diff --git a/src/uas/QGCUASParamManager.cc b/src/uas/QGCUASParamManager.cc
index 68f1ed0dfc53c91e9b9ef5fc3ed9d38811f1ca39..aa4bd8174b8cdc39ea17186516970bf8fdf64bb0 100644
--- a/src/uas/QGCUASParamManager.cc
+++ b/src/uas/QGCUASParamManager.cc
@@ -40,6 +40,15 @@ void QGCUASParamManager::connectToModelAndComms()
 
     connect(paramCommsMgr, SIGNAL(parameterListUpToDate()),
             this, SIGNAL(parameterListUpToDate()));
+
+    // Pass along data model updates
+    connect(&paramDataModel, SIGNAL(parameterUpdated(int, QString , QVariant )),
+            this, SIGNAL(parameterUpdated(int, QString , QVariant )));
+
+    connect(&paramDataModel, SIGNAL(pendingParamUpdate(int , const QString& , QVariant , bool )),
+            this, SIGNAL(pendingParamUpdate(int , const QString& , QVariant , bool )));
+
+
 }
 
 
diff --git a/src/uas/QGCUASParamManager.h b/src/uas/QGCUASParamManager.h
index 81a12575a506e291ca0768407f326b51013b6a66..c0cf6cd21add82e16d4d2061a0136a6b7466048c 100644
--- a/src/uas/QGCUASParamManager.h
+++ b/src/uas/QGCUASParamManager.h
@@ -72,6 +72,12 @@ signals:
     /** @brief We have received a complete list of all parameters onboard the MAV */
     void parameterListUpToDate();
 
+    /** @brief We've received an update of a parameter's value */
+    void parameterUpdated(int compId, QString paramName, QVariant value);
+
+    /** @brief Notifies listeners that a param was added to or removed from the pending list */
+    void pendingParamUpdate(int compId, const QString& paramName, QVariant value, bool isPending);
+
 
 
 public slots:
diff --git a/src/ui/QGCBaseParamWidget.cc b/src/ui/QGCBaseParamWidget.cc
index d80e53693eadce2dd5469cf82ee854d79db069eb..f1d8d60a73c4c3f868ecb820074165b75a6716b0 100644
--- a/src/ui/QGCBaseParamWidget.cc
+++ b/src/ui/QGCBaseParamWidget.cc
@@ -53,10 +53,10 @@ void QGCBaseParamWidget::connectToParamManager()
     paramMgr = mav->getParamManager();
     //TODO route via paramManager instead?
     // Listen to updated param signals from the data model
-    connect(paramMgr->dataModel(), SIGNAL(parameterUpdated(int, QString , QVariant )),
+    connect(paramMgr, SIGNAL(parameterUpdated(int, QString , QVariant )),
             this, SLOT(handleOnboardParamUpdate(int,QString,QVariant)));
 
-    connect(paramMgr->dataModel(), SIGNAL(pendingParamUpdate(int , const QString&, QVariant , bool )),
+    connect(paramMgr, SIGNAL(pendingParamUpdate(int , const QString&, QVariant , bool )),
             this, SLOT(handlePendingParamUpdate(int , const QString& ,  QVariant, bool )));
 
     // Listen for param list reload finished
@@ -71,10 +71,10 @@ void QGCBaseParamWidget::connectToParamManager()
 
 void QGCBaseParamWidget::disconnectFromParamManager()
 {
-    disconnect(paramMgr->dataModel(), SIGNAL(parameterUpdated(int, QString , QVariant )),
+    disconnect(paramMgr, SIGNAL(parameterUpdated(int, QString , QVariant )),
             this, SLOT(handleOnboardParamUpdate(int,QString,QVariant)));
 
-    disconnect(paramMgr->dataModel(), SIGNAL(pendingParamUpdate(int , const QString&, QVariant , bool )),
+    disconnect(paramMgr, SIGNAL(pendingParamUpdate(int , const QString&, QVariant , bool )),
             this, SLOT(handlePendingParamUpdate(int , const QString& ,  QVariant, bool )));
 
     disconnect(paramMgr, SIGNAL(parameterListUpToDate()),
diff --git a/src/ui/QGCPX4VehicleConfig.cc b/src/ui/QGCPX4VehicleConfig.cc
index dcd406e582212f03dcb7e523dee481005d420dcf..9f6695ec4a78f1e3ae81742f5dba850435ceb077 100644
--- a/src/ui/QGCPX4VehicleConfig.cc
+++ b/src/ui/QGCPX4VehicleConfig.cc
@@ -103,12 +103,18 @@ QGCPX4VehicleConfig::QGCPX4VehicleConfig(QWidget *parent) :
     ui->radio8Widget->setOrientation(Qt::Horizontal);
     ui->radio8Widget->setName("Radio 8");
 
