mavlink/include/mavlink/v1.0
+++ b/libs/mavlink/include/mavlink/v1.0
@@ -1 +1 @@
-Subproject commit c0a0dff2b36a97614208559a23a9804ab9f2e636
+Subproject commit c96b64adc3ff126559366c445633f88252d53b2d
diff --git a/src/uas/UAS.cc b/src/uas/UAS.cc
index 2362cd069201413881739b9e40ad936fcda4af7a..c3e7e0c83b9592b2b62357ccc5f46f057a37ccad 100644
--- a/src/uas/UAS.cc
+++ b/src/uas/UAS.cc
@@ -3468,9 +3468,9 @@ void UAS::stopLowBattAlarm()
     }
 }
 
-void UAS::sendMapRCToParam(QString param_id, float scale, float current_value, quint8 param_rc_channel_index)
+void UAS::sendMapRCToParam(QString param_id, float scale, float value0, quint8 param_rc_channel_index, float valueMin, float valueMax)
 {
-    qDebug() << "sendMapRCToParam" << param_id << "scale" << scale << "curval" << current_value << "param rc chan index" << param_rc_channel_index;
+    qDebug() << "sendMapRCToParam" << param_id << "scale" << scale << "value0" << value0 << "param rc chan index" << param_rc_channel_index;
     mavlink_message_t message;
 
     mavlink_msg_param_map_rc_pack(mavlink->getSystemId(),
@@ -3481,11 +3481,14 @@ void UAS::sendMapRCToParam(QString param_id, float scale, float current_value, q
                                   param_id.toStdString().c_str(),
                                   -1,
                                   param_rc_channel_index,
-                                  current_value,
-                                  scale);
+                                  value0,
+                                  scale,
+                                  valueMin,
+                                  valueMax);
     sendMessage(message);
     qDebug() << "Mavlink message sent";
 }
+
 void UAS::unsetRCToParameterMap()
 {
     qDebug() << "unsetRCToParameterMap";
@@ -3500,8 +3503,9 @@ void UAS::unsetRCToParameterMap()
                                       -2,
                                       i,
                                       0.0f,
+                                      0.0f,
+                                      0.0f,
                                       0.0f);
         sendMessage(message);
     }
 }
-
diff --git a/src/uas/UAS.h b/src/uas/UAS.h
index f838b02b36dab981e04fa3932c23771fd8406099..9762ce9856a6d9071313bf2ede87ec4906e6c7cb 100644
--- a/src/uas/UAS.h
+++ b/src/uas/UAS.h
@@ -885,7 +885,7 @@ public slots:
     void triggerAction(int action);
 
     /** @brief Send command to map a RC channel to a parameter */
-    void sendMapRCToParam(QString param_id, float scale, float current_value, quint8 param_rc_channel_index);
+    void sendMapRCToParam(QString param_id, float scale, float value0, quint8 param_rc_channel_index, float valueMin, float valueMax);
 
     /** @brief Send command to disable all bindings/maps between RC and parameters */
     void unsetRCToParameterMap();
diff --git a/src/uas/UASInterface.h b/src/uas/UASInterface.h
index 41ca137f2d8e0e88bda3e95f12c9a6d28fc99fee..9aeca95253e818b42940f6a997ec8d12bdcbda92 100644
--- a/src/uas/UASInterface.h
+++ b/src/uas/UASInterface.h
@@ -392,7 +392,7 @@ public slots:
                             float flow_comp_m_y, quint8 quality, float ground_distance) = 0;
 
     /** @brief Send command to map a RC channel to a parameter */
-    virtual void sendMapRCToParam(QString param_id, float scale, float current_value, quint8 param_rc_channel_index) = 0;
+    virtual void sendMapRCToParam(QString param_id, float scale, float value0, quint8 param_rc_channel_index, float valueMin, float valueMax) = 0;
 
