diff --git a/mavground.qrc b/mavground.qrc
index 30278ecca8850d994750c2ef83e5ffe8d33a946a..15c9f733eb083417b83e82a9f699cf5f525e06f6 100644
--- a/mavground.qrc
+++ b/mavground.qrc
@@ -1,5 +1,5 @@
 <RCC>
-    <qresource prefix="/" >
+    <qresource prefix="/">
         <file>images/control/launch.svg</file>
         <file>images/status/dialog-error.svg</file>
         <file>images/status/dialog-warning.svg</file>
@@ -78,8 +78,9 @@
         <file>images/style-mission.css</file>
         <file>images/splash.png</file>
         <file>audio/alert.wav</file>
+        <file>demo-log.txt</file>
     </qresource>
-    <qresource prefix="/general" >
-        <file alias="vera.ttf" >images/Vera.ttf</file>
+    <qresource prefix="/general">
+        <file alias="vera.ttf">images/Vera.ttf</file>
     </qresource>
 </RCC>
diff --git a/src/Core.cc b/src/Core.cc
index 607f9c9fb552b24fb16cee5703edf4f82b9cb383..1b2320292d7ef425ede249873da4c472c16cc823 100644
--- a/src/Core.cc
+++ b/src/Core.cc
@@ -132,14 +132,9 @@ Core::Core(int &argc, char* argv[]) : QApplication(argc, argv)
         }
     }
 
-    MAVLinkSimulationLink* simulationLink = new MAVLinkSimulationLink(MG::DIR::getSupportFilesDirectory() + "/demo-log.txt");
+   // MAVLinkSimulationLink* simulationLink = new MAVLinkSimulationLink(MG::DIR::getSupportFilesDirectory() + "/demo-log.txt");
+    MAVLinkSimulationLink* simulationLink = new MAVLinkSimulationLink(":/demo-log.txt");
     mainWindow->addLink(simulationLink);
-
-    //CommConfigurationWindow* simulationWidget = new CommConfigurationWindow(simulationLink, mavlink, this);
-    //ui.menuNetwork->addAction(commWidget->getAction());
-    //simulationLink->connect();
-
-
 }
 
