diff --git a/src/modules/systemlib/param/param_shmem.c b/src/modules/systemlib/param/param_shmem.c
index 6f882cddc6..333fa3e885 100644
--- a/src/modules/systemlib/param/param_shmem.c
+++ b/src/modules/systemlib/param/param_shmem.c
@@ -1,5 +1,3 @@
-
-
 /****************************************************************************
  *
  * Copyright (c) 2015 Vijay Venkatraman. All rights reserved.
@@ -125,6 +123,8 @@ uint64_t sync_other_prev_time = 0, sync_other_current_time = 0;
 
 extern void update_to_shmem(param_t param, union param_value_u value);
 extern int update_from_shmem(param_t param, union param_value_u *value);
+extern void update_index_from_shmem(void);
+
 static int param_set_internal(param_t param, const void *val, bool mark_saved, bool notify_changes, bool is_saved);
 unsigned char set_called_from_get = 0;
 
@@ -968,6 +968,10 @@ param_export(int fd, bool only_unsaved)
 		goto out;
 	}
 
+	/* First of all, update the index which will call param_get for params
+	 * that have recently been changed. */
+	update_index_from_shmem();
+
 	while ((s = (struct param_wbuf_s *)utarray_next(param_values, s)) != NULL) {
 
 		int32_t	i;
diff --git a/src/platforms/posix/px4_layer/shmem_posix.c b/src/platforms/posix/px4_layer/shmem_posix.c
index 0a672d7280..c9ec801ca9 100644
--- a/src/platforms/posix/px4_layer/shmem_posix.c
+++ b/src/platforms/posix/px4_layer/shmem_posix.c
@@ -65,6 +65,7 @@ void init_shared_memory(void);
 void copy_params_to_shmem(struct param_info_s *);
 void update_to_shmem(param_t param, union param_value_u value);
 int update_from_shmem(param_t param, union param_value_u *value);
+void update_index_from_shmem(void);
 uint64_t update_from_shmem_prev_time = 0, update_from_shmem_current_time = 0;
 static unsigned char adsp_changed_index[MAX_SHMEM_PARAMS / 8 + 1];
 
@@ -184,7 +185,7 @@ void copy_params_to_shmem(struct param_info_s *param_info_base)
 #endif
 	}
 
-	//PX4_DEBUG("written %u params to shmem offset %lu", param_count(), (unsigned char*)&shmem_info_p->params_count-(unsigned char*)shmem_info_p);
+	PX4_DEBUG("written %u params to shmem", param_count());
 
 	for (i = 0; i < MAX_SHMEM_PARAMS / 8 + 1; i++) {
 		shmem_info_p->krait_changed_index[i] = 0;
@@ -230,7 +231,7 @@ void update_to_shmem(param_t param, union param_value_u value)
 
 }
 
-static void update_index_from_shmem(void)
+void update_index_from_shmem(void)
 {
 	unsigned int i;
 
diff --git a/src/platforms/qurt/px4_layer/shmem_qurt.c b/src/platforms/qurt/px4_layer/shmem_qurt.c
index df77576f05..39a2e93d14 100644
--- a/src/platforms/qurt/px4_layer/shmem_qurt.c
+++ b/src/platforms/qurt/px4_layer/shmem_qurt.c
@@ -47,6 +47,8 @@
 #include <shmem.h>
 #include <drivers/drv_hrt.h>
 
+//#define SHMEM_DEBUG
+
 int mem_fd;
 unsigned char *map_base, *virt_addr;
 struct shmem_info *shmem_info_p;
@@ -57,9 +59,19 @@ void init_shared_memory(void);
 void copy_params_to_shmem(struct param_info_s *);
 void update_to_shmem(param_t param, union param_value_u value);
 int update_from_shmem(param_t param, union param_value_u *value);
+void update_index_from_shmem(void);
 uint64_t update_from_shmem_prev_time = 0, update_from_shmem_current_time = 0;
 static unsigned char krait_changed_index[MAX_SHMEM_PARAMS / 8 + 1];
 
+// Small helper to get log2 for ints
+static unsigned log2_for_int(unsigned v) {
+	unsigned r = 0;
+	while (v >>= 1) {
+		++r;
+	}
+	return r;
+}
+
 struct param_wbuf_s {
 	param_t			param;
 	union param_value_u	val;
@@ -206,7 +218,7 @@ void update_to_shmem(param_t param, union param_value_u value)
 
 }
 
-static void update_index_from_shmem(void)
+void update_index_from_shmem(void)
 {
 	unsigned int i;
 
@@ -215,10 +227,25 @@ static void update_index_from_shmem(void)
 		return;
 	}
 
-	//PX4_INFO("Updating index from shmem\n");
+	PX4_DEBUG("Updating index from shmem\n");
 
 	for (i = 0; i < MAX_SHMEM_PARAMS / 8 + 1; i++) {
-		krait_changed_index[i] = shmem_info_p->krait_changed_index[i];
+		// Check if any param has been changed.
+		if (krait_changed_index[i] != shmem_info_p->krait_changed_index[i]) {
+
+			// If a param has changed, we need to find out which one.
+			// From the byte and bit that is different, we can resolve the param number.
+			unsigned bit = log2_for_int(krait_changed_index[i] ^ shmem_info_p->krait_changed_index[i]);
+			param_t param_to_get = i*8+bit;
+
+			// Update our krait_changed_index as well.
+			krait_changed_index[i] = shmem_info_p->krait_changed_index[i];
+
+			// FIXME: this is a hack but it gets the param so that it gets added
+			// to the local list param_values in param_shmem.c.
+			int32_t dummy;
+			param_get(param_to_get, &dummy);
+		}
 	}
 
 	release_shmem_lock();
@@ -285,7 +312,7 @@ int update_from_shmem(param_t param, union param_value_u *value)
 
 	//else {PX4_INFO("no change to param %s\n", param_name(param));}
 
-	//PX4_INFO("%s %d bit on krait changed index[%d]\n", (retval)?"cleared":"unchanged", bit_changed, byte_changed);
+	PX4_DEBUG("%s %d bit on krait changed index[%d]\n", (retval)?"cleared":"unchanged", bit_changed, byte_changed);
 
 	return retval;
 }