diff --git a/src/uas/QGCMAVLinkUASFactory.cc b/src/uas/QGCMAVLinkUASFactory.cc
index 190b7ce16ce733003af384249010891d7c570539..39df612c3ec3cfc0c3cb0a74a75577439c7bb550 100644
--- a/src/uas/QGCMAVLinkUASFactory.cc
+++ b/src/uas/QGCMAVLinkUASFactory.cc
@@ -78,8 +78,11 @@ UASInterface* QGCMAVLinkUASFactory::createUAS(MAVLinkProtocol* mavlink, LinkInte
     // Make UAS aware that this link can be used to communicate with the actual robot
     uas->addLink(link);
 
+    // First thing we do with a new UAS is get the parameters
+    uas->requestParameters();
+    
     // Now add UAS to "official" list, which makes the whole application aware of it
     UASManager::instance()->addUAS(uas);
-
+    
     return uas;
 }
diff --git a/src/ui/QGCBaseParamWidget.cc b/src/ui/QGCBaseParamWidget.cc
index eda71c278c98a0e86f26c5265bdcde93d3e39dee..35e868518a6f5beb120a698da2dca0865a19a7b0 100644
--- a/src/ui/QGCBaseParamWidget.cc
+++ b/src/ui/QGCBaseParamWidget.cc
@@ -40,8 +40,6 @@ void QGCBaseParamWidget::setUAS(UASInterface* uas)
             connectToParamManager();
             connectViewSignalsAndSlots();
             layoutWidget();
-
-            paramMgr->requestParameterListIfEmpty();
         }
     }
 
@@ -62,6 +60,9 @@ void QGCBaseParamWidget::connectToParamManager()
     // Listen for param list reload finished
     connect(paramMgr, SIGNAL(parameterListUpToDate()),
             this, SLOT(handleOnboardParameterListUpToDate()));
+    if (paramMgr->parametersReady()) {
+        handleOnboardParameterListUpToDate();
+    }
 
     // Listen to communications status messages so we can display them
     connect(paramMgr, SIGNAL(parameterStatusMsgUpdated(QString,int)),
diff --git a/src/ui/QGCParamWidget.cc b/src/ui/QGCParamWidget.cc
index a995726506457e9a095ee7d6c1f8510e84471f4d..d0ab5349acf92332ad6710125c1020d53f1e868a 100644
--- a/src/ui/QGCParamWidget.cc
+++ b/src/ui/QGCParamWidget.cc
@@ -51,7 +51,8 @@ QGCParamWidget::QGCParamWidget(QWidget *parent) :
     QGCBaseParamWidget(parent),
     componentItems(new QMap<int, QTreeWidgetItem*>()),
     statusLabel(new QLabel(this)),
-    tree(new QTreeWidget(this))
+    tree(new QTreeWidget(this)),
+    _fullParamListLoaded(false)
 {
 
 
@@ -236,9 +237,15 @@ void QGCParamWidget::handleOnboardParamUpdate(int compId, const QString& paramNa
 
 void QGCParamWidget::handleOnboardParameterListUpToDate()
 {
+    // Don't load full param list more than once
+    if (_fullParamListLoaded) {
+        return;
+    }
+    
+    _fullParamListLoaded = true;
+    
     //turn off updates while we refresh the entire list
     tree->setUpdatesEnabled(false);
-    qDebug() << "WARN: LIST UPDATE";
 
     //rewrite the component item tree after receiving the full list
     QMap<int, QMap<QString, QVariant>*>::iterator i;
diff --git a/src/ui/QGCParamWidget.h b/src/ui/QGCParamWidget.h
index 5581c5f2c8c4a66cc4c7f69c47c6b2e3d685669f..5db5a6fd3ed76f372456bcafbbc4bb8b2fbf7dd0 100644
--- a/src/ui/QGCParamWidget.h
+++ b/src/ui/QGCParamWidget.h
@@ -104,7 +104,9 @@ protected:
     QLabel* statusLabel; ///< User-facing parameter status label
     QTreeWidget* tree;   ///< The parameter tree
     QStringList _filterList;
-
+    
+private:
+    bool _fullParamListLoaded;
 };
 
 #endif // QGCPARAMWIDGET_H