diff --git a/src/uas/UAS.cc b/src/uas/UAS.cc
index f47e7823d5d03dc1b17fbf65f456da946b2cbadd..0d0dc90088402aae90657867c7d72d6b43b55ff0 100644
--- a/src/uas/UAS.cc
+++ b/src/uas/UAS.cc
@@ -1766,6 +1766,15 @@ void UAS::setUASName(const QString& name)
     emit systemSpecsChanged(uasId);
 }
 
+void UAS::executeCommand(MAV_CMD command)
+{
+    mavlink_message_t msg;
+    mavlink_command_t cmd;
+    //mavlink_msg_action_pack(mavlink->getSystemId(), mavlink->getComponentId(), &msg, this->getUASID(), 0, action);
+    // Send message twice to increase chance that it reaches its goal
+    sendMessage(msg);
+}
+
 /**
  * Sets an action
  *
diff --git a/src/uas/UAS.h b/src/uas/UAS.h
index 251d9fab9f588898fd0717cb207950d00770b8e2..b38db988d7d6a7e4e3f2e1d09b57e101a5cfd970 100644
--- a/src/uas/UAS.h
+++ b/src/uas/UAS.h
@@ -214,6 +214,8 @@ public slots:
     void setUASName(const QString& name);
     /** @brief Executes an action **/
     void setAction(MAV_ACTION action);
+    /** @brief Executes a command **/
+    void executeCommand(MAV_CMD command);
     /** @brief Set the current battery type and voltages */
     void setBatterySpecs(const QString& specs);
     /** @brief Get the current battery type and specs */
diff --git a/src/uas/UASInterface.h b/src/uas/UASInterface.h
index 9cffc708511efeabb942fd774ec395490c422a53..4399314400b07cb4149ac7f98abae70bac055504 100644
--- a/src/uas/UASInterface.h
+++ b/src/uas/UASInterface.h
@@ -189,6 +189,8 @@ public slots:
     virtual void setUASName(const QString& name) = 0;
     /** @brief Sets an action **/
     virtual void setAction(MAV_ACTION action) = 0;
+    /** @brief Execute command immediately **/
+    virtual void executeCommand(MAV_CMD command) = 0;
 