     /** @brief Send command to disable all bindings/maps between RC and parameters */
     virtual void unsetRCToParameterMap() = 0;
diff --git a/src/ui/QGCMapRCToParamDialog.cpp b/src/ui/QGCMapRCToParamDialog.cpp
index 1e71b2e30e1ca5974982409d3d996e6cc887efe5..79bb9d1c3fe4e7f77551e52b8801bbb055e9be6e 100644
--- a/src/ui/QGCMapRCToParamDialog.cpp
+++ b/src/ui/QGCMapRCToParamDialog.cpp
@@ -67,7 +67,9 @@ void QGCMapRCToParamDialog::accept() {
     emit mapRCToParamDialogResult(param_id,
             (float)ui->scaleDoubleSpinBox->value(),
             (float)ui->value0DoubleSpinBox->value(),
-            (quint8)ui->rcParamChannelComboBox->currentIndex());
+            (quint8)ui->rcParamChannelComboBox->currentIndex(),
+            (float)ui->minValueDoubleSpinBox->value(),
+            (float)ui->maxValueDoubleSpinBox->value());
 
     QDialog::accept();
 }
diff --git a/src/ui/QGCMapRCToParamDialog.h b/src/ui/QGCMapRCToParamDialog.h
index 2155013cc0258bb819f99a54036d3b42e617fa90..82f0d90307e43aa44fce0ec635c55ebd6527d302 100644
--- a/src/ui/QGCMapRCToParamDialog.h
+++ b/src/ui/QGCMapRCToParamDialog.h
@@ -76,8 +76,8 @@ public:
     ~QGCMapRCToParamDialog();
 
 signals:
-    void mapRCToParamDialogResult(QString param_id, float scale, float current_value,
-            quint8 param_rc_channel_index);
+    void mapRCToParamDialogResult(QString param_id, float scale, float value0,
+            quint8 param_rc_channel_index, float valueMin, float valueMax);
     void refreshParam();
 
