diff --git a/src/uas/QGCUASParamManager.cc b/src/uas/QGCUASParamManager.cc
index 93ab410..82ea6f5 100644
--- a/src/uas/QGCUASParamManager.cc
+++ b/src/uas/QGCUASParamManager.cc
@@ -23,10 +23,4 @@ void QGCUASParamManager::requestParameterListUpdate(int component)
 
 }
 
-/**
- * The .. signal is emitted
- */
-void QGCUASParamManager::requestParameterUpdate(int component, const QString& parameter)
-{
 
-}
diff --git a/src/uas/QGCUASParamManager.h b/src/uas/QGCUASParamManager.h
index 1846f18..4a86fbe 100644
--- a/src/uas/QGCUASParamManager.h
+++ b/src/uas/QGCUASParamManager.h
@@ -20,10 +20,7 @@ public:
     /** @brief Request an update for the parameter list */
     void requestParameterListUpdate(int component = 0);
     /** @brief Request an update for this specific parameter */
-    void requestParameterUpdate(int component, const QString& parameter);
-
-    /** @brief Request list of parameters from MAV */
-    virtual void requestParameterList() = 0;
+    virtual void requestParameterUpdate(int component, const QString& parameter) = 0;
 
 signals:
     void parameterChanged(int component, QString parameter, float value);
@@ -31,6 +28,10 @@ signals:
     void parameterListUpToDate(int component);
 
 public slots:
+    /** @brief Write one parameter to the MAV */
+    virtual void setParameter(int component, QString parameterName, float value) = 0;
+    /** @brief Request list of parameters from MAV */
+    virtual void requestParameterList() = 0;
 
 protected:
     UASInterface* mav;   ///< The MAV this widget is controlling
diff --git a/src/ui/QGCParamWidget.cc b/src/ui/QGCParamWidget.cc
index ad79618..52c0e31 100644
--- a/src/ui/QGCParamWidget.cc
+++ b/src/ui/QGCParamWidget.cc
@@ -747,6 +747,15 @@ void QGCParamWidget::retransmissionGuardTick()
 
 
 /**
+ * The .. signal is emitted
+ */
+void QGCParamWidget::requestParameterUpdate(int component, const QString& parameter)
+{
+
+}
+
+
+/**
  * @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
diff --git a/src/ui/QGCParamWidget.h b/src/ui/QGCParamWidget.h
index 67db9a2..9c281a4 100644
--- a/src/ui/QGCParamWidget.h
+++ b/src/ui/QGCParamWidget.h
@@ -64,6 +64,8 @@ public slots:
     void addParameter(int uas, int component, QString parameterName, float value);
     /** @brief Request list of parameters from MAV */
     void requestParameterList();
+    /** @brief Request one single parameter */
+    void requestParameterUpdate(int component, const QString& parameter);
     /** @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 */
diff --git a/src/ui/designer/QGCActionButton.ui b/src/ui/designer/QGCActionButton.ui
index 16e38a9..e1d73e3 100644
--- a/src/ui/designer/QGCActionButton.ui
+++ b/src/ui/designer/QGCActionButton.ui
@@ -13,7 +13,7 @@
   <property name="windowTitle">
    <string>Form</string>
   </property>
-  <layout class="QGridLayout" name="gridLayout">
+  <layout class="QGridLayout" name="gridLayout" columnstretch="100,100,50">
    <item row="1" column="0" colspan="2">
     <widget class="QLabel" name="nameLabel">
      <property name="minimumSize">
diff --git a/src/ui/designer/QGCParamSlider.cc b/src/ui/designer/QGCParamSlider.cc
index ee81c8d..0424505 100644
--- a/src/ui/designer/QGCParamSlider.cc
+++ b/src/ui/designer/QGCParamSlider.cc
@@ -1,6 +1,7 @@
 #include <QMenu>
 #include <QContextMenuEvent>
 #include <QSettings>
+#include <QTimer>
 
 #include "QGCParamSlider.h"
 #include "ui_QGCParamSlider.h"
@@ -42,11 +43,16 @@ QGCParamSlider::QGCParamSlider(QWidget *parent) :
     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->valueSpinBox, SIGNAL(valueChanged(double)), this, SLOT(setParamValue(double)));
     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()));
 
     // Set the current UAS if present
     setActiveUAS(UASManager::instance()->getActiveUAS());
+
+    // Get param value
+    QTimer::singleShot(1000, this, SLOT(requestParameter()));
 }
 
 QGCParamSlider::~QGCParamSlider()
@@ -54,6 +60,16 @@ QGCParamSlider::~QGCParamSlider()
     delete ui;
 }
 
