diff --git a/mc_rtc_rviz_panel/src/FormElement.cpp b/mc_rtc_rviz_panel/src/FormElement.cpp
index 5bfaec4..01a9f3a 100644
--- a/mc_rtc_rviz_panel/src/FormElement.cpp
+++ b/mc_rtc_rviz_panel/src/FormElement.cpp
@@ -320,8 +320,9 @@ ComboInput::ComboInput(QWidget * parent,
                        const std::string & name,
                        bool required,
                        const std::vector<std::string> & values,
-                       bool send_index)
-: FormElement(parent, name, required), values_(values), send_index_(send_index)
+                       bool send_index,
+                       int def)
+: FormElement(parent, name, required), values_(values), send_index_(send_index), def_(def)
 {
   auto layout = new QVBoxLayout(this);
   combo_ = new QComboBox(this);
@@ -338,13 +339,13 @@ ComboInput::ComboInput(QWidget * parent,
 
 void ComboInput::reset()
 {
-  combo_->setCurrentIndex(-1);
-  ready_ = false;
+  combo_->setCurrentIndex(def_);
+  ready_ = (def_ >= 0);
 }
 
-bool ComboInput::changed(bool required, const std::vector<std::string> & values, bool send_index)
+bool ComboInput::changed(bool required, const std::vector<std::string> & values, bool send_index, int def)
 {
-  return changed_(required) || values_ != values || send_index_ != send_index;
+  return changed_(required) || values_ != values || send_index_ != send_index || def_ != def;
 }
 
 void ComboInput::currentIndexChanged(int idx)
diff --git a/mc_rtc_rviz_panel/src/FormElement.h b/mc_rtc_rviz_panel/src/FormElement.h
index c5a15fc..27d5905 100644
--- a/mc_rtc_rviz_panel/src/FormElement.h
+++ b/mc_rtc_rviz_panel/src/FormElement.h
@@ -458,9 +458,10 @@ struct ComboInput : public FormElement
              const std::string & name,
              bool required,
              const std::vector<std::string> & values,
-             bool send_index);
+             bool send_index,
+             int def);
 
-  bool changed(bool required, const std::vector<std::string> & values, bool send_index);
+  bool changed(bool required, const std::vector<std::string> & values, bool send_index, int def);
 
   mc_rtc::Configuration serialize() const override;
 
@@ -469,6 +470,7 @@ struct ComboInput : public FormElement
 private:
   std::vector<std::string> values_;
   bool send_index_;
+  int def_;
   QComboBox * combo_;
 private slots:
   void currentIndexChanged(int);
diff --git a/mc_rtc_rviz_panel/src/Panel.cpp b/mc_rtc_rviz_panel/src/Panel.cpp
index ae8280f..6a56ff0 100644
--- a/mc_rtc_rviz_panel/src/Panel.cpp
+++ b/mc_rtc_rviz_panel/src/Panel.cpp
@@ -275,12 +275,12 @@ Panel::Panel(QWidget * parent)
       SIGNAL(signal_form_array_input(const WidgetId &, const std::string &, bool, const Eigen::VectorXd &, bool, bool)),
       this,
       SLOT(got_form_array_input(const WidgetId &, const std::string &, bool, const Eigen::VectorXd &, bool, bool)));
-  connect(
-      this,
-      SIGNAL(
-          signal_form_combo_input(const WidgetId &, const std::string &, bool, const std::vector<std::string> &, bool)),
-      this,
-      SLOT(got_form_combo_input(const WidgetId &, const std::string &, bool, const std::vector<std::string> &, bool)));
+  connect(this,
+          SIGNAL(signal_form_combo_input(const WidgetId &, const std::string &, bool, const std::vector<std::string> &,
+                                         bool, int)),
+          this,
+          SLOT(got_form_combo_input(const WidgetId &, const std::string &, bool, const std::vector<std::string> &, bool,
+                                    int)));
   connect(this,
           SIGNAL(signal_form_data_combo_input(const WidgetId &, const std::string &, bool,
                                               const std::vector<std::string> &, bool)),
@@ -585,9 +585,10 @@ void Panel::form_combo_input(const WidgetId & formId,
                              const std::string & name,
                              bool required,
                              const std::vector<std::string> & values,
-                             bool send_index)
+                             bool send_index,
+                             int def)
 {
-  Q_EMIT signal_form_combo_input(formId, name, required, values, send_index);
+  Q_EMIT signal_form_combo_input(formId, name, required, values, send_index, def);
 }
 
 void Panel::form_data_combo_input(const WidgetId & formId,
@@ -962,10 +963,11 @@ void Panel::got_form_combo_input(const WidgetId & formId,
                                  const std::string & name,
                                  bool required,
                                  const std::vector<std::string> & values,
-                                 bool send_index)
+                                 bool send_index,
+                                 int def)
 {
   auto & form = get_widget<FormWidget>(formId);
-  form.element<form::ComboInput>(name, required, values, send_index);
+  form.element<form::ComboInput>(name, required, values, send_index, def);
 }
 
 void Panel::got_form_data_combo_input(const WidgetId & formId,
diff --git a/mc_rtc_rviz_panel/src/Panel.h b/mc_rtc_rviz_panel/src/Panel.h
index 0db9cfe..a17c710 100644
--- a/mc_rtc_rviz_panel/src/Panel.h
+++ b/mc_rtc_rviz_panel/src/Panel.h
@@ -193,7 +193,8 @@ class Panel : public CategoryWidget, public mc_control::ControllerClient
                         const std::string & name,
                         bool required,
                         const std::vector<std::string> & values,
-                        bool send_index) override;
+                        bool send_index,
+                        int def) override;
 
   void form_data_combo_input(const WidgetId & formId,
                              const std::string & name,
@@ -347,7 +348,8 @@ private slots:
                             const std::string & name,
                             bool required,
                             const std::vector<std::string> & values,
-                            bool send_index);
+                            bool send_index,
+                            int def);
   void got_form_data_combo_input(const WidgetId & formId,
                                  const std::string & name,
                                  bool required,
@@ -466,7 +468,8 @@ private slots:
                                const std::string & name,
                                bool required,
                                const std::vector<std::string> & values,
-                               bool send_index);
+                               bool send_index,
+                               int def);
   void signal_form_data_combo_input(const WidgetId & formId,
                                     const std::string & name,
                                     bool required,
diff --git a/mc_rtc_rviz_panel/src/Schema.cpp b/mc_rtc_rviz_panel/src/Schema.cpp
index 47ba519..83e66f3 100644
--- a/mc_rtc_rviz_panel/src/Schema.cpp
+++ b/mc_rtc_rviz_panel/src/Schema.cpp
@@ -108,7 +108,7 @@ void Schema::init(const mc_rtc::Configuration & s,
     auto cf = create_form;
     create_form = [cf, k, required, values](QWidget * parent, const mc_rtc::Configuration & data) {
       auto v = cf(parent, data);
-      v.emplace_back(new form::ComboInput(parent, k, required, values, false));
+      v.emplace_back(new form::ComboInput(parent, k, required, values, false, -1));
       if(values.size() == 1 && required)
       {
         v.back()->hidden(true);