     /** @brief Selects the airframe */
     virtual void setAirframe(int airframe) = 0;
diff --git a/src/ui/designer/QGCCommandButton.cc b/src/ui/designer/QGCCommandButton.cc
new file mode 100644
index 0000000000000000000000000000000000000000..00bd443a247a4b48c57081775e1b5f67ff8d4806
--- /dev/null
+++ b/src/ui/designer/QGCCommandButton.cc
@@ -0,0 +1,97 @@
+#include "QGCCommandButton.h"
+#include "ui_QGCCommandButton.h"
+
+#include "MAVLinkProtocol.h"
+#include "UASManager.h"
+
+QGCCommandButton::QGCCommandButton(QWidget *parent) :
+    QGCToolWidgetItem("CommandButton", parent),
+    ui(new Ui::QGCCommandButton),
+    uas(NULL)
+{
+    ui->setupUi(this);
+
+    connect(ui->commandButton, SIGNAL(clicked()), this, SLOT(sendCommand()));
+    connect(ui->editFinishButton, SIGNAL(clicked()), this, SLOT(endEditMode()));
+    connect(ui->editButtonName, SIGNAL(textChanged(QString)), this, SLOT(setCommandButtonName(QString)));
+    connect(ui->editCommandComboBox, SIGNAL(currentIndexChanged(QString)), ui->nameLabel, SLOT(setText(QString)));
+
+    // Hide all edit items
+    ui->editCommandComboBox->hide();
+    ui->editFinishButton->hide();
+    ui->editNameLabel->hide();
+    ui->editButtonName->hide();
+
+    // Add commands to combo box
+    ui->editCommandComboBox->addItem("DO: Control Video", MAV_CMD_DO_CONTROL_VIDEO);
+    ui->editCommandComboBox->addItem("PREFLIGHT: Calibration", MAV_CMD_PREFLIGHT_CALIBRATION);
+}
+
+QGCCommandButton::~QGCCommandButton()
+{
+    delete ui;
+}
+
+void QGCCommandButton::sendCommand()
+{
+    if (QGCToolWidgetItem::uas)
+    {
+        // FIXME
+        int index = 0;//ui->editCommandComboBox->userData()
+        MAV_CMD command = static_cast<MAV_CMD>(index);
+
+        QGCToolWidgetItem::uas->executeCommand(command);
+    }
+    else
+    {
+        qDebug() << __FILE__ << __LINE__ << "NO UAS SET, DOING NOTHING";
+    }
+}
+
+void QGCCommandButton::setCommandButtonName(QString text)
+{
+    ui->commandButton->setText(text);
+}
+
+void QGCCommandButton::startEditMode()
+{
+    ui->editCommandComboBox->show();
+    ui->editFinishButton->show();
+    ui->editNameLabel->show();
+    ui->editButtonName->show();
+    isInEditMode = true;
+}
+
+void QGCCommandButton::endEditMode()
+{
+    ui->editCommandComboBox->hide();
+    ui->editFinishButton->hide();
+    ui->editNameLabel->hide();
+    ui->editButtonName->hide();
+
+    // Write to settings
+    emit editingFinished();
+
+    isInEditMode = false;
+}
+
+void QGCCommandButton::writeSettings(QSettings& settings)
+{
+    settings.setValue("TYPE", "COMMANDBUTTON");
+    settings.setValue("QGC_ACTION_BUTTON_DESCRIPTION", ui->nameLabel->text());
+    settings.setValue("QGC_ACTION_BUTTON_BUTTONTEXT", ui->commandButton->text());
+    settings.setValue("QGC_ACTION_BUTTON_ACTIONID", ui->editCommandComboBox->currentIndex());
+    settings.sync();
+}
+
+void QGCCommandButton::readSettings(const QSettings& settings)
+{
+    ui->editNameLabel->setText(settings.value("QGC_ACTION_BUTTON_DESCRIPTION", "ERROR LOADING BUTTON").toString());
+    ui->editButtonName->setText(settings.value("QGC_ACTION_BUTTON_BUTTONTEXT", "UNKNOWN").toString());
+    ui->editCommandComboBox->setCurrentIndex(settings.value("QGC_ACTION_BUTTON_ACTIONID", 0).toInt());
+
+    ui->nameLabel->setText(settings.value("QGC_ACTION_BUTTON_DESCRIPTION", "ERROR LOADING BUTTON").toString());
+    ui->commandButton->setText(settings.value("QGC_ACTION_BUTTON_BUTTONTEXT", "UNKNOWN").toString());
+    ui->editCommandComboBox->setCurrentIndex(settings.value("QGC_ACTION_BUTTON_ACTIONID", 0).toInt());
+    qDebug() << "DONE READING SETTINGS";
+}
diff --git a/src/ui/designer/QGCCommandButton.h b/src/ui/designer/QGCCommandButton.h
new file mode 100644
