diff --git a/ArduCopter/setup.pde b/ArduCopter/setup.pde
index d6ffa2b62c..80d4688d42 100644
--- a/ArduCopter/setup.pde
+++ b/ArduCopter/setup.pde
@@ -21,12 +21,13 @@ static int8_t   setup_range             (uint8_t argc, const Menu::arg *argv);
 static int8_t   setup_declination       (uint8_t argc, const Menu::arg *argv);
 static int8_t   setup_optflow           (uint8_t argc, const Menu::arg *argv);
 
-
  #if FRAME_CONFIG == HELI_FRAME
 static int8_t   setup_heli              (uint8_t argc, const Menu::arg *argv);
 static int8_t   setup_gyro              (uint8_t argc, const Menu::arg *argv);
  #endif
 
+static int8_t   setup_set               (uint8_t argc, const Menu::arg *argv);
+
 // Command/function table for the setup menu
 const struct Menu::command setup_menu_commands[] PROGMEM = {
     // command			function called
@@ -52,7 +53,8 @@ const struct Menu::command setup_menu_commands[] PROGMEM = {
     {"heli",                        setup_heli},
     {"gyro",                        setup_gyro},
  #endif
-    {"show",                        setup_show}
+    {"show",                        setup_show},
+    {"set",                         setup_set}
 };
 
 // Create the setup menu object.
@@ -87,6 +89,43 @@ setup_mode(uint8_t argc, const Menu::arg *argv)
 static int8_t
 setup_show(uint8_t argc, const Menu::arg *argv)
 {
+    AP_Param *param;
+    ap_var_type type;
+
+    //If a parameter name is given as an argument to show, print only that parameter
+    if(argc>=2)
+    {
+
+        param=AP_Param::find(argv[1].str, &type);
+
+        if(!param)
+        {
+            cliSerial->printf_P(PSTR("Parameter not found: '%s'\n"), argv[1]);
+            return 0;
+        }
+
+        //Print differently for different types, and include parameter type in output.
+        switch (type) {
+            case AP_PARAM_INT8:
+                cliSerial->printf_P(PSTR("INT8  %s: %d\n"), argv[1].str, (int)((AP_Int8 *)param)->get());
+                break;
+            case AP_PARAM_INT16:
+                cliSerial->printf_P(PSTR("INT16 %s: %d\n"), argv[1].str, (int)((AP_Int16 *)param)->get());
+                break;
+            case AP_PARAM_INT32:
+                cliSerial->printf_P(PSTR("INT32 %s: %ld\n"), argv[1].str, (long)((AP_Int32 *)param)->get());
+                break;
+            case AP_PARAM_FLOAT:
+                cliSerial->printf_P(PSTR("FLOAT %s: %f\n"), argv[1].str, ((AP_Float *)param)->get());
+                break;
+            default:
+                cliSerial->printf_P(PSTR("Unhandled parameter type for %s: %d.\n"), argv[1].str, type);
+                break;
+        }
+
+        return 0;
+    }
+
     // clear the area
     print_blanks(8);
 
@@ -991,7 +1030,64 @@ setup_optflow(uint8_t argc, const Menu::arg *argv)
     return 0;
 }
 
+//Set a parameter to a specified value. It will cast the value to the current type of the
+//parameter and make sure it fits in case of INT8 and INT16
+static int8_t setup_set(uint8_t argc, const Menu::arg *argv)
+{
+    int8_t value_int8;
+    int16_t value_int16;
 
+    AP_Param *param;
+    enum ap_var_type p_type;
+
+    if(argc!=3)
+    {
+        cliSerial->printf_P(PSTR("Invalid command. Usage: set <name> <value>\n"));
+        return 0;
+    }
+
+    param = AP_Param::find(argv[1].str, &p_type);
+    if(!param)
+    {
+        cliSerial->printf_P(PSTR("Param not found: %s\n"), argv[1].str);
+        return 0;
+    }
+
+    switch(p_type)
+    {
+        case AP_PARAM_INT8:
+            value_int8 = (int8_t)(argv[2].i);
+            if(argv[2].i!=value_int8)
+            {
+                cliSerial->printf_P(PSTR("Value out of range for type INT8\n"));
+                return 0;
+            }
+            ((AP_Int8*)param)->set_and_save(value_int8);
+            break;
+        case AP_PARAM_INT16:
+            value_int16 = (int16_t)(argv[2].i);
+            if(argv[2].i!=value_int16)
+            {
+                cliSerial->printf_P(PSTR("Value out of range for type INT16\n"));
+                return 0;
+            }
+            ((AP_Int16*)param)->set_and_save(value_int16);
+            break;
+
+        //int32 and float don't need bounds checking, just use the value provoded by Menu::arg
+        case AP_PARAM_INT32:
+            ((AP_Int32*)param)->set_and_save(argv[2].i);
+            break;
+        case AP_PARAM_FLOAT:
+            ((AP_Float*)param)->set_and_save(argv[2].f);
+            break;
+        default:
+            cliSerial->printf_P(PSTR("Cannot set parameter of type %d.\n"), p_type);
+            break;
+    }
+
+    return 0;
+}
 
 /***************************************************************************/
 // CLI reports