diff --git a/src/modules/mavlink/mavlink_parameters.cpp b/src/modules/mavlink/mavlink_parameters.cpp
index c2d10c53ea..a20035172b 100644
--- a/src/modules/mavlink/mavlink_parameters.cpp
+++ b/src/modules/mavlink/mavlink_parameters.cpp
@@ -284,6 +284,38 @@ MavlinkParametersManager::handle_message(const mavlink_message_t *msg)
 void
 MavlinkParametersManager::send()
 {
+	if (!_first_send) {
+		// parameters QGC can't tolerate not finding (2020-11-11)
+		param_find("BAT_A_PER_V");
+		param_find("BAT_CRIT_THR");
+		param_find("BAT_EMERGEN_THR");
+		param_find("BAT_LOW_THR");
+		param_find("BAT_N_CELLS");
+		param_find("BAT_V_CHARGED");
+		param_find("BAT_V_DIV");
+		param_find("BAT_V_EMPTY");
+		param_find("CAL_ACC0_ID");
+		param_find("CAL_GYRO0_ID");
+		param_find("CAL_MAG0_ID");
+		param_find("CAL_MAG0_ROT");
+		param_find("CAL_MAG1_ID");
+		param_find("CAL_MAG1_ROT");
+		param_find("CAL_MAG2_ID");
+		param_find("CAL_MAG2_ROT");
+		param_find("CAL_MAG3_ID");
+		param_find("CAL_MAG3_ROT");
+		param_find("SENS_BOARD_ROT");
+		param_find("SENS_BOARD_X_OFF");
+		param_find("SENS_BOARD_Y_OFF");
+		param_find("SENS_BOARD_Z_OFF");
+		param_find("SENS_DPRES_OFF");
+		param_find("SYS_PARAM_VER");
+		param_find("TRIG_MODE");
+		param_find("UAVCAN_ENABLE");
+
+		_first_send = true;
+	}
+
 	int max_num_to_send;
 
 	if (_mavlink->get_protocol() == Protocol::SERIAL && !_mavlink->is_usb_uart()) {
diff --git a/src/modules/mavlink/mavlink_parameters.h b/src/modules/mavlink/mavlink_parameters.h
index 140c8973d3..a71657f1d6 100644
--- a/src/modules/mavlink/mavlink_parameters.h
+++ b/src/modules/mavlink/mavlink_parameters.h
@@ -152,4 +152,6 @@ protected:
 	int _param_update_index{0};
 
 	Mavlink *_mavlink;
+
+	bool _first_send{false};
 };
diff --git a/src/modules/sensors/sensors.cpp b/src/modules/sensors/sensors.cpp
index 326e9f4d63..ae87688808 100644
--- a/src/modules/sensors/sensors.cpp
+++ b/src/modules/sensors/sensors.cpp
@@ -235,23 +235,7 @@ Sensors::Sensors(bool hil_enabled) :
 	_parameter_handles.air_tube_length = param_find("CAL_AIR_TUBELEN");
 	_parameter_handles.air_tube_diameter_mm = param_find("CAL_AIR_TUBED_MM");
 
-	param_find("BAT_V_DIV");
-	param_find("BAT_A_PER_V");
-
-	param_find("CAL_ACC0_ID");
-	param_find("CAL_GYRO0_ID");
-
-	param_find("SENS_BOARD_ROT");
-	param_find("SENS_BOARD_X_OFF");
-	param_find("SENS_BOARD_Y_OFF");
-	param_find("SENS_BOARD_Z_OFF");
-
 	param_find("SYS_FAC_CAL_MODE");
-	param_find("SYS_PARAM_VER");
-	param_find("SYS_AUTOSTART");
-	param_find("SYS_AUTOCONFIG");
-	param_find("TRIG_MODE");
-	param_find("UAVCAN_ENABLE");
 
 	// Parameters controlling the on-board sensor thermal calibrator
 	param_find("SYS_CAL_TDEL");
diff --git a/src/modules/sensors/vehicle_magnetometer/VehicleMagnetometer.cpp b/src/modules/sensors/vehicle_magnetometer/VehicleMagnetometer.cpp
index 5db4b94227..91cd59724e 100644
--- a/src/modules/sensors/vehicle_magnetometer/VehicleMagnetometer.cpp
+++ b/src/modules/sensors/vehicle_magnetometer/VehicleMagnetometer.cpp
@@ -48,18 +48,6 @@ VehicleMagnetometer::VehicleMagnetometer() :
 	ModuleParams(nullptr),
 	ScheduledWorkItem(MODULE_NAME, px4::wq_configurations::nav_and_controllers)
 {
-	char str[20] {};
-
-	for (int mag_index = 0; mag_index < MAX_SENSOR_COUNT; mag_index++) {
-		// CAL_MAGx_ID
-		sprintf(str, "CAL_%s%u_ID", "MAG", mag_index);
-		param_find(str);
-
-		// CAL_MAGx_ROT
-		sprintf(str, "CAL_%s%u_ROT", "MAG", mag_index);
-		param_find(str);
-	}
-
 	param_find("CAL_MAG_SIDES");
 	param_find("CAL_MAG_ROT_AUTO");