diff --git a/platforms/common/include/px4_platform_common/atomic_bitset.h b/platforms/common/include/px4_platform_common/atomic_bitset.h
index 1cd97eef49..1f5bef969a 100644
--- a/platforms/common/include/px4_platform_common/atomic_bitset.h
+++ b/platforms/common/include/px4_platform_common/atomic_bitset.h
@@ -80,6 +80,14 @@ public:
 		}
 	}
 
+	void reset()
+	{
+		// set bits to false
+		for (auto &d : _data) {
+			d.store(0);
+		}
+	}
+
 private:
 	static constexpr uint8_t BITS_PER_ELEMENT = 32;
 	static constexpr size_t ARRAY_SIZE = ((N % BITS_PER_ELEMENT) == 0) ? (N / BITS_PER_ELEMENT) :
diff --git a/src/include/containers/Bitset.hpp b/src/include/containers/Bitset.hpp
index 44d50703c5..8098554b93 100644
--- a/src/include/containers/Bitset.hpp
+++ b/src/include/containers/Bitset.hpp
@@ -76,6 +76,14 @@ public:
 		}
 	}
 
+	void reset()
+	{
+		// set bits to false
+		for (auto &d : _data) {
+			d = 0;
+		}
+	}
+
 private:
 	static constexpr uint8_t BITS_PER_ELEMENT = 8;
 	static constexpr size_t ARRAY_SIZE = (N % BITS_PER_ELEMENT == 0) ? N / BITS_PER_ELEMENT : N / BITS_PER_ELEMENT + 1;
diff --git a/src/lib/parameters/flashparams/flashparams.cpp b/src/lib/parameters/flashparams/flashparams.cpp
index 80e73308c5..e0d38b3d80 100644
--- a/src/lib/parameters/flashparams/flashparams.cpp
+++ b/src/lib/parameters/flashparams/flashparams.cpp
@@ -72,11 +72,10 @@
 struct param_wbuf_s {
 	union param_value_u     val;
 	param_t                 param;
-	bool                    unsaved;
 };
 
 static int
-param_export_internal(bool only_unsaved, param_filter_func filter)
+param_export_internal(param_filter_func filter)
 {
 	struct param_wbuf_s *s = nullptr;
 	bson_encoder_s encoder{};
@@ -97,20 +96,10 @@ param_export_internal(bool only_unsaved, param_filter_func filter)
 		int32_t i;
 		float   f;
 
-		/*
-		 * If we are only saving values changed since last save, and this
-		 * one hasn't, then skip it
-		 */
-		if (only_unsaved && !s->unsaved) {
-			continue;
-		}
-
 		if (filter && !filter(s->param)) {
 			continue;
 		}
 
-		s->unsaved = false;
-
 		/* append the appropriate BSON type object */
 
 		switch (param_type(s->param)) {
@@ -310,9 +299,9 @@ out:
 	return result;
 }
 
-int flash_param_save(bool only_unsaved, param_filter_func filter)
+int flash_param_save(param_filter_func filter)
 {
-	return param_export_internal(only_unsaved, filter);
+	return param_export_internal(filter);
 }
 
 int flash_param_load()
diff --git a/src/lib/parameters/flashparams/flashparams.h b/src/lib/parameters/flashparams/flashparams.h
index 9f646a21ec..2620e5e91d 100644
--- a/src/lib/parameters/flashparams/flashparams.h
+++ b/src/lib/parameters/flashparams/flashparams.h
@@ -62,7 +62,7 @@ __EXPORT int param_set_external(param_t param, const void *val, bool mark_saved,
 __EXPORT const void *param_get_value_ptr_external(param_t param);
 
 /* The interface hooks to the Flash based storage. The caller is responsible for locking */
-__EXPORT int flash_param_save(bool only_unsaved, param_filter_func filter);
+__EXPORT int flash_param_save(param_filter_func filter);
 __EXPORT int flash_param_load();
 __EXPORT int flash_param_import();
 
diff --git a/src/lib/parameters/param.h b/src/lib/parameters/param.h
index 42355b7686..8ca7546a89 100644
--- a/src/lib/parameters/param.h
+++ b/src/lib/parameters/param.h
@@ -318,12 +318,11 @@ __EXPORT void		param_reset_specific(const char *resets[], int num_resets);
  * Note: this method requires a large amount of stack size!
  *
  * @param fd		File descriptor to export to (-1 selects the FLASH storage).
- * @param only_unsaved	Only export changed parameters that have not yet been exported.
  * @param filter	Filter parameters to be exported. The method should return true if
  * 			the parameter should be exported. No filtering if nullptr is passed.
  * @return		Zero on success, nonzero on failure.
  */
-__EXPORT int		param_export(int fd, bool only_unsaved, param_filter_func filter);
+__EXPORT int		param_export(int fd, param_filter_func filter);
 