 public slots:
diff --git a/src/ui/QGCMapRCToParamDialog.ui b/src/ui/QGCMapRCToParamDialog.ui
index b7fc43a6f48bbdead4dab702dbdf4b1cee660640..8fde55314b79ea2913881056387b92e4fb62783d 100644
--- a/src/ui/QGCMapRCToParamDialog.ui
+++ b/src/ui/QGCMapRCToParamDialog.ui
@@ -7,7 +7,7 @@
     <x>0</x>
     <y>0</y>
     <width>400</width>
-    <height>300</height>
+    <height>315</height>
    </rect>
   </property>
   <property name="windowTitle">
@@ -17,7 +17,7 @@
    <property name="geometry">
     <rect>
      <x>30</x>
-     <y>240</y>
+     <y>280</y>
      <width>341</width>
      <height>32</height>
     </rect>
@@ -35,13 +35,59 @@
      <x>9</x>
      <y>9</y>
      <width>381</width>
-     <height>231</height>
+     <height>271</height>
     </rect>
    </property>
    <layout class="QFormLayout" name="formLayout">
     <property name="fieldGrowthPolicy">
      <enum>QFormLayout::AllNonFixedFieldsGrow</enum>
     </property>
+    <item row="0" column="0">
+     <widget class="QLabel" name="label1">
+      <property name="text">
+       <string>Bind</string>
+      </property>
+     </widget>
+    </item>
+    <item row="1" column="0">
+     <widget class="QLabel" name="rcParamChannelInfoLabel">
+      <property name="text">
+       <string>RC-Parameter Channel (Knob No.)</string>
+      </property>
+     </widget>
+    </item>
+    <item row="1" column="1">
+     <widget class="QComboBox" name="rcParamChannelComboBox">
+      <property name="editable">
+       <bool>false</bool>
+      </property>
+      <property name="currentText">
+       <string>1</string>
+      </property>
+      <item>
+       <property name="text">
+        <string>1</string>
+       </property>
+      </item>
+      <item>
+       <property name="text">
+        <string>2</string>
+       </property>
+      </item>
+      <item>
+       <property name="text">
+        <string>3</string>
+       </property>
+      </item>
+     </widget>
+    </item>
+    <item row="2" column="0">
+     <widget class="QLabel" name="label2">
+      <property name="text">
+       <string>to</string>
+      </property>
+     </widget>
+    </item>
     <item row="3" column="0">
      <widget class="QLabel" name="paramIdInfoLabel">
       <property name="text">
@@ -56,6 +102,13 @@
       </property>
      </widget>
     </item>
+    <item row="4" column="0">
+     <widget class="QLabel" name="label3">
+      <property name="text">
+       <string>with</string>
+      </property>
+     </widget>
+    </item>
     <item row="5" column="0">
      <widget class="QLabel" name="scaleInfoLabel">
       <property name="text">
@@ -85,69 +138,68 @@
       <property name="decimals">
        <number>8</number>
       </property>
+      <property name="minimum">
+       <double>-100000.000000000000000</double>
+      </property>
+      <property name="maximum">
+       <double>100000.000000000000000</double>
+      </property>
      </widget>
     </item>
-    <item row="1" column="0">
-     <widget class="QLabel" name="rcParamChannelInfoLabel">
+    <item row="7" column="0">
+     <widget class="QLabel" name="minInfoLabel">
       <property name="text">
-       <string>RC-Parameter Channel (Knob No.)</string>
+       <string>Minimum Value</string>
       </property>
      </widget>
     </item>
-    <item row="1" column="1">
-     <widget class="QComboBox" name="rcParamChannelComboBox">
-      <property name="editable">
-       <bool>false</bool>
+    <item row="7" column="1">
+     <widget class="QDoubleSpinBox" name="minValueDoubleSpinBox">
+      <property name="decimals">
+       <number>8</number>
       </property>
-      <property name="currentText">
-       <string>1</string>
+      <property name="minimum">
+       <double>-100000.000000000000000</double>
       </property>
-      <item>
-       <property name="text">
-        <string>1</string>
-       </property>
-      </item>
-      <item>
-       <property name="text">
-        <string>2</string>
-       </property>
-      </item>
-      <item>
-       <property name="text">
-        <string>3</string>
-       </property>
-      </item>
-     </widget>
-    </item>
-    <item row="0" column="0">
-     <widget class="QLabel" name="label1">
-      <property name="text">
-       <string>Bind</string>
+      <property name="maximum">
+       <double>100000.000000000000000</double>
       </property>
      </widget>
     </item>
-    <item row="2" column="0">
-     <widget class="QLabel" name="label2">
+    <item row="8" column="0">
+     <widget class="QLabel" name="maxInfoLabel">
       <property name="text">
-       <string>to</string>
+       <string>Maximum Value</string>
       </property>
      </widget>
     </item>
-    <item row="4" column="0">
-     <widget class="QLabel" name="label3">
-      <property name="text">
-       <string>with</string>
+    <item row="8" column="1">
+     <widget class="QDoubleSpinBox" name="maxValueDoubleSpinBox">
+      <property name="decimals">
+       <number>8</number>
+      </property>
+      <property name="minimum">
+       <double>-10000.000000000000000</double>
+      </property>
+      <property name="maximum">
+       <double>100000.000000000000000</double>
+      </property>
+      <property name="singleStep">
+       <double>1.000000000000000</double>
+      </property>
+      <property name="value">
+       <double>10.000000000000000</double>
       </property>
      </widget>
     </item>
-    <item row="8" column="0">
+    <item row="10" column="0">
      <widget class="QLabel" name="infoLabel">
       <property name="text">
        <string>Waiting for parameter refresh,,,</string>
       </property>
      </widget>
     </item>
-    <item row="7" column="0">
+    <item row="9" column="0">
      <spacer name="verticalSpacer">
       <property name="orientation">
        <enum>Qt::Vertical</enum>