-    connect(ui->rcMenuButton,SIGNAL(clicked()),this,SLOT(rcMenuButtonClicked()));
-    connect(ui->sensorMenuButton,SIGNAL(clicked()),this,SLOT(sensorMenuButtonClicked()));
-    connect(ui->generalMenuButton,SIGNAL(clicked()),this,SLOT(generalMenuButtonClicked()));
-    connect(ui->advancedMenuButton,SIGNAL(clicked()),this,SLOT(advancedMenuButtonClicked()));
-    connect(ui->airframeMenuButton, SIGNAL(clicked()), this, SLOT(airframeMenuButtonClicked()));
-    connect(ui->firmwareMenuButton, SIGNAL(clicked()), this, SLOT(firmwareButtonClicked()));
+    connect(ui->rcMenuButton,SIGNAL(clicked()),
+            this,SLOT(rcMenuButtonClicked()));
+    connect(ui->sensorMenuButton,SIGNAL(clicked()),
+            this,SLOT(sensorMenuButtonClicked()));
+    connect(ui->generalMenuButton,SIGNAL(clicked()),
+            this,SLOT(generalMenuButtonClicked()));
+    connect(ui->advancedMenuButton,SIGNAL(clicked()),
+            this,SLOT(advancedMenuButtonClicked()));
+    connect(ui->airframeMenuButton, SIGNAL(clicked()),
+            this, SLOT(airframeMenuButtonClicked()));
+    connect(ui->firmwareMenuButton, SIGNAL(clicked()),
+            this, SLOT(firmwareMenuButtonClicked()));
 
     ui->rcCalibrationButton->setCheckable(true);
     connect(ui->rcCalibrationButton, SIGNAL(clicked(bool)), this, SLOT(toggleCalibrationRC(bool)));
diff --git a/src/ui/QGCPendingParamWidget.cc b/src/ui/QGCPendingParamWidget.cc
index c5fb5a010f0dd57106413191ec5083697e1c17ef..35402d995e3220617509004ce7f46466bee2866c 100644
--- a/src/ui/QGCPendingParamWidget.cc
+++ b/src/ui/QGCPendingParamWidget.cc
@@ -16,9 +16,9 @@ QGCPendingParamWidget::QGCPendingParamWidget(QObject *parent) :
 void QGCPendingParamWidget::connectToParamManager()
 {
     paramMgr = mav->getParamManager();
-    //TODO route via paramManager instead?
+
     // Listen to updated param signals from the data model
-    connect(paramMgr->dataModel(), SIGNAL(pendingParamUpdate(int , const QString&, QVariant , bool )),
+    connect(paramMgr, 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
@@ -29,9 +29,8 @@ void QGCPendingParamWidget::connectToParamManager()
 
 void QGCPendingParamWidget::disconnectFromParamManager()
 {
-    //TODO route via paramManager instead?
     // Listen to updated param signals from the data model
-    disconnect(paramMgr->dataModel(), SIGNAL(pendingParamUpdate(int , const QString&, QVariant , bool )),
+    disconnect(paramMgr, 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
@@ -76,7 +75,40 @@ void QGCPendingParamWidget::handlePendingParamUpdate(int compId, const QString&
     }
     else {
         //we don't display non-pending items
-        paramItem->parent()->removeChild(paramItem);
+        QTreeWidgetItem* groupItem = paramItem->parent();
+        if (NULL != groupItem) {
+            tree->setUpdatesEnabled(false);
+            QTreeWidgetItem* componentItem = NULL;
+            if (1 == groupItem->childCount()) {
+                componentItem = groupItem->parent();
+            }
+
+            //always remove the actual paramItem from its parent
+            groupItem->removeChild(paramItem);
+
+            //now we may need to remove the groupItem if it has no more children
+            if (NULL != componentItem) {
+                //remove the group from our internal data structures
+                QMap<QString, QTreeWidgetItem*>* compParamGroups = paramGroups.value(compId);
+                QString groupStr = paramName.section("_", 0, 0, QString::SectionSkipEmpty);
+                compParamGroups->remove(groupStr);
+                //remove the group item from componentItems
+                componentItems->value(compId)->removeChild(groupItem);
+                // remove the group item from the tree widget itself
+                componentItem->removeChild(groupItem);
+
+                if (0 == componentItem->childCount()) {
+                    //the component itself no longer has any pending changes: remove it
+                    paramGroups.remove(compId);
+                    componentItems->remove(compId);
+                    QTreeWidgetItem* compTop = tree->takeTopLevelItem(tree->indexOfTopLevelItem(componentItem));
+                    delete compTop; //we own it after take
+                }
+            }
+            tree->setUpdatesEnabled(true);
+            tree->update();
+
+        }
     }
 
     updatingParamNameLock.clear();