 /**
  * Import parameters from a file, discarding any unrecognized parameters.
diff --git a/src/lib/parameters/parameters.cpp b/src/lib/parameters/parameters.cpp
index 750eb37675..665c709574 100644
--- a/src/lib/parameters/parameters.cpp
+++ b/src/lib/parameters/parameters.cpp
@@ -72,7 +72,7 @@ using namespace time_literals;
 #if defined(FLASH_BASED_PARAMS)
 #include "flashparams/flashparams.h"
 #else
-inline static int flash_param_save(bool only_unsaved, param_filter_func filter) { return -1; }
+inline static int flash_param_save(param_filter_func filter) { return -1; }
 inline static int flash_param_load() { return -1; }
 inline static int flash_param_import() { return -1; }
 #endif
@@ -91,12 +91,12 @@ static constexpr uint16_t param_info_count = sizeof(px4::parameters) / sizeof(pa
 static px4::AtomicBitset<param_info_count> params_active;  // params found
 static px4::AtomicBitset<param_info_count> params_changed; // params non-default
 static px4::Bitset<param_info_count> params_custom_default; // params with runtime default value
+static px4::AtomicBitset<param_info_count> params_unsaved;
 
 // Storage for modified parameters.
 struct param_wbuf_s {
 	union param_value_u val;
 	param_t             param;
-	bool                unsaved;
 };
 
 /** flexible array holding modified parameter values */
@@ -413,12 +413,7 @@ bool param_is_volatile(param_t param)
 bool
 param_value_unsaved(param_t param)
 {
-	struct param_wbuf_s *s;
-	param_lock_reader();
-	s = param_find_changed(param);
-	bool ret = s && s->unsaved;
-	param_unlock_reader();
-	return ret;
+	return handle_in_range(param) ? params_unsaved[param] : false;
 }
 
 size_t param_size(param_t param)
@@ -740,9 +735,8 @@ param_set_internal(param_t param, const void *val, bool mark_saved, bool notify_
 		utarray_new(param_values, &param_icd);
 
 		// mark all parameters unchanged (default)
-		for (int i = 0; i < params_changed.size(); i++) {
-			params_changed.set(i, false);
-		}
+		params_changed.reset();
+		params_unsaved.reset();
 	}
 
 	if (param_values == nullptr) {
@@ -768,31 +762,41 @@ param_set_internal(param_t param, const void *val, bool mark_saved, bool notify_
 			s = param_find_changed(param);
 		}
 
-		if (s != nullptr) {
+		if (s == nullptr) {
+			PX4_ERR("error param_values storage slot invalid");
+
+		} else {
 			/* update the changed value */
 			switch (param_type(param)) {
 			case PARAM_TYPE_INT32:
-				param_changed = param_changed || s->val.i != *(int32_t *)val;
-				s->val.i = *(int32_t *)val;
-				s->unsaved = !mark_saved;
+				if (s->val.i != *(int32_t *)val) {
+					s->val.i = *(int32_t *)val;
+					param_changed = true;
+				}
+
 				params_changed.set(param, true);
+				params_unsaved.set(param, !mark_saved);
 				result = PX4_OK;
 				break;
 
 			case PARAM_TYPE_FLOAT:
-				param_changed = param_changed || fabsf(s->val.f - * (float *)val) > FLT_EPSILON;
-				s->val.f = *(float *)val;
-				s->unsaved = !mark_saved;
+				if (fabsf(s->val.f - * (float *)val) > FLT_EPSILON) {
+					s->val.f = *(float *)val;
+					param_changed = true;
+				}
+
 				params_changed.set(param, true);
+				params_unsaved.set(param, !mark_saved);
 				result = PX4_OK;
 				break;
 
 			default:
+				PX4_ERR("param_set invalid param type for %s", param_name(param));
 				break;
 			}
 		}
 
-		if ((result == PX4_OK) && !mark_saved) { // this is false when importing parameters
+		if ((result == PX4_OK) && param_changed && !mark_saved) { // this is false when importing parameters
 			param_autosave();
 		}
 	}
@@ -870,15 +874,13 @@ int param_set_default_value(param_t param, const void *val)
 		utarray_new(param_custom_default_values, &param_icd);
 
 		// mark all parameters unchanged (default)
-		for (int i = 0; i < params_custom_default.size(); i++) {
-			params_custom_default.set(i, false);
-		}
-	}
+		params_custom_default.reset();
 
-	if (param_custom_default_values == nullptr) {
-		PX4_ERR("failed to allocate custom default values array");
-		param_unlock_writer();
-		return PX4_ERROR;
+		if (param_custom_default_values == nullptr) {
+			PX4_ERR("failed to allocate custom default values array");
+			param_unlock_writer();
+			return PX4_ERROR;
+		}
 	}
 
 	// check if param being set to default value
@@ -890,7 +892,7 @@ int param_set_default_value(param_t param, const void *val)
 		break;
 
 	case PARAM_TYPE_FLOAT:
-		setting_to_static_default = (fabsf(px4::parameters[param].val.f - * (float *)val) < FLT_EPSILON);
+		setting_to_static_default = (fabsf(px4::parameters[param].val.f - * (float *)val) <= FLT_EPSILON);
 		break;
 	}
 
