diff --git a/libraries/GCS_MAVLink/GCS_Common.cpp b/libraries/GCS_MAVLink/GCS_Common.cpp
index f487317c3b..ee48eca7a5 100644
--- a/libraries/GCS_MAVLink/GCS_Common.cpp
+++ b/libraries/GCS_MAVLink/GCS_Common.cpp
@@ -3037,6 +3037,9 @@ MAV_RESULT GCS_MAVLINK::handle_command_camera(const mavlink_command_long_t &pack
         break;
     case MAV_CMD_DO_SET_CAM_TRIGG_DIST:
         camera->set_trigger_distance(packet.param1);
+        if (is_equal(packet.param3, 1.0f)) {
+            camera->take_picture();
+        }
         result = MAV_RESULT_ACCEPTED;
         break;
     default: