diff --git a/src/uas/UAS.cc b/src/uas/UAS.cc
index 380740473989519119af409da099816d802ea62d..b5b55096274428c579f72718306a8d7444bb2509 100644
--- a/src/uas/UAS.cc
+++ b/src/uas/UAS.cc
@@ -1911,25 +1911,6 @@ void UAS::executeCommand(MAV_CMD command)
     sendMessage(msg);
 }
 
-void UAS::executeCommand(MAV_CMD command, int confirmation, float param1, float param2, float param3, float param4, int component)
-{
-    mavlink_message_t msg;
-    mavlink_command_long_t cmd;
-    cmd.command = (uint8_t)command;
-    cmd.confirmation = confirmation;
-    cmd.param1 = param1;
-    cmd.param2 = param2;
-    cmd.param3 = param3;
-    cmd.param4 = param4;
-    cmd.param5 = 0.0f;
-    cmd.param6 = 0.0f;
-    cmd.param7 = 0.0f;
-    cmd.target_system = uasId;
-    cmd.target_component = component;
-    mavlink_msg_command_long_encode(mavlink->getSystemId(), mavlink->getComponentId(), &msg, &cmd);
-    sendMessage(msg);
-}
-
 void UAS::executeCommand(MAV_CMD command, int confirmation, float param1, float param2, float param3, float param4, float param5, float param6, float param7, int component)
 {
     mavlink_message_t msg;
@@ -2196,7 +2177,7 @@ void UAS::shutdown()
 void UAS::setTargetPosition(float x, float y, float z, float yaw)
 {
     mavlink_message_t msg;
-    mavlink_msg_command_long_pack(mavlink->getSystemId(), mavlink->getComponentId(), &msg, uasId, MAV_COMP_ID_ALL, MAV_CMD_NAV_PATHPLANNING, 1, 2, 2, 0, yaw, x, y, z);
+    mavlink_msg_command_long_pack(mavlink->getSystemId(), mavlink->getComponentId(), &msg, uasId, MAV_COMP_ID_ALL, MAV_CMD_NAV_PATHPLANNING, 1, 2, 3, 0, yaw, x, y, z);
     sendMessage(msg);
 }
 
diff --git a/src/uas/UAS.h b/src/uas/UAS.h
index ea1908187117c9269a8482c92649a9d4e220d794..5216711a8f31e9fe17f036516c9973b6d7d8b331 100644
--- a/src/uas/UAS.h
+++ b/src/uas/UAS.h
@@ -411,8 +411,6 @@ public slots:
     void setUASName(const QString& name);
     /** @brief Executes a command **/
     void executeCommand(MAV_CMD command);
-    /** @brief Executes a command **/
-    void executeCommand(MAV_CMD command, int confirmation, float param1, float param2, float param3, float param4, int component);
     /** @brief Executes a command with 7 params */
     void executeCommand(MAV_CMD command, int confirmation, float param1, float param2, float param3, float param4, float param5, float param6, float param7, int component);
     /** @brief Set the current battery type and voltages */
diff --git a/src/uas/UASInterface.h b/src/uas/UASInterface.h
index f54f1af332e818a3a2911f3ce35be608f9f7cf2b..371341e69a96d0f27bd83b6d7cf845f095feb676 100644
--- a/src/uas/UASInterface.h
+++ b/src/uas/UASInterface.h
@@ -215,7 +215,7 @@ public slots:
     /** @brief Execute command immediately **/
     virtual void executeCommand(MAV_CMD command) = 0;
     /** @brief Executes a command **/
-    virtual void executeCommand(MAV_CMD command, int confirmation, float param1, float param2, float param3, float param4, int component) = 0;
+    virtual void executeCommand(MAV_CMD command, int confirmation, float param1, float param2, float param3, float param4, float param5, float param6, float param7, int component) = 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
index ad50897cbf38969946d84babce5ddb6dfecfb376..e979af8d7cd422ea7797f58c82cddea436643ded 100644
--- a/src/ui/designer/QGCCommandButton.cc
+++ b/src/ui/designer/QGCCommandButton.cc
@@ -79,7 +79,6 @@ QGCCommandButton::~QGCCommandButton()
 void QGCCommandButton::sendCommand()
 {
     if (QGCToolWidgetItem::uas) {
-        // FIXME
         int index = ui->editCommandComboBox->itemData(ui->editCommandComboBox->currentIndex()).toInt();
         MAV_CMD command = static_cast<MAV_CMD>(index);
         int confirm = (ui->editConfirmationCheckBox->isChecked()) ? 1 : 0;
@@ -87,9 +86,12 @@ void QGCCommandButton::sendCommand()
         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, component);
+        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";