 /**
diff --git a/src/comm/MAVLinkSimulationLink.cc b/src/comm/MAVLinkSimulationLink.cc
index 84986e6be9cd6c7275739c6db9f137de2c076007..45133c282748a5a5529d95a95df3c6e14bd8cbea 100644
--- a/src/comm/MAVLinkSimulationLink.cc
+++ b/src/comm/MAVLinkSimulationLink.cc
@@ -550,6 +550,7 @@ void MAVLinkSimulationLink::writeBytes(const char* data, qint64 size)
                 break;
             case MAVLINK_MSG_ID_PARAM_REQUEST_LIST:
                 {
+                    qDebug() << "GCS REQUESTED PARAM LIST FROM SIMULATION";
                     mavlink_param_request_list_t read;
                     mavlink_msg_param_request_list_decode(&msg, &read);
                     if (read.target_system == systemId)
@@ -579,6 +580,8 @@ void MAVLinkSimulationLink::writeBytes(const char* data, qint64 size)
                         //add data into datastream
                         memcpy(stream+streampointer,buffer, bufferlength);
                         streampointer+=bufferlength;
+
+                        qDebug() << "SIMULATION SENT PARAMETERS TO GCS";
                     }
                 }
             }
diff --git a/src/comm/MAVLinkXMLParser.cc b/src/comm/MAVLinkXMLParser.cc
index 6653af7b1a9aa57d10ee38edb2c3e5f8c6c3d151..48e0605ad33dee19dd6318fc602a86de0fe72f16 100644
--- a/src/comm/MAVLinkXMLParser.cc
+++ b/src/comm/MAVLinkXMLParser.cc
@@ -91,6 +91,7 @@ bool MAVLinkXMLParser::generate()
                     QString commentContainer = "/**\n * @brief Send a %1 message\n *\n%2 * @return length of the message in bytes (excluding serial stream start sign)\n */\n";
                     QString commentEntry = " * @param %1 %2\n";
                     QString idDefine = QString("#define MAVLINK_MSG_ID_%1 %2").arg(messageName.toUpper(), QString::number(messageId));
+                    QString arrayDefines = "";
                     QString cStructName = QString("mavlink_%1_t").arg(messageName);
                     QString cStruct = "typedef struct __%1 \n{\n%2\n} %1;";
                     QString cStructLines = "";
@@ -137,6 +138,7 @@ bool MAVLinkXMLParser::generate()
                                 packLines += QString("\ti += put_%1_by_index(%2, %3, i, msg->payload); //%4\n").arg(arrayType, fieldName, QString::number(arrayLength), e2.text());
                                 // Add decode function for this type
                                 decodeLines += QString("\tmavlink_msg_%1_get_%2(msg, %1->%2);\n").arg(messageName, fieldName);
+                                arrayDefines += QString("#define MAVLINK_MSG_%1_FIELD_%2_LEN %3").arg(messageName.toUpper(), fieldName.toUpper(), QString::number(arrayLength));
                             }
                             else
                                 // Handle simple types like integers and floats
@@ -206,7 +208,7 @@ bool MAVLinkXMLParser::generate()
                     encode = encode.arg(messageName).arg(cStructName).arg(packArguments);
                     decode = decode.arg(messageName).arg(cStructName).arg(decodeLines);
                     compactSend = compactSend.arg(channelType, messageType, messageName, sendArguments, packParameters);
-                    QString cFile = "// MESSAGE " + messageName.toUpper() + " PACKING\n\n" + idDefine + "\n\n" + cStruct + "\n\n" + commentContainer.arg(messageName.toLower(), commentLines) + pack + encode + "\n" + compactSend + "\n" + "// MESSAGE " + messageName.toUpper() + " UNPACKING\n\n" + unpacking + decode;
+                    QString cFile = "// MESSAGE " + messageName.toUpper() + " PACKING\n\n" + idDefine + "\n\n" + cStruct + "\n\n" + arrayDefines + "\n\n" + commentContainer.arg(messageName.toLower(), commentLines) + pack + encode + "\n" + compactSend + "\n" + "// MESSAGE " + messageName.toUpper() + " UNPACKING\n\n" + unpacking + decode;
                     cFiles.append(qMakePair(QString("mavlink_msg_%1.h").arg(messageName), cFile));
                 }
             }
diff --git a/src/uas/UAS.cc b/src/uas/UAS.cc
index 07de03641f90ae07d855a65929241e84693c8cfc..8ac5e5e08301a2581f26367a05a30b1dc52fe63e 100644
--- a/src/uas/UAS.cc
+++ b/src/uas/UAS.cc
@@ -154,6 +154,9 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
                     case MAV_MODE_AUTO:
                         mode = "AUTO MODE";
                         break;
+                    case MAV_MODE_GUIDED:
+                        mode = "GUIDED MODE";
+                        break;
                     case MAV_MODE_READY:
                         mode = "READY";
                         break;
@@ -547,7 +550,31 @@ void UAS::requestWaypoints()
 void UAS::requestParameters()
 {
     mavlink_message_t msg;
-    mavlink_msg_param_request_list_pack(mavlink->getSystemId(), mavlink->getComponentId(), &msg);
+    mavlink_msg_param_request_list_pack(mavlink->getSystemId(), mavlink->getComponentId(), &msg, this->getUASID(), 0);
+    sendMessage(msg);
+}
+
+void UAS::writeParameters()
+{
+    mavlink_message_t msg;
+
+}
+
+void UAS::setParameter(int component, QString id, float value)
+{
+    mavlink_message_t msg;
+    mavlink_param_set_t p;
+    p.param_value = value;
+    p.target_system = uasId;
+    p.target_component = component;
+
+    // Copy string into buffer, ensuring not to exceed the buffer size
+    char* s = (char*)id.toStdString().c_str();
+    for (int i = 0; (i < id.length() && i < sizeof(p.param_id)); i++)
+    {
+        p.param_id[i] = *s;
+    }
+    mavlink_msg_param_set_encode(mavlink->getSystemId(), mavlink->getComponentId(), &msg, &p);
     sendMessage(msg);
 }
 
