diff --git a/src/ui/designer/QGCCommandButton.cc b/src/ui/designer/QGCCommandButton.cc
index e979af8d7cd422ea7797f58c82cddea436643ded..74becbd1b66a7431407bb5b1a010aa793c990c5c 100644
--- a/src/ui/designer/QGCCommandButton.cc
+++ b/src/ui/designer/QGCCommandButton.cc
@@ -35,8 +35,6 @@ QGCCommandButton::QGCCommandButton(QWidget *parent) :
     ui->editLine2->setStyleSheet("QWidget { border: 1px solid #66666B; border-radius: 3px; padding: 10px 0px 0px 0px; background: #111122; }");
 
     // 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);
     ui->editCommandComboBox->addItem("CUSTOM 0", 0);
     ui->editCommandComboBox->addItem("CUSTOM 1", 1);
     ui->editCommandComboBox->addItem("CUSTOM 2", 2);
@@ -53,21 +51,35 @@ QGCCommandButton::QGCCommandButton(QWidget *parent) :
     ui->editCommandComboBox->addItem("CUSTOM 13", 13);
     ui->editCommandComboBox->addItem("CUSTOM 14", 14);
     ui->editCommandComboBox->addItem("CUSTOM 15", 15);
-    ui->editCommandComboBox->addItem("NAV_WAYPOINT", 16);
-    ui->editCommandComboBox->addItem("MAV_CMD_NAV_LOITER_UNLIM", 17);
-    ui->editCommandComboBox->addItem("MAV_CMD_NAV_LOITER_TURNS", 18);
-    ui->editCommandComboBox->addItem("MAV_CMD_NAV_LOITER_TIME", 19);
-    ui->editCommandComboBox->addItem("MAV_CMD_NAV_RETURN_TO_LAUNCH", 20);
-    ui->editCommandComboBox->addItem("MAV_CMD_NAV_LAND", 21);
-    ui->editCommandComboBox->addItem("MAV_CMD_NAV_TAKEOFF", 22);
-    ui->editCommandComboBox->addItem("MAV_CMD_NAV_ROI", 80);
-    ui->editCommandComboBox->addItem("MAV_CMD_NAV_PATHPLANNING", 81);
-    ui->editCommandComboBox->addItem("MAV_CMD_DO_SET_MODE", 176);
-    ui->editCommandComboBox->addItem("MAV_CMD_DO_CHANGE_SPEED", 178);
-    ui->editCommandComboBox->addItem("MAV_CMD_DO_SET_HOME", 179);
-    ui->editCommandComboBox->addItem("MAV_CMD_DO_SET_RELAY", 181);
-    ui->editCommandComboBox->addItem("MAV_CMD_DO_REPEAT_RELAY", 182);
-    ui->editCommandComboBox->addItem("MAV_CMD_DO_SET_SERVO", 183);
+    ui->editCommandComboBox->addItem("NAV_WAYPOINT", MAV_CMD_NAV_WAYPOINT);
+    ui->editCommandComboBox->addItem("MAV_CMD_NAV_LOITER_UNLIM", MAV_CMD_NAV_LOITER_UNLIM);
+    ui->editCommandComboBox->addItem("MAV_CMD_NAV_LOITER_TURNS", MAV_CMD_NAV_LOITER_TURNS);
+    ui->editCommandComboBox->addItem("MAV_CMD_NAV_LOITER_TIME", MAV_CMD_NAV_LOITER_TIME);
+    ui->editCommandComboBox->addItem("MAV_CMD_NAV_RETURN_TO_LAUNCH", MAV_CMD_NAV_RETURN_TO_LAUNCH);
+    ui->editCommandComboBox->addItem("MAV_CMD_NAV_LAND", MAV_CMD_NAV_LAND);
+    ui->editCommandComboBox->addItem("MAV_CMD_NAV_TAKEOFF", MAV_CMD_NAV_TAKEOFF);
+    ui->editCommandComboBox->addItem("MAV_CMD_NAV_ROI", MAV_CMD_NAV_ROI);
+    ui->editCommandComboBox->addItem("MAV_CMD_NAV_PATHPLANNING", MAV_CMD_NAV_PATHPLANNING);
+    ui->editCommandComboBox->addItem("MAV_CMD_CONDITION_CHANGE_ALT", MAV_CMD_CONDITION_CHANGE_ALT);
+    ui->editCommandComboBox->addItem("MAV_CMD_CONDITION_DISTANCE", MAV_CMD_CONDITION_DISTANCE);
+    ui->editCommandComboBox->addItem("MAV_CMD_CONDITION_YAW", MAV_CMD_CONDITION_YAW);
+    ui->editCommandComboBox->addItem("MAV_CMD_CONDITION_LAST", MAV_CMD_CONDITION_LAST);
+    ui->editCommandComboBox->addItem("MAV_CMD_DO_SET_MODE", MAV_CMD_DO_SET_MODE);
+    ui->editCommandComboBox->addItem("MAV_CMD_DO_JUMP", MAV_CMD_DO_JUMP);
+    ui->editCommandComboBox->addItem("MAV_CMD_DO_CHANGE_SPEED", MAV_CMD_DO_CHANGE_SPEED);
+    ui->editCommandComboBox->addItem("MAV_CMD_DO_SET_HOME", MAV_CMD_DO_SET_HOME);
+    ui->editCommandComboBox->addItem("MAV_CMD_DO_SET_PARAMETER", MAV_CMD_DO_SET_PARAMETER);
+    ui->editCommandComboBox->addItem("MAV_CMD_DO_SET_RELAY", MAV_CMD_DO_SET_RELAY);
+    ui->editCommandComboBox->addItem("MAV_CMD_DO_REPEAT_RELAY", MAV_CMD_DO_REPEAT_RELAY);
+    ui->editCommandComboBox->addItem("MAV_CMD_DO_SET_SERVO", MAV_CMD_DO_SET_SERVO);
+    ui->editCommandComboBox->addItem("MAV_CMD_DO_REPEAT_SERVO", MAV_CMD_DO_REPEAT_SERVO);
+    ui->editCommandComboBox->addItem("MAV_CMD_DO_CONTROL_VIDEO", MAV_CMD_DO_CONTROL_VIDEO);
+    ui->editCommandComboBox->addItem("MAV_CMD_PREFLIGHT_CALIBRATION", MAV_CMD_PREFLIGHT_CALIBRATION);
+    ui->editCommandComboBox->addItem("MAV_CMD_PREFLIGHT_SET_SENSOR_OFFSETS", MAV_CMD_PREFLIGHT_SET_SENSOR_OFFSETS);
+    ui->editCommandComboBox->addItem("MAV_CMD_PREFLIGHT_STORAGE", MAV_CMD_PREFLIGHT_STORAGE);
+    ui->editCommandComboBox->addItem("MAV_CMD_PREFLIGHT_REBOOT_SHUTDOWN", MAV_CMD_PREFLIGHT_REBOOT_SHUTDOWN);
+    ui->editCommandComboBox->addItem("MAV_CMD_OVERRIDE_GOTO", MAV_CMD_OVERRIDE_GOTO);
+    ui->editCommandComboBox->addItem("MAV_CMD_MISSION_START", MAV_CMD_MISSION_START);
     ui->editCommandComboBox->setEditable(true);
 }
 
