diff --git a/src/ui/QGCParamWidget.cc b/src/ui/QGCParamWidget.cc
index b0be69d..50a0180 100644
--- a/src/ui/QGCParamWidget.cc
+++ b/src/ui/QGCParamWidget.cc
@@ -1019,7 +1019,7 @@ void QGCParamWidget::setParameter(int component, QString parameterName, QVariant
     }
     if (parameters.value(component)->value(parameterName) == value)
     {
-        qDebug() << "Value not changed, not sending:" << parameterName << value;
+        statusLabel->setText(tr("REJ. %1 > max").arg(value.toDouble()));
         return;
     }
 
diff --git a/src/ui/configuration/AirspeedConfig.cc b/src/ui/configuration/AirspeedConfig.cc
index 8402622..dfdc1e0 100644
--- a/src/ui/configuration/AirspeedConfig.cc
+++ b/src/ui/configuration/AirspeedConfig.cc
@@ -56,11 +56,11 @@ void AirspeedConfig::useCheckBoxClicked(bool checked)
     }
     if (checked)
     {
-        m_uas->setParameter(0,"ARSPD_USE",1);
+        m_uas->getParamManager()->setParameter(1,"ARSPD_USE",1);
     }
     else
     {
-        m_uas->setParameter(0,"ARSPD_USE",0);
+        m_uas->getParamManager()->setParameter(1,"ARSPD_USE",0);
     }
 }
 
@@ -73,10 +73,10 @@ void AirspeedConfig::enableCheckBoxClicked(bool checked)
     }
     if (checked)
     {
-        m_uas->setParameter(0,"ARSPD_ENABLE",1);
+        m_uas->getParamManager()->setParameter(1,"ARSPD_ENABLE",1);
     }
     else
     {
-        m_uas->setParameter(0,"ARSPD_ENABLE",0);
+        m_uas->getParamManager()->setParameter(1,"ARSPD_ENABLE",0);
     }
 }
diff --git a/src/ui/configuration/BatteryMonitorConfig.cc b/src/ui/configuration/BatteryMonitorConfig.cc
index 84c4d01..5e74ced 100644
--- a/src/ui/configuration/BatteryMonitorConfig.cc
+++ b/src/ui/configuration/BatteryMonitorConfig.cc
@@ -47,7 +47,7 @@ void BatteryMonitorConfig::calcDividerSet()
         QMessageBox::information(0,"Error","Invalid number entered for voltage divider. Please try again");
         return;
     }
-    m_uas->setParameter(0,"VOLT_DIVIDER",newval);
+    m_uas->getParamManager()->setParameter(1,"VOLT_DIVIDER",newval);
 }
 void BatteryMonitorConfig::ampsPerVoltSet()
 {
@@ -64,7 +64,7 @@ void BatteryMonitorConfig::ampsPerVoltSet()
         QMessageBox::information(0,"Error","Invalid number entered for amps per volts. Please try again");
         return;
     }
-    m_uas->setParameter(0,"AMPS_PER_VOLT",newval);
+    m_uas->getParamManager()->setParameter(1,"AMPS_PER_VOLT",newval);
 }
 void BatteryMonitorConfig::batteryCapacitySet()
 {
@@ -81,7 +81,7 @@ void BatteryMonitorConfig::batteryCapacitySet()
         QMessageBox::information(0,"Error","Invalid number entered for amps per volts. Please try again");
         return;
     }
-    m_uas->setParameter(0,"BATT_CAPACITY",newval);
+    m_uas->getParamManager()->setParameter(1,"BATT_CAPACITY",newval);
 }
 
 void BatteryMonitorConfig::monitorCurrentIndexChanged(int index)
@@ -93,9 +93,9 @@ void BatteryMonitorConfig::monitorCurrentIndexChanged(int index)
     }
     if (index == 0)
     {
-        m_uas->setParameter(0,"BATT_VOLT_PIN",-1);
-        m_uas->setParameter(0,"BATT_CURR_PIN",-1);
-        m_uas->setParameter(0,"BATT_MONITOR",0);
+        m_uas->getParamManager()->setParameter(1,"BATT_VOLT_PIN",-1);
+        m_uas->getParamManager()->setParameter(1,"BATT_CURR_PIN",-1);
+        m_uas->getParamManager()->setParameter(1,"BATT_MONITOR",0);
         ui.sensorComboBox->setEnabled(false);
         ui.apmVerComboBox->setEnabled(false);