diff --git a/src/uas/UAS.h b/src/uas/UAS.h
index 8b702dbc95856d3a2d48ae2e756b236c1ff80579..21737d2c6d7a311f1971a79b2f95d9ac4ef700a4 100644
--- a/src/uas/UAS.h
+++ b/src/uas/UAS.h
@@ -51,7 +51,8 @@ public:
     UAS(MAVLinkProtocol* protocol, int id = 0);
     ~UAS();
 
-    enum BatteryType {
+    enum BatteryType
+    {
         NICD = 0,
         NIMH = 1,
         LIION = 2,
@@ -187,6 +188,12 @@ public slots:
     /** @brief Set current mode of operation, e.g. auto or manual */
     void setMode(int mode);
 
+    /** @brief Set a system parameter */
+    void setParameter(int component, QString id, float value);
+
+    /** @brief Write parameters to permanent storage */
+    void writeParameters();
+
 signals:
 
     /** @brief The main/battery voltage has changed/was updated */
diff --git a/src/uas/UASInterface.h b/src/uas/UASInterface.h
index 7db0a5ce0792e1cbcbcab579349712799d882aa1..3757ed099f977ad81cbb153e25cb241e120f4207 100644
--- a/src/uas/UASInterface.h
+++ b/src/uas/UASInterface.h
@@ -173,6 +173,15 @@ public slots:
     virtual void clearWaypointList() = 0;
     /** @brief Request all onboard parameters of all components */
     virtual void requestParameters() = 0;
+    /** @brief Write parameter to permanent storage */
+    virtual void writeParameters() = 0;
+    /** @brief Set a system parameter
+     * @param component ID of the system component to write the parameter to
+     * @param id String identifying the parameter
+     * @warning The length of the ID string is limited by the MAVLink format! Take care to not exceed it
+     * @param value Value of the parameter, IEEE 754 single precision floating point
+     */
+    virtual void setParameter(int component, QString id, float value) = 0;
 
     /**
      * @brief Add a link to the list of current links
diff --git a/src/ui/ParameterInterface.cc b/src/ui/ParameterInterface.cc
index 469d8f218f22254c64aa3b674e9d51b0be60aa2d..546c214545b60f9e1b2341d8ccd57e9b7db5e899 100644
--- a/src/ui/ParameterInterface.cc
+++ b/src/ui/ParameterInterface.cc
@@ -17,7 +17,6 @@ ParameterInterface::ParameterInterface(QWidget *parent) :
 
     // Setup UI connections
     connect(m_ui->vehicleComboBox, SIGNAL(activated(int)), this, SLOT(selectUAS(int)));
-    connect(m_ui->readParamsButton, SIGNAL(clicked()), this, SLOT(requestParameterList()));
 