index 0000000000000000000000000000000000000000..99cc285ef97ab4e277a9e551260063ae8671eb03
--- /dev/null
+++ b/src/ui/designer/QGCCommandButton.h
@@ -0,0 +1,33 @@
+#ifndef QGCCOMMANDBUTTON_H
+#define QGCCOMMANDBUTTON_H
+
+#include "QGCToolWidgetItem.h"
+
+namespace Ui {
+    class QGCCommandButton;
+}
+
+class UASInterface;
+
+class QGCCommandButton : public QGCToolWidgetItem
+{
+    Q_OBJECT
+
+public:
+    explicit QGCCommandButton(QWidget *parent = 0);
+    ~QGCCommandButton();
+
+public slots:
+    void sendCommand();
+    void setCommandButtonName(QString text);
+    void startEditMode();
+    void endEditMode();
+    void writeSettings(QSettings& settings);
+    void readSettings(const QSettings& settings);
+
+private:
+    Ui::QGCCommandButton *ui;
+    UASInterface* uas;
+};
+
+#endif // QGCCOMMANDBUTTON_H
diff --git a/src/ui/designer/QGCCommandButton.ui b/src/ui/designer/QGCCommandButton.ui
new file mode 100644
index 0000000000000000000000000000000000000000..3476c96ab8c72df9c3a8d7986d99ebbc4a47323f
--- /dev/null
+++ b/src/ui/designer/QGCCommandButton.ui
@@ -0,0 +1,91 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<ui version="4.0">
+ <class>QGCCommandButton</class>
+ <widget class="QWidget" name="QGCCommandButton">
+  <property name="geometry">
+   <rect>
+    <x>0</x>
+    <y>0</y>
+    <width>400</width>
+    <height>111</height>
+   </rect>
+  </property>
+  <property name="windowTitle">
+   <string>Form</string>
+  </property>
+  <layout class="QGridLayout" name="gridLayout" columnstretch="100,100,50">
+   <item row="1" column="0" colspan="2">
+    <widget class="QLabel" name="nameLabel">
+     <property name="minimumSize">
+      <size>
+       <width>50</width>
+       <height>0</height>
+      </size>
+     </property>
+     <property name="text">
+      <string>Description</string>
+     </property>
+     <property name="alignment">
+      <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+     </property>
+    </widget>
+   </item>
+   <item row="2" column="0" colspan="2">
+    <widget class="QComboBox" name="editCommandComboBox"/>
+   </item>
+   <item row="2" column="2">
+    <widget class="QPushButton" name="editFinishButton">
+     <property name="text">
+      <string>Done</string>
+     </property>
+    </widget>
+   </item>
+   <item row="0" column="2">
+    <widget class="QLineEdit" name="editButtonName">
+     <property name="text">
+      <string>Unnamed</string>
+     </property>
+    </widget>
+   </item>
+   <item row="0" column="0" colspan="2">
+    <widget class="QLineEdit" name="editNameLabel">
+     <property name="text">
+      <string>Description</string>
+     </property>
+    </widget>
+   </item>
+   <item row="1" column="2">
+    <widget class="QPushButton" name="commandButton">
+     <property name="minimumSize">
+      <size>
+       <width>30</width>
+       <height>0</height>
+      </size>
+     </property>
+     <property name="text">
+      <string>Unnamed</string>
+     </property>
+    </widget>
+   </item>
+  </layout>
+ </widget>
+ <resources/>
+ <connections>
+  <connection>
+   <sender>editNameLabel</sender>
+   <signal>textChanged(QString)</signal>
+   <receiver>nameLabel</receiver>
+   <slot>setText(QString)</slot>
+   <hints>
+    <hint type="sourcelabel">
+     <x>114</x>
+     <y>22</y>
+    </hint>
+    <hint type="destinationlabel">
+     <x>114</x>
+     <y>55</y>
+    </hint>
+   </hints>
+  </connection>
+ </connections>
+</ui>
diff --git a/src/ui/designer/QGCToolWidget.cc b/src/ui/designer/QGCToolWidget.cc
index 83bded202f66f6510da93f550a2090327058282c..b5de182a24959c11c4149ddf32a4949ace68a341 100644
--- a/src/ui/designer/QGCToolWidget.cc
+++ b/src/ui/designer/QGCToolWidget.cc
@@ -10,6 +10,7 @@
 
