diff --git a/src/modules/systemlib/param/param.c b/src/modules/systemlib/param/param.c
index aa10f19ec79d..0b1415adfb42 100644
--- a/src/modules/systemlib/param/param.c
+++ b/src/modules/systemlib/param/param.c
@@ -499,15 +499,22 @@ param_reset_excludes(const char* excludes[], int num_excludes)
 
 	for (param = 0; handle_in_range(param); param++) {
 		const char* name = param_name(param);
+		bool exclude = false;
+
+		for (int index = 0; index < num_excludes; index ++) {
+			int len = strlen(excludes[index]);
 
-		for (int index = 0, len = strlen(excludes[index]); index < num_excludes; index ++) {
 			if((excludes[index][len - 1] == '*'
-				&& strncmp(name, excludes[index], len - 1)) == 0
+				&& strncmp(name, excludes[index], len - 1) == 0)
 				|| strcmp(name, excludes[index]) == 0) {
-
-				param_reset(param);
+				exclude = true;
+				break;
 			}
 		}
+
+		if(!exclude) {
+			param_reset(param);
+		}
 	}
 
 	param_unlock();
diff --git a/unittests/param_test.cpp b/unittests/param_test.cpp
index bd2a9a45d6fd..5ea6bcc6024f 100644
--- a/unittests/param_test.cpp
+++ b/unittests/param_test.cpp
@@ -3,7 +3,9 @@
 
 #include "gtest/gtest.h"
 
-
+/*
+ * These will be used in param.c if compiling for unit tests
+ */
 struct param_info_s	param_array[256];
 struct param_info_s	*param_info_base;
 struct param_info_s	*param_info_limit;
@@ -24,16 +26,48 @@ void _add_parameters() {
 	};
 	test_2.val.i = 4;
 
+	struct param_info_s rc_x = {
+		"RC_X",
+		PARAM_TYPE_INT32
+	};
+	rc_x.val.i = 8;
+
+	struct param_info_s rc2_x = {
+		"RC2_X",
+		PARAM_TYPE_INT32
+	};
+	rc2_x.val.i = 16;
+
 	param_array[0] = test_1;
 	param_array[1] = test_2;
+	param_array[2] = rc_x;
+	param_array[3] = rc2_x;
 	param_info_base = (struct param_info_s *) &param_array[0];
-	param_info_limit = (struct param_info_s *) &param_array[2];
+	param_info_limit = (struct param_info_s *) &param_array[4]; 	// needs to point at the end of the data,
+									// therefore number of params + 1
+}
+
+void _assert_parameter_int_value(param_t param, int32_t expected) {
+	int32_t value;
+	int result = param_get(param, &value);
+	ASSERT_EQ(0, result) << printf("param_get (%i) did not return parameter\n", param);
+	ASSERT_EQ(expected, value) << printf("value for param (%i) doesn't match default value\n", param);
+}
+
+void _set_all_int_parameters_to(int32_t value) {
+	param_set((param_t)0, &value);
+	param_set((param_t)1, &value);
+	param_set((param_t)2, &value);
+	param_set((param_t)3, &value);
+
+	_assert_parameter_int_value((param_t)0, value);
+	_assert_parameter_int_value((param_t)1, value);
+	_assert_parameter_int_value((param_t)2, value);
+	_assert_parameter_int_value((param_t)3, value);
 }
 
 TEST(ParamTest, SimpleFind) {
 	_add_parameters();
-
-	printf("diff: %i\n", (unsigned)(param_info_limit - param_info_base));
 	
 	param_t param = param_find("TEST_2");
 	ASSERT_NE(PARAM_INVALID, param) << "param_find did not find parameter";
@@ -44,4 +78,66 @@ TEST(ParamTest, SimpleFind) {
 	ASSERT_EQ(4, value) << "value of returned parameter does not match";
 }
 
+TEST(ParamTest, ResetAll) {
+	_add_parameters();
+	_set_all_int_parameters_to(50);
+
+	param_reset_all();
+
+	_assert_parameter_int_value((param_t)0, 2);
+	_assert_parameter_int_value((param_t)1, 4);
+	_assert_parameter_int_value((param_t)2, 8);
+	_assert_parameter_int_value((param_t)3, 16);
+}
+
+TEST(ParamTest, ResetAllExcludesOne) {
+	_add_parameters();
+	_set_all_int_parameters_to(50);
+
+	const char* excludes[] = {"RC_X"};
+	param_reset_excludes(excludes, 1);
+
+	_assert_parameter_int_value((param_t)0, 2);
+	_assert_parameter_int_value((param_t)1, 4);
+	_assert_parameter_int_value((param_t)2, 50);
+	_assert_parameter_int_value((param_t)3, 16);
+}
+
+TEST(ParamTest, ResetAllExcludesTwo) {
+	_add_parameters();
+	_set_all_int_parameters_to(50);
+
+	const char* excludes[] = {"RC_X", "TEST_1"};
+	param_reset_excludes(excludes, 2);
+
+	_assert_parameter_int_value((param_t)0, 50);
+	_assert_parameter_int_value((param_t)1, 4);
+	_assert_parameter_int_value((param_t)2, 50);
+	_assert_parameter_int_value((param_t)3, 16);
+}
+
+TEST(ParamTest, ResetAllExcludesBoundaryCheck) {
+	_add_parameters();
+	_set_all_int_parameters_to(50);
+
+	const char* excludes[] = {"RC_X", "TEST_1"};
+	param_reset_excludes(excludes, 1);
+
+	_assert_parameter_int_value((param_t)0, 2);
+	_assert_parameter_int_value((param_t)1, 4);
+	_assert_parameter_int_value((param_t)2, 50);
+	_assert_parameter_int_value((param_t)3, 16);
+}
+
+TEST(ParamTest, ResetAllExcludesWildcard) {
+	_add_parameters();
+	_set_all_int_parameters_to(50);
+
+	const char* excludes[] = {"RC*"};
+	param_reset_excludes(excludes, 1);
 
+	_assert_parameter_int_value((param_t)0, 2);
+	_assert_parameter_int_value((param_t)1, 4);
+	_assert_parameter_int_value((param_t)2, 50);
+	_assert_parameter_int_value((param_t)3, 50);
+}
\ No newline at end of file