     // Setup MAV connections
     connect(UASManager::instance(), SIGNAL(UASCreated(UASInterface*)), this, SLOT(addUAS(UASInterface*)));
@@ -51,78 +50,8 @@ void ParameterInterface::addUAS(UASInterface* uas)
         curr = uas->getUASID();
         qDebug() << "first widget";
     }
-
-    // Connect signals
-    connect(uas, SIGNAL(parameterChanged(int,int,QString,float)), this, SLOT(addParameter(int,int,QString,float)));
-}
-
-void ParameterInterface::requestParameterList()
-{
-    UASInterface* mav;
-    QGCParamWidget* widget = paramWidgets->value(curr);
-    if (widget != NULL)
-    {
-        mav = widget->getUAS();
-        mav->requestParameters();
-        // Clear view
-        widget->clear();
-    }
-}
-
-/**
- *
- * @param uas System which has the component
- * @param component id of the component
- * @param componentName human friendly name of the component
- */
-void ParameterInterface::addComponent(int uas, int component, QString componentName)
-{
-    QGCParamWidget* widget = paramWidgets->value(uas);
-    if (widget != NULL)
-    {
-        widget->addComponent(component, componentName);
-    }
-}
-
-void ParameterInterface::addParameter(int uas, int component, QString parameterName, float value)
-{
-    QGCParamWidget* widget = paramWidgets->value(uas);
-    if (widget != NULL)
-    {
-        widget->addParameter(component, parameterName, value);
-    }
 }
 
-/**
- * @param uas system
- * @param component the subsystem which has the parameter
- * @param parameterName name of the parameter, as delivered by the system
- * @param value value of the parameter
- */
-void ParameterInterface::setParameter(UASInterface* uas, int component, QString parameterName, float value)
-{
-    Q_UNUSED(uas);
-}
-
-/**
- * @param
- */
-void ParameterInterface::commitParameter(UASInterface* uas, int component, QString parameterName, float value)
-{
-
-}
-
-/*
-void ParameterInterface::commitParameters(UASInterface* uas)
-{
-
-}*/
-
-/**
- *
- */
-
-
 void ParameterInterface::changeEvent(QEvent *e)
 {
     switch (e->type()) {
diff --git a/src/ui/ParameterInterface.h b/src/ui/ParameterInterface.h
index f8848e5d7046f307886d5af1b0d0d69337cf75fa..3b0ded750bfc5e526cae9ecbd7ef6c75facec58a 100644
--- a/src/ui/ParameterInterface.h
+++ b/src/ui/ParameterInterface.h
@@ -2,9 +2,7 @@
 #define PARAMETERINTERFACE_H
 
 #include <QtGui/QWidget>
-#include <QtGui/QTreeView>
-#include <QtGui/QTreeWidget>
-#include <QtGui/QTreeWidgetItem>
+
 #include "ui_ParameterInterface.h"
 #include "UASInterface.h"
 #include "ParamTreeModel.h"
@@ -23,11 +21,6 @@ public:
 public slots:
     void addUAS(UASInterface* uas);
     void selectUAS(int index);
-    void addComponent(int uas, int component, QString componentName);
-    void addParameter(int uas, int component, QString parameterName, float value);
-    void requestParameterList();
-    void setParameter(UASInterface* uas, int component, QString parameterName, float value);
-    void commitParameter(UASInterface* uas, int component, QString parameterName, float value);
 
 protected:
     virtual void changeEvent(QEvent *e);
diff --git a/src/ui/ParameterInterface.ui b/src/ui/ParameterInterface.ui
index a48cac827dcbaa49440d0d90f88e3a4a549a1298..7d6d62ad70e7043d0bc46143388af27d67d3e0fe 100644
--- a/src/ui/ParameterInterface.ui
+++ b/src/ui/ParameterInterface.ui
@@ -110,31 +110,10 @@
         </property>
        </widget>
       </item>
-      <item row="0" column="2" colspan="2">
+      <item row="0" column="1" colspan="2">
        <widget class="QComboBox" name="vehicleComboBox"/>
       </item>
-      <item row="2" column="0">
-       <widget class="QPushButton" name="readParamsButton">
-        <property name="text">
-         <string>Read</string>
-        </property>
-       </widget>
-      </item>
-      <item row="2" column="1" colspan="2">
-       <widget class="QPushButton" name="writeParamsButton">
-        <property name="text">
-         <string>Write permanently</string>
-        </property>
-       </widget>
-      </item>
-      <item row="2" column="3">
-       <widget class="QPushButton" name="backupParamsButton">
-        <property name="text">
-         <string>Backup</string>
-        </property>
-       </widget>
-      </item>
-      <item row="1" column="0" colspan="4">
+      <item row="1" column="0" colspan="3">
        <widget class="QStackedWidget" name="stackedWidget">
         <widget class="QWidget" name="page">
          <layout class="QVBoxLayout" name="verticalLayout"/>
diff --git a/src/ui/QGCParamWidget.cc b/src/ui/QGCParamWidget.cc
index 25f34419475f3b9f10a63aef61696bc13fd7b2a1..f270e3aa6f146f3d7093f7fbbcda4a4200fbe1f5 100644
--- a/src/ui/QGCParamWidget.cc
+++ b/src/ui/QGCParamWidget.cc
@@ -1,26 +1,41 @@
-#include <QHBoxLayout>
+#include <QGridLayout>
+#include <QPushButton>
 