@@ -977,6 +979,7 @@ static int param_reset_internal(param_t param, bool notify = true)
 		}
 
 		params_changed.set(param, false);
+		params_unsaved.set(param, true);
 
 		param_found = true;
 	}
@@ -1003,9 +1006,7 @@ param_reset_all_internal(bool auto_save)
 	if (param_values != nullptr) {
 		utarray_free(param_values);
 
-		for (int i = 0; i < params_changed.size(); i++) {
-			params_changed.set(i, false);
-		}
+		params_changed.reset();
 	}
 
 	/* mark as reset / deleted */
@@ -1147,7 +1148,7 @@ static int param_save_file_internal(const char *filename)
 		int fd = ::open(filename, O_WRONLY | O_CREAT, PX4_O_MODE_666);
 
 		if (fd > -1) {
-			res = param_export(fd, false, nullptr);
+			res = param_export(fd, nullptr);
 			::close(fd);
 
 			if (res == PX4_OK) {
@@ -1184,6 +1185,7 @@ int param_save_default()
 		param_lock_writer();
 		perf_begin(param_export_perf);
 		res = flash_param_save(false, nullptr);
+		params_unsaved.reset();
 		perf_end(param_export_perf);
 		param_unlock_writer();
 	}
@@ -1233,7 +1235,7 @@ param_load_default()
 }
 
 int
-param_export(int fd, bool only_unsaved, param_filter_func filter)
+param_export(int fd, param_filter_func filter)
 {
 	int	result = -1;
 	perf_begin(param_export_perf);
@@ -1241,7 +1243,8 @@ param_export(int fd, bool only_unsaved, param_filter_func filter)
 	if (fd < 0) {
 		param_lock_writer();
 		// flash_param_save() will take the shutdown lock
-		result = flash_param_save(only_unsaved, filter);
+		result = flash_param_save(filter);
+		params_unsaved.reset();
 		param_unlock_writer();
 		perf_end(param_export_perf);
 		return result;
@@ -1271,14 +1274,6 @@ param_export(int fd, bool only_unsaved, param_filter_func filter)
 	}
 
 	while ((s = (struct param_wbuf_s *)utarray_next(param_values, s)) != nullptr) {
-		/*
-		 * If we are only saving values changed since last save, and this
-		 * one hasn't, then skip it
-		 */
-		if (only_unsaved && !s->unsaved) {
-			continue;
-		}
-
 		if (filter && !filter(s->param)) {
 			continue;
 		}
@@ -1308,8 +1303,6 @@ param_export(int fd, bool only_unsaved, param_filter_func filter)
 			break;
 		}
 
-		s->unsaved = false;
-
 		const char *name = param_name(s->param);
 		const size_t size = param_size(s->param);
 
@@ -1347,7 +1340,12 @@ param_export(int fd, bool only_unsaved, param_filter_func filter)
 out:
 
 	if (result == 0) {
-		if (bson_encoder_fini(&encoder) != PX4_OK) {
+		if (bson_encoder_fini(&encoder) == PX4_OK) {
+			if (!filter) {
+				params_unsaved.reset();
+			}
+
+		} else {
 			PX4_ERR("BSON encoder finialize failed");
 			result = -1;
 		}
diff --git a/src/modules/commander/factory_calibration_storage.cpp b/src/modules/commander/factory_calibration_storage.cpp
index 075b9b8ec5..f64fbce346 100644
--- a/src/modules/commander/factory_calibration_storage.cpp
+++ b/src/modules/commander/factory_calibration_storage.cpp
@@ -84,7 +84,7 @@ int FactoryCalibrationStorage::store()
 		return 0;
 	}
 
-	int ret = param_export(_fd, false, filter_calibration_params);
+	int ret = param_export(_fd, filter_calibration_params);
 
 	if (ret != 0) {
 		PX4_ERR("param export failed (%i)", ret);
diff --git a/src/systemcmds/param/param.cpp b/src/systemcmds/param/param.cpp
index ec993c572f..424b0b5436 100644
--- a/src/systemcmds/param/param.cpp
+++ b/src/systemcmds/param/param.cpp
@@ -441,7 +441,7 @@ do_save(const char *param_file_name)
 		return 1;
 	}
 
-	int result = param_export(fd, false, nullptr);
+	int result = param_export(fd, nullptr);
 	close(fd);
 
 	if (result < 0) {
diff --git a/src/systemcmds/tests/test_parameters.cpp b/src/systemcmds/tests/test_parameters.cpp
index 63cffd1532..ae162d3d4c 100644
--- a/src/systemcmds/tests/test_parameters.cpp
+++ b/src/systemcmds/tests/test_parameters.cpp
@@ -408,7 +408,7 @@ bool ParameterTest::exportImportAll()
 		return false;
 	}
 
-	int result = param_export(fd, false, nullptr);
+	int result = param_export(fd, nullptr);
 
 	if (result != PX4_OK) {
 		PX4_ERR("param_export failed");