         ui.measuredVoltsLineEdit->setEnabled(false);
@@ -106,7 +106,7 @@ void BatteryMonitorConfig::monitorCurrentIndexChanged(int index)
     }
     else if (index == 1)
     {
-        m_uas->setParameter(0,"BATT_MONITOR",3);
+        m_uas->getParamManager()->setParameter(1,"BATT_MONITOR",3);
         ui.sensorComboBox->setEnabled(false);
         ui.apmVerComboBox->setEnabled(true);
         ui.measuredVoltsLineEdit->setEnabled(true);
@@ -116,7 +116,7 @@ void BatteryMonitorConfig::monitorCurrentIndexChanged(int index)
     }
     else if (index == 2)
     {
-        m_uas->setParameter(0,"BATT_MONITOR",4);
+        m_uas->getParamManager()->setParameter(1,"BATT_MONITOR",4);
         ui.sensorComboBox->setEnabled(true);
         ui.apmVerComboBox->setEnabled(true);
         ui.measuredVoltsLineEdit->setEnabled(true);
@@ -197,24 +197,24 @@ void BatteryMonitorConfig::apmVerCurrentIndexChanged(int index)
     }
     if (index == 0) //APM1
     {
-        m_uas->setParameter(0,"BATT_VOLT_PIN",0);
-        m_uas->setParameter(0,"BATT_CURR_PIN",1);
+        m_uas->getParamManager()->setParameter(1,"BATT_VOLT_PIN",0);
+        m_uas->getParamManager()->setParameter(1,"BATT_CURR_PIN",1);
     }
     else if (index == 1) //APM2
     {
-        m_uas->setParameter(0,"BATT_VOLT_PIN",1);
-        m_uas->setParameter(0,"BATT_CURR_PIN",2);
+        m_uas->getParamManager()->setParameter(1,"BATT_VOLT_PIN",1);
+        m_uas->getParamManager()->setParameter(1,"BATT_CURR_PIN",2);
     }
     else if (index == 2) //APM2.5
     {
-        m_uas->setParameter(0,"BATT_VOLT_PIN",13);
-        m_uas->setParameter(0,"BATT_CURR_PIN",12);
+        m_uas->getParamManager()->setParameter(1,"BATT_VOLT_PIN",13);
+        m_uas->getParamManager()->setParameter(1,"BATT_CURR_PIN",12);
     }
     else if (index == 3) //PX4
     {
-        m_uas->setParameter(0,"BATT_VOLT_PIN",100);
-        m_uas->setParameter(0,"BATT_CURR_PIN",101);
-        m_uas->setParameter(0,"VOLT_DIVIDER",1);
+        m_uas->getParamManager()->setParameter(1,"BATT_VOLT_PIN",100);
+        m_uas->getParamManager()->setParameter(1,"BATT_CURR_PIN",101);
+        m_uas->getParamManager()->setParameter(1,"VOLT_DIVIDER",1);
         ui.calcDividerLineEdit->setText("1");
     }
 }
diff --git a/src/ui/configuration/CompassConfig.cc b/src/ui/configuration/CompassConfig.cc
index fda95b6..5c37b0c 100644
--- a/src/ui/configuration/CompassConfig.cc
+++ b/src/ui/configuration/CompassConfig.cc
@@ -71,7 +71,7 @@ void CompassConfig::enableClicked(bool enabled)
     {
         if (enabled)
         {
-            m_uas->setParameter(0,"MAG_ENABLE",QVariant(1));
+            m_uas->getParamManager()->setParameter(1,"MAG_ENABLE",QVariant(1));
             ui.autoDecCheckBox->setEnabled(true);
             if (!ui.autoDecCheckBox->isChecked())
             {
@@ -80,7 +80,7 @@ void CompassConfig::enableClicked(bool enabled)
         }
         else
         {
-            m_uas->setParameter(0,"MAG_ENABLE",QVariant(0));
+            m_uas->getParamManager()->setParameter(1,"MAG_ENABLE",QVariant(0));
             ui.autoDecCheckBox->setEnabled(false);
             ui.declinationLineEdit->setEnabled(false);
         }
@@ -93,11 +93,11 @@ void CompassConfig::autoDecClicked(bool enabled)
     {
         if (enabled)
         {
-            m_uas->setParameter(0,"COMPASS_AUTODEC",QVariant(1));