 #include "QGCParamWidget.h"
 #include "UASInterface.h"
 #include <QDebug>
 
 QGCParamWidget::QGCParamWidget(UASInterface* uas, QWidget *parent) :
-    QWidget(parent),
-    mav(uas),
-    components(new QMap<int, QTreeWidgetItem*>())
+        QWidget(parent),
+        mav(uas),
+        components(new QMap<int, QTreeWidgetItem*>())
 {
     // Create tree widget
     tree = new QTreeWidget(this);
+    tree->setColumnWidth(0, 150);
 
     // Set tree widget as widget onto this component
-    QHBoxLayout* horizontalLayout;
+    QGridLayout* horizontalLayout;
     //form->setAutoFillBackground(false);
-    horizontalLayout = new QHBoxLayout(this);
-    horizontalLayout->setSpacing(0);
+    horizontalLayout = new QGridLayout(this);
+    horizontalLayout->setSpacing(6);
     horizontalLayout->setMargin(0);
     horizontalLayout->setSizeConstraint(QLayout::SetMinimumSize);
 
-    horizontalLayout->addWidget(tree);
+    horizontalLayout->addWidget(tree, 0, 0, 1, 3);
+    QPushButton* readButton = new QPushButton(tr("Read"));
+    connect(readButton, SIGNAL(clicked()), this, SLOT(requestParameterList()));
+    horizontalLayout->addWidget(readButton, 1, 0);
+
+    QPushButton* setButton = new QPushButton(tr("Set (RAM)"));
+    connect(setButton, SIGNAL(clicked()), this, SLOT(setParameters()));
+    horizontalLayout->addWidget(setButton, 1, 1);
+
+    QPushButton* writeButton = new QPushButton(tr("Write (Disk)"));
+    connect(writeButton, SIGNAL(clicked()), this, SLOT(writeParameters()));
+    horizontalLayout->addWidget(writeButton, 1, 2);
+
+    // Set layout
     this->setLayout(horizontalLayout);
 
     // Set header
@@ -29,6 +44,11 @@ QGCParamWidget::QGCParamWidget(UASInterface* uas, QWidget *parent) :
     headerItems.append("Value");
     tree->setHeaderLabels(headerItems);
     tree->setColumnCount(2);
+
+    // Connect signals/slots
+    connect(this, SIGNAL(parameterChanged(int,QString,float)), mav, SLOT(setParameter(int,QString,float)));
+    // New parameters from UAS
+    connect(uas, SIGNAL(parameterChanged(int,int,QString,float)), this, SLOT(addParameter(int,int,QString,float)));
 }
 
 UASInterface* QGCParamWidget::getUAS()
@@ -42,8 +62,9 @@ UASInterface* QGCParamWidget::getUAS()
  * @param component id of the component
  * @param componentName human friendly name of the component
  */
-void QGCParamWidget::addComponent(int component, QString componentName)
+void QGCParamWidget::addComponent(int uas, int component, QString componentName)
 {
+    Q_UNUSED(uas);
     QStringList list;
     list.append(componentName);
     list.append(QString::number(component));
@@ -58,8 +79,14 @@ void QGCParamWidget::addComponent(int component, QString componentName)
     }
 }
 