+void QGCParamSlider::refreshParamList()
+{
+    ui->editSelectParamComboBox->setEnabled(true);
+    ui->editSelectComponentComboBox->setEnabled(true);
+    if (uas)
+    {
+        uas->getParamManager()->requestParameterList();
+    }
+}
+
 void QGCParamSlider::setActiveUAS(UASInterface* activeUas)
 {
     if (activeUas)
@@ -61,12 +77,10 @@ void QGCParamSlider::setActiveUAS(UASInterface* activeUas)
         if (uas)
         {
             disconnect(uas, SIGNAL(parameterChanged(int,int,int,int,QString,float)), this, SLOT(setParameterValue(int,int,int,int,QString,float)));
-            disconnect(ui->editRefreshParamsButton, SIGNAL(clicked()), uas->getParamManager(), SLOT(requestParameterList()));
         }
 
         // Connect buttons and signals
         connect(activeUas, SIGNAL(parameterChanged(int,int,int,int,QString,float)), this, SLOT(setParameterValue(int,int,int,int,QString,float)), Qt::UniqueConnection);
-        connect(ui->editRefreshParamsButton, SIGNAL(clicked()), activeUas->getParamManager(), SLOT(requestParameterList()), Qt::UniqueConnection);
         uas = activeUas;
     }
 }
@@ -79,6 +93,12 @@ void QGCParamSlider::requestParameter()
     }
 }
 
+void QGCParamSlider::setParamValue(double value)
+{
+    parameterValue = value;
+    ui->valueSlider->setValue(floatToScaledInt(value));
+}
+
 void QGCParamSlider::selectComponent(int componentIndex)
 {
     this->component = ui->editSelectComponentComboBox->itemData(componentIndex).toInt();
@@ -139,10 +159,10 @@ void QGCParamSlider::endEditMode()
 
 void QGCParamSlider::sendParameter()
 {
-    if (QGCToolWidgetItem::uas)
+    if (uas)
     {
-        qDebug() << "SENDING" << component << parameterName << parameterValue;
-        QGCToolWidgetItem::uas->setParameter(component, parameterName, parameterValue);
+        // Set value, param manager handles retransmission
+        uas->getParamManager()->setParameter(component, parameterName, parameterValue);
     }
     else
     {
@@ -153,8 +173,9 @@ void QGCParamSlider::sendParameter()
 void QGCParamSlider::setSliderValue(int sliderValue)
 {
     parameterValue = scaledIntToFloat(sliderValue);
-    QString unit("");
-    ui->valueLabel->setText(QString("%1 %2").arg(parameterValue, 6, 'f', 6, ' ').arg(unit));
+    ui->valueSpinBox->setValue(parameterValue);
+//    QString unit("");
+//    ui->valueLabel->setText(QString("%1 %2").arg(parameterValue, 6, 'f', 6, ' ').arg(unit));
 }
 
 /**
@@ -200,8 +221,7 @@ void QGCParamSlider::setParameterValue(int uas, int component, int paramCount, i
     if (component == this->component && parameterName == this->parameterName)
     {
         parameterValue = value;
-        QString unit("");
-        ui->valueLabel->setText(QString("%1 %2").arg(value, 0, 'f', 3).arg(unit));
+        ui->valueSpinBox->setValue(value);
         ui->valueSlider->setValue(floatToScaledInt(value));
     }
 }
@@ -221,14 +241,14 @@ void QGCParamSlider::changeEvent(QEvent *e)
 float QGCParamSlider::scaledIntToFloat(int sliderValue)
 {
     float result = (((double)sliderValue)/(double)scaledInt)*(ui->editMaxSpinBox->value() - ui->editMinSpinBox->value());
-    qDebug() << "INT TO FLOAT: CONVERTED" << sliderValue << "TO" << result;
+    //qDebug() << "INT TO FLOAT: CONVERTED" << sliderValue << "TO" << result;
     return result;
 }
 
 int QGCParamSlider::floatToScaledInt(float value)
 {
     int result = ((value - ui->editMinSpinBox->value())/(ui->editMaxSpinBox->value() - ui->editMinSpinBox->value()))*scaledInt;
-    qDebug() << "FLOAT TO INT: CONVERTED" << value << "TO" << result << "SCALEDINT" << scaledInt;
+    //qDebug() << "FLOAT TO INT: CONVERTED" << value << "TO" << result << "SCALEDINT" << scaledInt;
     return result;
 }
 