+            m_uas->getParamManager()->setParameter(1,"COMPASS_AUTODEC",QVariant(1));
         }
         else
         {
-            m_uas->setParameter(0,"COMPASS_AUTODEC",QVariant(0));
+            m_uas->getParamManager()->setParameter(1,"COMPASS_AUTODEC",QVariant(0));
         }
     }
 }
diff --git a/src/ui/configuration/FlightModeConfig.cc b/src/ui/configuration/FlightModeConfig.cc
index 9e10175..e0a0457 100644
--- a/src/ui/configuration/FlightModeConfig.cc
+++ b/src/ui/configuration/FlightModeConfig.cc
@@ -135,29 +135,29 @@ void FlightModeConfig::saveButtonClicked()
 {
     if (m_uas->getSystemType() == MAV_TYPE_FIXED_WING)
     {
-        m_uas->setParameter(0,"FLTMODE1",(char)planeModeUiIndexToIndex[ui.mode1ComboBox->currentIndex()]);
-        m_uas->setParameter(0,"FLTMODE2",(char)planeModeUiIndexToIndex[ui.mode2ComboBox->currentIndex()]);
-        m_uas->setParameter(0,"FLTMODE3",(char)planeModeUiIndexToIndex[ui.mode3ComboBox->currentIndex()]);
-        m_uas->setParameter(0,"FLTMODE4",(char)planeModeUiIndexToIndex[ui.mode4ComboBox->currentIndex()]);
-        m_uas->setParameter(0,"FLTMODE5",(char)planeModeUiIndexToIndex[ui.mode5ComboBox->currentIndex()]);
-        m_uas->setParameter(0,"FLTMODE6",(char)planeModeUiIndexToIndex[ui.mode6ComboBox->currentIndex()]);
+        m_uas->getParamManager()->setParameter(1,"FLTMODE1",(char)planeModeUiIndexToIndex[ui.mode1ComboBox->currentIndex()]);
+        m_uas->getParamManager()->setParameter(1,"FLTMODE2",(char)planeModeUiIndexToIndex[ui.mode2ComboBox->currentIndex()]);
+        m_uas->getParamManager()->setParameter(1,"FLTMODE3",(char)planeModeUiIndexToIndex[ui.mode3ComboBox->currentIndex()]);
+        m_uas->getParamManager()->setParameter(1,"FLTMODE4",(char)planeModeUiIndexToIndex[ui.mode4ComboBox->currentIndex()]);
+        m_uas->getParamManager()->setParameter(1,"FLTMODE5",(char)planeModeUiIndexToIndex[ui.mode5ComboBox->currentIndex()]);
+        m_uas->getParamManager()->setParameter(1,"FLTMODE6",(char)planeModeUiIndexToIndex[ui.mode6ComboBox->currentIndex()]);
     }
     else if (m_uas->getSystemType() == MAV_TYPE_GROUND_ROVER)
     {
-        m_uas->setParameter(0,"MODE1",(char)roverModeUiIndexToIndex[ui.mode1ComboBox->currentIndex()]);
-        m_uas->setParameter(0,"MODE2",(char)roverModeUiIndexToIndex[ui.mode2ComboBox->currentIndex()]);
-        m_uas->setParameter(0,"MODE3",(char)roverModeUiIndexToIndex[ui.mode3ComboBox->currentIndex()]);
-        m_uas->setParameter(0,"MODE4",(char)roverModeUiIndexToIndex[ui.mode4ComboBox->currentIndex()]);
-        m_uas->setParameter(0,"MODE5",(char)roverModeUiIndexToIndex[ui.mode5ComboBox->currentIndex()]);
+        m_uas->getParamManager()->setParameter(1,"MODE1",(char)roverModeUiIndexToIndex[ui.mode1ComboBox->currentIndex()]);
+        m_uas->getParamManager()->setParameter(1,"MODE2",(char)roverModeUiIndexToIndex[ui.mode2ComboBox->currentIndex()]);
+        m_uas->getParamManager()->setParameter(1,"MODE3",(char)roverModeUiIndexToIndex[ui.mode3ComboBox->currentIndex()]);
+        m_uas->getParamManager()->setParameter(1,"MODE4",(char)roverModeUiIndexToIndex[ui.mode4ComboBox->currentIndex()]);
+        m_uas->getParamManager()->setParameter(1,"MODE5",(char)roverModeUiIndexToIndex[ui.mode5ComboBox->currentIndex()]);
     }
     else if (m_uas->getSystemType() == MAV_TYPE_QUADROTOR)
     {
-        m_uas->setParameter(0,"FLTMODE1",(char)ui.mode1ComboBox->currentIndex()+1);