-void QGCParamWidget::addParameter(int component, QString parameterName, float value)
+/**
+ * @param uas System which has the component
+ * @param component id of the component
+ * @param parameterName human friendly name of the parameter
+ */
+void QGCParamWidget::addParameter(int uas, int component, QString parameterName, float value)
 {
+    Q_UNUSED(uas);
     // Insert parameter into map
     //tree->appendParam(component, parameterName, value);
     QStringList plist;
@@ -70,12 +97,49 @@ void QGCParamWidget::addParameter(int component, QString parameterName, float va
     // Get component
     if (!components->contains(component))
     {
-        addComponent(component, "Component #" + QString::number(component));
+        addComponent(uas, component, "Component #" + QString::number(component));
     }
     components->value(component)->addChild(item);
+    item->setFlags(item->flags() | Qt::ItemIsEditable);
+    //connect(item, SIGNAL())
+    tree->expandAll();
     tree->update();
 }
 
+void QGCParamWidget::requestParameterList()
+{
+    mav->requestParameters();
+    // Clear view
+    clear();
+}
+
+/**
+ * @param component the subsystem which has the parameter
+ * @param parameterName name of the parameter, as delivered by the system
+ * @param value value of the parameter
+ */
+void QGCParamWidget::setParameter(int component, QString parameterName, float value)
+{
+
+}
+
+void QGCParamWidget::setParameters()
+{
+    //mav->setParameter(component, parameterName, value);
+    // Iterate through all components, through all parameters and emit them
+    /*QMap<int, QTreeWidgetItem>::iterator i;
+    for (i = components->begin(); i != components->end(); ++i)
+    {
+        int compid = i.key();
+        i.value()->children();
+    }*/
+}
+
+void QGCParamWidget::writeParameters()
+{
+    mav->writeParameters();
+}
+
 void QGCParamWidget::clear()
 {
     tree->clear();
diff --git a/src/ui/QGCParamWidget.h b/src/ui/QGCParamWidget.h
index 87c56b3874263cc284f20e64595836f7ad670edb..e794ba2cfd3127765852f6b7b87eff10606f1eeb 100644
--- a/src/ui/QGCParamWidget.h
+++ b/src/ui/QGCParamWidget.h
@@ -8,22 +8,37 @@
 
 #include "UASInterface.h"
 
+/**
+ * @brief Widget to read/set onboard parameters
+ */
 class QGCParamWidget : public QWidget
 {
 Q_OBJECT
 public:
     explicit QGCParamWidget(UASInterface* uas, QWidget *parent = 0);
+    /** @brief Get the UAS of this widget */
     UASInterface* getUAS();
 signals:
-
+    void parameterChanged(int component, QString parametername, float value);
 public slots:
-    void addComponent(int component, QString componentName);
-    void addParameter(int component, QString parameterName, float value);
+    /** @brief Add a component to the list */
+    void addComponent(int uas, int component, QString componentName);
+    /** @brief Add a parameter to the list */
+    void addParameter(int uas, int component, QString parameterName, float value);
+    /** @brief Request list of parameters from MAV */
+    void requestParameterList();
+    /** @brief Set one parameter, changes value in RAM of MAV */
+    void setParameter(int component, QString parameterName, float value);
+    /** @brief Set all parameters, changes the value in RAM of MAV */
+    void setParameters();
+    /** @brief Write the current parameters to permanent storage (EEPROM/HDD) */
+    void writeParameters();
+    /** @brief Clear the parameter list */
     void clear();
 protected:
-    UASInterface* mav;
-    QTreeWidget* tree;
-    QMap<int, QTreeWidgetItem*>* components;
+    UASInterface* mav;  ///< The MAV this widget is controlling
+    QTreeWidget* tree;  ///< The parameter tree
+    QMap<int, QTreeWidgetItem*>* components; ///< The list of components
 
 };