@@ -255,5 +275,6 @@ void QGCParamSlider::readSettings(const QSettings& settings)
     ui->editSelectComponentComboBox->addItem(tr("Component #%1").arg(settings.value("QGC_PARAM_SLIDER_COMPONENTID").toInt()), settings.value("QGC_PARAM_SLIDER_COMPONENTID").toInt());
     ui->editMinSpinBox->setValue(settings.value("QGC_PARAM_SLIDER_MIN").toFloat());
     ui->editMaxSpinBox->setValue(settings.value("QGC_PARAM_SLIDER_MAX").toFloat());
-    qDebug() << "DONE READING SETTINGS";
+    ui->editSelectParamComboBox->setEnabled(true);
+    ui->editSelectComponentComboBox->setEnabled(true);
 }
diff --git a/src/ui/designer/QGCParamSlider.h b/src/ui/designer/QGCParamSlider.h
index ba941e5..cadfefc 100644
--- a/src/ui/designer/QGCParamSlider.h
+++ b/src/ui/designer/QGCParamSlider.h
@@ -30,9 +30,11 @@ public slots:
     void setParameterValue(int uas, int component, int paramCount, int paramIndex, QString parameterName, float value);
     void writeSettings(QSettings& settings);
     void readSettings(const QSettings& settings);
+    void refreshParamList();
     void setActiveUAS(UASInterface *uas);
     void selectComponent(int componentIndex);
     void selectParameter(int paramIndex);
+    void setParamValue(double value);
 