-        m_uas->setParameter(0,"FLTMODE2",(char)ui.mode2ComboBox->currentIndex()+1);
-        m_uas->setParameter(0,"FLTMODE3",(char)ui.mode3ComboBox->currentIndex()+1);
-        m_uas->setParameter(0,"FLTMODE4",(char)ui.mode4ComboBox->currentIndex()+1);
-        m_uas->setParameter(0,"FLTMODE5",(char)ui.mode5ComboBox->currentIndex()+1);
-        m_uas->setParameter(0,"FLTMODE6",(char)ui.mode6ComboBox->currentIndex()+1);
+        m_uas->getParamManager()->setParameter(1,"FLTMODE1",(char)ui.mode1ComboBox->currentIndex()+1);
+        m_uas->getParamManager()->setParameter(1,"FLTMODE2",(char)ui.mode2ComboBox->currentIndex()+1);
+        m_uas->getParamManager()->setParameter(1,"FLTMODE3",(char)ui.mode3ComboBox->currentIndex()+1);
+        m_uas->getParamManager()->setParameter(1,"FLTMODE4",(char)ui.mode4ComboBox->currentIndex()+1);
+        m_uas->getParamManager()->setParameter(1,"FLTMODE5",(char)ui.mode5ComboBox->currentIndex()+1);
+        m_uas->getParamManager()->setParameter(1,"FLTMODE6",(char)ui.mode6ComboBox->currentIndex()+1);
     }
 }
 
diff --git a/src/ui/configuration/FrameTypeConfig.cc b/src/ui/configuration/FrameTypeConfig.cc
index 571c100..1e4fc5f 100644
--- a/src/ui/configuration/FrameTypeConfig.cc
+++ b/src/ui/configuration/FrameTypeConfig.cc
@@ -88,7 +88,7 @@ void FrameTypeConfig::xFrameSelected()
 {
     if (m_uas)
     {
-        m_uas->setParameter(0,"FRAME",QVariant(1));
+        m_uas->getParamManager()->setParameter(1,"FRAME",QVariant(1));
     }
 }
 
@@ -96,7 +96,7 @@ void FrameTypeConfig::plusFrameSelected()
 {
     if (m_uas)
     {
-        m_uas->setParameter(0,"FRAME",QVariant(0));
+        m_uas->getParamManager()->setParameter(1,"FRAME",QVariant(0));
     }
 }
 
@@ -104,6 +104,6 @@ void FrameTypeConfig::vFrameSelected()
 {
     if (m_uas)
     {
-        m_uas->setParameter(0,"FRAME",QVariant(2));
+        m_uas->getParamManager()->setParameter(1,"FRAME",QVariant(2));
     }
 }
diff --git a/src/ui/configuration/OpticalFlowConfig.cc b/src/ui/configuration/OpticalFlowConfig.cc
index 7c39431..085a83f 100644
--- a/src/ui/configuration/OpticalFlowConfig.cc
+++ b/src/ui/configuration/OpticalFlowConfig.cc
@@ -32,5 +32,5 @@ void OpticalFlowConfig::enableCheckBoxClicked(bool checked)
         QMessageBox::information(0,tr("Error"),tr("Please connect to a MAV before attempting to set configuration"));
         return;
     }
-    m_uas->setParameter(0,"FLOW_ENABLE",checked ? 1 : 0);
+    m_uas->getParamManager()->setParameter(1,"FLOW_ENABLE",checked ? 1 : 0);
 }
diff --git a/src/ui/configuration/OsdConfig.cc b/src/ui/configuration/OsdConfig.cc
index d71430e..8fd0d9f 100644
--- a/src/ui/configuration/OsdConfig.cc
+++ b/src/ui/configuration/OsdConfig.cc
@@ -17,21 +17,21 @@ void OsdConfig::enableButtonClicked()
         QMessageBox::information(0,tr("Error"),tr("Please connect to a MAV before attempting to set configuration"));
         return;
     }
-    m_uas->setParameter(0,"SR0_EXT_STAT",2);
-    m_uas->setParameter(0,"SR0_EXTRA1",10);
-    m_uas->setParameter(0,"SR0_EXTRA2",10);
-    m_uas->setParameter(0,"SR0_EXTRA3",2);
-    m_uas->setParameter(0,"SR0_POSITION",3);
-    m_uas->setParameter(0,"SR0_RAW_CTRL",2);
-    m_uas->setParameter(0,"SR0_RAW_SENS",2);
-    m_uas->setParameter(0,"SR0_RC_CHAN",2);
+    m_uas->getParamManager()->setParameter(1,"SR0_EXT_STAT",2);
+    m_uas->getParamManager()->setParameter(1,"SR0_EXTRA1",10);