@@ -78,22 +90,37 @@ QGCCommandButton::~QGCCommandButton()
 
 void QGCCommandButton::sendCommand()
 {
-    if (QGCToolWidgetItem::uas) {
-        int index = ui->editCommandComboBox->itemData(ui->editCommandComboBox->currentIndex()).toInt();
-        MAV_CMD command = static_cast<MAV_CMD>(index);
-        int confirm = (ui->editConfirmationCheckBox->isChecked()) ? 1 : 0;
-        float param1 = ui->editParam1SpinBox->value();
-        float param2 = ui->editParam2SpinBox->value();
-        float param3 = ui->editParam3SpinBox->value();
-        float param4 = ui->editParam4SpinBox->value();
-        float param5 = ui->editParam5SpinBox->value();
-        float param6 = ui->editParam6SpinBox->value();
-        float param7 = ui->editParam7SpinBox->value();
-        int component = ui->editComponentSpinBox->value();
-
-        QGCToolWidgetItem::uas->executeCommand(command, confirm, param1, param2, param3, param4, param5, param6, param7, component);
-        qDebug() << __FILE__ << __LINE__ << "SENDING COMMAND" << index;
-    } else {
+    if (QGCToolWidgetItem::uas)
+    {
+        // Check if command text is a number
+        bool ok;
+        int index = 0;
+        index = ui->editCommandComboBox->currentText().toInt(&ok);
+        if (!ok)
+        {
+            // Command was not a number, assume it was one of the text items
+            index = ui->editCommandComboBox->itemData(ui->editCommandComboBox->currentIndex()).toInt(&ok);
+            if (ok)
+            {
+                // Text item found, proceed
+                MAV_CMD command = static_cast<MAV_CMD>(index);
+                int confirm = (ui->editConfirmationCheckBox->isChecked()) ? 1 : 0;
+                float param1 = ui->editParam1SpinBox->value();
+                float param2 = ui->editParam2SpinBox->value();
+                float param3 = ui->editParam3SpinBox->value();
+                float param4 = ui->editParam4SpinBox->value();
+                float param5 = ui->editParam5SpinBox->value();
+                float param6 = ui->editParam6SpinBox->value();
+                float param7 = ui->editParam7SpinBox->value();
+                int component = ui->editComponentSpinBox->value();
+
+                QGCToolWidgetItem::uas->executeCommand(command, confirm, param1, param2, param3, param4, param5, param6, param7, component);
+                qDebug() << __FILE__ << __LINE__ << "SENDING COMMAND" << index;
+            }
+        }
+    }
+    else
+    {
         qDebug() << __FILE__ << __LINE__ << "NO UAS SET, DOING NOTHING";
     }
 }
diff --git a/src/ui/designer/QGCCommandButton.ui b/src/ui/designer/QGCCommandButton.ui
index d1b6ec1e7dcc35660c30d9ccbb3a5ff6c64c039a..eb26a6785cc2a1be5251b1f2a324cf7c60a02db5 100644
--- a/src/ui/designer/QGCCommandButton.ui
+++ b/src/ui/designer/QGCCommandButton.ui
@@ -6,7 +6,7 @@
    <rect>
     <x>0</x>
     <y>0</y>
-    <width>882</width>
+    <width>1183</width>
     <height>430</height>
    </rect>
   </property>
@@ -27,7 +27,11 @@
     <number>3</number>
    </property>
    <item row="7" column="0" colspan="3">
-    <widget class="QComboBox" name="editCommandComboBox"/>
+    <widget class="QComboBox" name="editCommandComboBox">
+     <property name="editable">
+      <bool>true</bool>
+     </property>
+    </widget>
    </item>
    <item row="7" column="3">
     <widget class="QPushButton" name="editFinishButton">