diff --git a/msg/vehicle_command.msg b/msg/vehicle_command.msg
index 9a81f0992c..a535f02d49 100644
--- a/msg/vehicle_command.msg
+++ b/msg/vehicle_command.msg
@@ -60,6 +60,7 @@ uint32 VEHICLE_CMD_OVERRIDE_GOTO = 252			# Hold / continue the current action |M
 uint32 VEHICLE_CMD_MISSION_START = 300			# start running a mission |first_item: the first mission item to run| last_item:  the last mission item to run (after this item is run, the mission ends)|
 uint32 VEHICLE_CMD_COMPONENT_ARM_DISARM = 400		# Arms / Disarms a component |1 to arm, 0 to disarm|
 uint32 VEHICLE_CMD_START_RX_PAIR = 500			# Starts receiver pairing |0:Spektrum| 0:Spektrum DSM2, 1:Spektrum DSMX|
+uint32 VEHICLE_CMD_SET_CAMERA_MODE = 530            # Set camera capture mode (photo, video, etc.)
 uint32 VEHICLE_CMD_DO_TRIGGER_CONTROL = 2003            # Enable or disable on-board camera triggering system
 uint32 VEHICLE_CMD_DO_VTOL_TRANSITION = 3000    # Command VTOL transition
 uint32 VEHICLE_CMD_PAYLOAD_PREPARE_DEPLOY = 30001	# Prepare a payload deployment in the flight plan
diff --git a/src/modules/commander/commander.cpp b/src/modules/commander/commander.cpp
index 3a9e51a47b..45f9e6a4da 100644
--- a/src/modules/commander/commander.cpp
+++ b/src/modules/commander/commander.cpp
@@ -1227,6 +1227,7 @@ bool handle_command(struct vehicle_status_s *status_local, const struct safety_s
 	case vehicle_command_s::VEHICLE_CMD_DO_DIGICAM_CONTROL:
 	case vehicle_command_s::VEHICLE_CMD_DO_SET_CAM_TRIGG_DIST:
 	case vehicle_command_s::VEHICLE_CMD_DO_SET_CAM_TRIGG_INTERVAL:
+	case vehicle_command_s::VEHICLE_CMD_SET_CAMERA_MODE:
 	case vehicle_command_s::VEHICLE_CMD_DO_CHANGE_SPEED:
 	case vehicle_command_s::VEHICLE_CMD_DO_LAND_START:
 	case vehicle_command_s::VEHICLE_CMD_DO_GO_AROUND:
diff --git a/src/modules/mavlink/mavlink_mission.cpp b/src/modules/mavlink/mavlink_mission.cpp
index e3ba947e60..97f639a94c 100644
--- a/src/modules/mavlink/mavlink_mission.cpp
+++ b/src/modules/mavlink/mavlink_mission.cpp
@@ -1036,6 +1036,7 @@ MavlinkMissionManager::parse_mavlink_mission_item(const mavlink_mission_item_t *
 		case NAV_CMD_ROI:
 		case MAV_CMD_DO_SET_CAM_TRIGG_DIST:
 		case MAV_CMD_DO_SET_CAM_TRIGG_INTERVAL:
+		case MAV_CMD_SET_CAMERA_MODE:
 		case MAV_CMD_DO_VTOL_TRANSITION:
 		case MAV_CMD_NAV_DELAY:
 		case MAV_CMD_NAV_RETURN_TO_LAUNCH:
@@ -1113,6 +1114,7 @@ MavlinkMissionManager::format_mavlink_mission_item(const struct mission_item_s *
 		case NAV_CMD_ROI:
 		case NAV_CMD_DO_SET_CAM_TRIGG_DIST:
 		case NAV_CMD_DO_SET_CAM_TRIGG_INTERVAL:
+		case NAV_CMD_SET_CAMERA_MODE:
 		case NAV_CMD_DO_VTOL_TRANSITION:
 			break;
 
diff --git a/src/modules/navigator/mission_block.cpp b/src/modules/navigator/mission_block.cpp
index 97ac161e97..48e1687048 100644
--- a/src/modules/navigator/mission_block.cpp
+++ b/src/modules/navigator/mission_block.cpp
@@ -99,6 +99,7 @@ MissionBlock::is_mission_item_reached()
 	case NAV_CMD_ROI:
 	case NAV_CMD_DO_SET_CAM_TRIGG_DIST:
 	case NAV_CMD_DO_SET_CAM_TRIGG_INTERVAL:
+	case NAV_CMD_SET_CAMERA_MODE:
 		return true;
 
 	case NAV_CMD_DO_VTOL_TRANSITION:
diff --git a/src/modules/navigator/mission_feasibility_checker.cpp b/src/modules/navigator/mission_feasibility_checker.cpp
index d309df02e3..8c263cf6ae 100644
--- a/src/modules/navigator/mission_feasibility_checker.cpp
+++ b/src/modules/navigator/mission_feasibility_checker.cpp
@@ -292,6 +292,7 @@ MissionFeasibilityChecker::checkMissionItemValidity(dm_item_t dm_current, size_t
 		    missionitem.nav_cmd != NAV_CMD_ROI &&
 		    missionitem.nav_cmd != NAV_CMD_DO_SET_CAM_TRIGG_DIST &&
 		    missionitem.nav_cmd != NAV_CMD_DO_SET_CAM_TRIGG_INTERVAL &&
+		    missionitem.nav_cmd != NAV_CMD_SET_CAMERA_MODE &&
 		    missionitem.nav_cmd != NAV_CMD_DO_VTOL_TRANSITION) {
 
 			mavlink_log_critical(_navigator->get_mavlink_log_pub(), "Mission rejected: item %i: unsupported cmd: %d", (int)(i + 1),
diff --git a/src/modules/navigator/navigation.h b/src/modules/navigator/navigation.h
index 480a9ce654..e7b0fc8152 100644
--- a/src/modules/navigator/navigation.h
+++ b/src/modules/navigator/navigation.h
@@ -80,6 +80,7 @@ enum NAV_CMD {
 	NAV_CMD_DO_MOUNT_CONTROL = 205,
 	NAV_CMD_DO_SET_CAM_TRIGG_INTERVAL = 214,
 	NAV_CMD_DO_SET_CAM_TRIGG_DIST = 206,
+	NAV_CMD_SET_CAMERA_MODE = 530,
 	NAV_CMD_IMAGE_START_CAPTURE = 2000,
 	NAV_CMD_IMAGE_STOP_CAPTURE = 2001,
 	NAV_CMD_DO_TRIGGER_CONTROL = 2003,