 protected slots:
     /** @brief Request the parameter of this widget from the MAV */
diff --git a/src/ui/designer/QGCParamSlider.ui b/src/ui/designer/QGCParamSlider.ui
index 3b5429f..53a3495 100644
--- a/src/ui/designer/QGCParamSlider.ui
+++ b/src/ui/designer/QGCParamSlider.ui
@@ -6,29 +6,35 @@
    <rect>
     <x>0</x>
     <y>0</y>
-    <width>606</width>
+    <width>839</width>
     <height>179</height>
    </rect>
   </property>
   <property name="windowTitle">
    <string>Form</string>
   </property>
-  <layout class="QGridLayout" name="gridLayout" columnstretch="100,0,0,0,0,0,0,0,0,0">
-   <item row="1" column="1" colspan="4">
+  <layout class="QGridLayout" name="gridLayout" columnstretch="100,0,0,0,0,0,0,0,0">
+   <property name="horizontalSpacing">
+    <number>6</number>
+   </property>
+   <property name="verticalSpacing">
+    <number>12</number>
+   </property>
+   <item row="1" column="1" colspan="3">
     <widget class="QLineEdit" name="editNameLabel">
      <property name="text">
       <string>Informal Name..</string>
      </property>
     </widget>
    </item>
-   <item row="1" column="5">
+   <item row="1" column="4">
     <widget class="QLabel" name="editMinLabel">
      <property name="text">
       <string>Min</string>
      </property>
     </widget>
    </item>
-   <item row="1" column="7">
+   <item row="1" column="6">
     <widget class="QLabel" name="editMaxLabel">
      <property name="text">
       <string>Max</string>
@@ -45,14 +51,7 @@
      </property>
     </widget>
    </item>
-   <item row="2" column="2">
-    <widget class="QLabel" name="valueLabel">
-     <property name="text">
-      <string>0.00</string>
-     </property>
-    </widget>
-   </item>
-   <item row="2" column="4" colspan="2">
+   <item row="2" column="3" colspan="2">
     <widget class="QDoubleSpinBox" name="editMinSpinBox">
      <property name="minimum">
       <double>-999999999.000000000000000</double>
@@ -62,11 +61,11 @@
      </property>
     </widget>
    </item>
-   <item row="2" column="6">
+   <item row="2" column="5">
     <widget class="QSlider" name="valueSlider">
      <property name="maximumSize">
       <size>
-       <width>300</width>
+       <width>250</width>
        <height>16777215</height>
       </size>
      </property>
@@ -78,7 +77,7 @@
      </property>
     </widget>
    </item>
-   <item row="2" column="7">
+   <item row="2" column="6">
     <widget class="QDoubleSpinBox" name="editMaxSpinBox">
      <property name="minimum">
       <double>-999999999.000000000000000</double>
@@ -88,22 +87,25 @@
      </property>
     </widget>
    </item>
-   <item row="0" column="1" colspan="7">
+   <item row="0" column="1" colspan="6">
     <widget class="QLabel" name="editInstructionsLabel">
      <property name="text">
       <string>Please configure the parameter slider now:</string>
      </property>
     </widget>
    </item>
-   <item row="5" column="1" colspan="7">
+   <item row="5" column="1" colspan="6">
     <widget class="QLabel" name="editStatusLabel">
      <property name="text">
       <string>Please click first on refresh to update selection menus..</string>
      </property>
     </widget>
    </item>
-   <item row="3" column="1" colspan="3">
+   <item row="3" column="1" colspan="2">
     <widget class="QComboBox" name="editSelectComponentComboBox">
+     <property name="enabled">
+      <bool>false</bool>
+     </property>
      <property name="toolTip">
       <string>Select component</string>
      </property>
@@ -112,8 +114,11 @@
      </property>
     </widget>
    </item>
-   <item row="3" column="5" colspan="3">
+   <item row="3" column="4" colspan="3">
     <widget class="QComboBox" name="editSelectParamComboBox">
+     <property name="enabled">
+      <bool>false</bool>
+     </property>
      <property name="toolTip">
       <string>Select parameter</string>
      </property>
@@ -123,24 +128,13 @@
     </widget>
    </item>
    <item row="2" column="8">
-    <widget class="QPushButton" name="writeButton">
-     <property name="toolTip">
-      <string>Transmit the current slider value to the system</string>
-     </property>
-     <property name="statusTip">
-      <string>Transmit the current slider value to the system</string>
-     </property>
-     <property name="text">
-      <string/>
-     </property>
-     <property name="icon">
-      <iconset resource="../../../mavground.qrc">
-       <normaloff>:/images/devices/network-wireless.svg</normaloff>:/images/devices/network-wireless.svg</iconset>
-     </property>
-    </widget>
-   </item>
-   <item row="2" column="9">
     <widget class="QPushButton" name="readButton">
+     <property name="minimumSize">
+      <size>
+       <width>0</width>
+       <height>0</height>
+      </size>
+     </property>
      <property name="toolTip">
       <string>Read the current parameter value on the system</string>
      </property>
@@ -152,7 +146,7 @@
      </property>
     </widget>
    </item>
-   <item row="3" column="8" colspan="2">
+   <item row="3" column="7" colspan="2">
     <widget class="QPushButton" name="editRefreshParamsButton">
      <property name="enabled">
       <bool>true</bool>
@@ -162,15 +156,22 @@
      </property>
     </widget>
    </item>
-   <item row="5" column="8" colspan="2">
+   <item row="5" column="7" colspan="2">
     <widget class="QPushButton" name="editDoneButton">
      <property name="text">
       <string>Done</string>
      </property>
     </widget>
    </item>
-   <item row="2" column="3">
-    <widget class="QDoubleSpinBox" name="valueSpinBox"/>
+   <item row="2" column="2">
+    <widget class="QDoubleSpinBox" name="valueSpinBox">
+     <property name="minimum">
+      <double>-999999999.000000000000000</double>
+     </property>
+     <property name="maximum">
+      <double>999999999.000000000000000</double>
+     </property>
+    </widget>
    </item>
    <item row="2" column="0">
     <spacer name="horizontalSpacer">
@@ -185,6 +186,35 @@
      </property>
     </spacer>
    </item>
+   <item row="2" column="7">
+    <widget class="QPushButton" name="writeButton">
+     <property name="minimumSize">
+      <size>
+       <width>0</width>
+       <height>0</height>
+      </size>
+     </property>
+     <property name="maximumSize">
+      <size>
+       <width>16777215</width>
+       <height>16777215</height>
+      </size>
+     </property>
+     <property name="toolTip">
+      <string>Transmit the current slider value to the system</string>
+     </property>
+     <property name="statusTip">
+      <string>Transmit the current slider value to the system</string>
+     </property>
+     <property name="text">
+      <string/>
+     </property>
+     <property name="icon">
+      <iconset resource="../../../mavground.qrc">
+       <normaloff>:/images/devices/network-wireless.svg</normaloff>:/images/devices/network-wireless.svg</iconset>
+     </property>
+    </widget>
+   </item>
   </layout>
  </widget>
  <resources>
diff --git a/src/ui/designer/QGCToolWidget.cc b/src/ui/designer/QGCToolWidget.cc
index ccb980c..83bded2 100644
--- a/src/ui/designer/QGCToolWidget.cc
+++ b/src/ui/designer/QGCToolWidget.cc
@@ -23,6 +23,7 @@ QGCToolWidget::QGCToolWidget(const QString& title, QWidget *parent) :
     createActions();
     toolLayout = ui->toolLayout;
     toolLayout->setAlignment(Qt::AlignTop);
+    toolLayout->setSpacing(8);
 
     QDockWidget* dock = dynamic_cast<QDockWidget*>(this->parentWidget());
     if (dock)