 #include "QGCParamSlider.h"
 #include "QGCActionButton.h"
+#include "QGCCommandButton.h"
 #include "UASManager.h"
 
 QGCToolWidget::QGCToolWidget(const QString& title, QWidget *parent) :
@@ -106,6 +107,11 @@ QList<QGCToolWidget*> QGCToolWidget::createWidgetsFromSettings(QWidget* parent)
                     item = new QGCActionButton(newWidgets.at(i));
                     qDebug() << "CREATED BUTTON";
                 }
+                else if (type == "COMMANDBUTTON")
+                {
+                    item = new QGCCommandButton(newWidgets.at(i));
+                    qDebug() << "CREATED COMMANDBUTTON";
+                }
                 else if (type == "SLIDER")
                 {
                     item = new QGCParamSlider(newWidgets.at(i));
@@ -182,9 +188,11 @@ void QGCToolWidget::contextMenuEvent (QContextMenuEvent* event)
 {
     QMenu menu(this);
     menu.addAction(addParamAction);
-    menu.addAction(addButtonAction);
+    menu.addAction(addCommandAction);
     menu.addAction(setTitleAction);
     menu.addAction(deleteAction);
+    menu.addSeparator();
+    menu.addAction(addButtonAction);
     menu.exec(event->globalPos());
 }
 
@@ -194,9 +202,9 @@ void QGCToolWidget::createActions()
     addParamAction->setStatusTip(tr("Add a parameter setting slider widget to the tool"));
     connect(addParamAction, SIGNAL(triggered()), this, SLOT(addParam()));
 
-    addButtonAction = new QAction(tr("New MAV &Command Button"), this);
-    addButtonAction->setStatusTip(tr("Add a new action button to the tool"));
-    connect(addButtonAction, SIGNAL(triggered()), this, SLOT(addAction()));
+    addCommandAction = new QAction(tr("New MAV &Command Button"), this);
+    addCommandAction->setStatusTip(tr("Add a new action button to the tool"));
+    connect(addCommandAction, SIGNAL(triggered()), this, SLOT(addCommand()));
 
     setTitleAction = new QAction(tr("Set Widget Title"), this);
     setTitleAction->setStatusTip(tr("Set the title caption of this tool widget"));
@@ -213,6 +221,10 @@ void QGCToolWidget::createActions()
     importAction = new QAction(tr("Import widget"), this);
     importAction->setStatusTip(tr("Import this widget from a file (current content will be removed)"));
     connect(exportAction, SIGNAL(triggered()), this, SLOT(importWidget()));
+
+    addButtonAction = new QAction(tr("New MAV Action Button (Deprecated)"), this);
+    addButtonAction->setStatusTip(tr("Add a new action button to the tool"));
+    connect(addButtonAction, SIGNAL(triggered()), this, SLOT(addAction()));
 }
 
 QMap<QString, QGCToolWidget*>* QGCToolWidget::instances()
@@ -253,6 +265,18 @@ void QGCToolWidget::addAction()
     button->startEditMode();
 }
 
+void QGCToolWidget::addCommand()
+{
+    QGCCommandButton* button = new QGCCommandButton(this);
+    if (ui->hintLabel)
+    {
+        ui->hintLabel->deleteLater();
+        ui->hintLabel = NULL;
+    }
+    toolLayout->addWidget(button);
+    button->startEditMode();
+}
+
 void QGCToolWidget::addToolWidget(QGCToolWidgetItem* widget)
 {
     if (ui->hintLabel)
diff --git a/src/ui/designer/QGCToolWidget.h b/src/ui/designer/QGCToolWidget.h
index 3a14b3ae03d93eefa7e53cfa5f6ce6b1fa4ce3c9..ba21de4a8b2a3548120a01344ba24ad764c556b1 100644
--- a/src/ui/designer/QGCToolWidget.h
+++ b/src/ui/designer/QGCToolWidget.h
@@ -45,6 +45,7 @@ signals:
 protected:
     QAction* addParamAction;
     QAction* addButtonAction;
+    QAction* addCommandAction;
     QAction* setTitleAction;
     QAction* deleteAction;
     QAction* exportAction;
@@ -62,7 +63,9 @@ protected:
 
 protected slots:
     void addParam();
+    /** @deprecated */
     void addAction();
+    void addCommand();
     void setTitle();