+    m_uas->getParamManager()->setParameter(1,"SR0_EXTRA2",10);
+    m_uas->getParamManager()->setParameter(1,"SR0_EXTRA3",2);
+    m_uas->getParamManager()->setParameter(1,"SR0_POSITION",3);
+    m_uas->getParamManager()->setParameter(1,"SR0_RAW_CTRL",2);
+    m_uas->getParamManager()->setParameter(1,"SR0_RAW_SENS",2);
+    m_uas->getParamManager()->setParameter(1,"SR0_RC_CHAN",2);
 
-    m_uas->setParameter(0,"SR3_EXT_STAT",2);
-    m_uas->setParameter(0,"SR3_EXTRA1",10);
-    m_uas->setParameter(0,"SR3_EXTRA2",10);
-    m_uas->setParameter(0,"SR3_EXTRA3",2);
-    m_uas->setParameter(0,"SR3_POSITION",3);
-    m_uas->setParameter(0,"SR3_RAW_CTRL",2);
-    m_uas->setParameter(0,"SR3_RAW_SENS",2);
-    m_uas->setParameter(0,"SR3_RC_CHAN",2);
+    m_uas->getParamManager()->setParameter(1,"SR3_EXT_STAT",2);
+    m_uas->getParamManager()->setParameter(1,"SR3_EXTRA1",10);
+    m_uas->getParamManager()->setParameter(1,"SR3_EXTRA2",10);
+    m_uas->getParamManager()->setParameter(1,"SR3_EXTRA3",2);
+    m_uas->getParamManager()->setParameter(1,"SR3_POSITION",3);
+    m_uas->getParamManager()->setParameter(1,"SR3_RAW_CTRL",2);
+    m_uas->getParamManager()->setParameter(1,"SR3_RAW_SENS",2);
+    m_uas->getParamManager()->setParameter(1,"SR3_RC_CHAN",2);
 }
diff --git a/src/ui/configuration/RadioCalibrationConfig.cc b/src/ui/configuration/RadioCalibrationConfig.cc
index 047ffad..0de5107 100644
--- a/src/ui/configuration/RadioCalibrationConfig.cc
+++ b/src/ui/configuration/RadioCalibrationConfig.cc
@@ -213,11 +213,11 @@ void RadioCalibrationConfig::calibrateButtonClicked()
         {
             qDebug() << "SENDING MIN" << minTpl.arg(i+1) << rcMin[i];
             qDebug() << "SENDING MAX" << maxTpl.arg(i+1) << rcMax[i];
-            m_uas->setParameter(0, minTpl.arg(i+1), (float)rcMin[i]);
+            m_uas->getParamManager()->setParameter(1, minTpl.arg(i+1), (float)rcMin[i]);
             QGC::SLEEP::usleep(50000);
             //m_uas->setParameter(0, trimTpl.arg(i+1), rcTrim[i]);
             //QGC::SLEEP::usleep(50000);
-            m_uas->setParameter(0, maxTpl.arg(i+1), (float)rcMax[i]);
+            m_uas->getParamManager()->setParameter(1, maxTpl.arg(i+1), (float)rcMax[i]);
             QGC::SLEEP::usleep(50000);
         }
         ui.rollWidget->setMin(800);
diff --git a/src/ui/configuration/SonarConfig.cc b/src/ui/configuration/SonarConfig.cc
index 6c04a3b..586a7f9 100644
--- a/src/ui/configuration/SonarConfig.cc
+++ b/src/ui/configuration/SonarConfig.cc
@@ -26,7 +26,7 @@ void SonarConfig::checkBoxToggled(bool enabled)
         QMessageBox::information(0,tr("Error"),tr("Please connect to a MAV before attempting to set configuration"));
         return;
     }
-    m_uas->setParameter(0,"SONAR_ENABLE",ui.enableCheckBox->isChecked() ? 1 : 0);
+    m_uas->getParamManager()->setParameter(1,"SONAR_ENABLE",ui.enableCheckBox->isChecked() ? 1 : 0);
 }
 void SonarConfig::sonarTypeChanged(int index)
 {
@@ -35,7 +35,7 @@ void SonarConfig::sonarTypeChanged(int index)
         QMessageBox::information(0,tr("Error"),tr("Please connect to a MAV before attempting to set configuration"));
         return;
     }
-    m_uas->setParameter(0,"SONAR_TYPE",ui.sonarTypeComboBox->currentIndex());
+    m_uas->getParamManager()->setParameter(1,"SONAR_TYPE",ui.sonarTypeComboBox->currentIndex());
 }
 
 void SonarConfig::parameterChanged(int uas, int component, QString parameterName, QVariant value)