diff --git a/msg/actuator_controls.msg b/msg/actuator_controls.msg
index d266f25bea..a45d0e0b3c 100644
--- a/msg/actuator_controls.msg
+++ b/msg/actuator_controls.msg
@@ -9,8 +9,16 @@ uint8 INDEX_FLAPS = 4
 uint8 INDEX_SPOILERS = 5
 uint8 INDEX_AIRBRAKES = 6
 uint8 INDEX_LANDING_GEAR = 7
+
+uint8 INDEX_GIMBAL_SHUTTER = 3
+uint8 INDEX_CAMERA_ZOOM = 4
+
 uint8 GROUP_INDEX_ATTITUDE = 0
 uint8 GROUP_INDEX_ATTITUDE_ALTERNATE = 1
+uint8 GROUP_INDEX_GIMBAL = 2
+uint8 GROUP_INDEX_MANUAL_PASSTHROUGH = 3
+uint8 GROUP_INDEX_PAYLOAD = 6
+
 uint64 timestamp_sample	    # the timestamp the data this control response is based on was sampled
 float32[8] control
 
diff --git a/msg/vehicle_command.msg b/msg/vehicle_command.msg
index 8c4d41cedd..a2f8d53f73 100644
--- a/msg/vehicle_command.msg
+++ b/msg/vehicle_command.msg
@@ -68,6 +68,7 @@ uint16 VEHICLE_CMD_MISSION_START = 300			# start running a mission |first_item:
 uint16 VEHICLE_CMD_COMPONENT_ARM_DISARM = 400		# Arms / Disarms a component |1 to arm, 0 to disarm|
 uint16 VEHICLE_CMD_START_RX_PAIR = 500			# Starts receiver pairing |0:Spektrum| 0:Spektrum DSM2, 1:Spektrum DSMX|
 uint16 VEHICLE_CMD_SET_CAMERA_MODE = 530            # Set camera capture mode (photo, video, etc.)
+uint16 VEHICLE_CMD_SET_CAMERA_ZOOM = 531                # Set camera zoom
 uint16 VEHICLE_CMD_DO_TRIGGER_CONTROL = 2003            # Enable or disable on-board camera triggering system
 uint16 VEHICLE_CMD_DO_VTOL_TRANSITION = 3000    # Command VTOL transition
 uint16 VEHICLE_CMD_ARM_AUTHORIZATION_REQUEST = 3001    # Request arm authorization
@@ -100,6 +101,11 @@ uint8 VEHICLE_ROI_LOCATION = 3                     # Point toward fixed location
 uint8 VEHICLE_ROI_TARGET = 4                       # Point toward target
 uint8 VEHICLE_ROI_ENUM_END = 5
 
+uint8 VEHICLE_CAMERA_ZOOM_TYPE_STEP = 0            # Zoom one step increment
+uint8 VEHICLE_CAMERA_ZOOM_TYPE_CONTINUOUS = 1      # Continuous zoom up/down until stopped
+uint8 VEHICLE_CAMERA_ZOOM_TYPE_RANGE = 2           # Zoom value as proportion of full camera range
+uint8 VEHICLE_CAMERA_ZOOM_TYPE_FOCAL_LENGTH = 3    # Zoom to a focal length
+
 uint8 ORB_QUEUE_LENGTH = 3
 
 float32 param1			# Parameter 1, as defined by MAVLink uint16 VEHICLE_CMD enum.
diff --git a/src/modules/commander/Commander.cpp b/src/modules/commander/Commander.cpp
index 662d8e4e92..ec0a183fe6 100644
--- a/src/modules/commander/Commander.cpp
+++ b/src/modules/commander/Commander.cpp
@@ -1058,6 +1058,7 @@ Commander::handle_command(vehicle_status_s *status_local, const vehicle_command_
 	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_SET_CAMERA_ZOOM:
 	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 14b1b4f69f..dfc3ac0046 100644
--- a/src/modules/mavlink/mavlink_mission.cpp
+++ b/src/modules/mavlink/mavlink_mission.cpp
@@ -1476,6 +1476,7 @@ MavlinkMissionManager::parse_mavlink_mission_item(const mavlink_mission_item_t *
 		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_SET_CAMERA_ZOOM:
 		case MAV_CMD_DO_VTOL_TRANSITION:
 		case MAV_CMD_NAV_DELAY:
 		case MAV_CMD_NAV_RETURN_TO_LAUNCH:
@@ -1551,6 +1552,7 @@ MavlinkMissionManager::format_mavlink_mission_item(const struct mission_item_s *
 		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_SET_CAMERA_ZOOM:
 		case NAV_CMD_DO_VTOL_TRANSITION:
 			break;
 
diff --git a/src/modules/mavlink/mavlink_receiver.cpp b/src/modules/mavlink/mavlink_receiver.cpp
index 62ffd47404..fcb7adae79 100644
--- a/src/modules/mavlink/mavlink_receiver.cpp
+++ b/src/modules/mavlink/mavlink_receiver.cpp
@@ -521,6 +521,27 @@ void MavlinkReceiver::handle_message_command_both(mavlink_message_t *msg, const
 			result = vehicle_command_ack_s::VEHICLE_RESULT_DENIED;
 		}
 
+	} else if (cmd_mavlink.command == MAV_CMD_SET_CAMERA_ZOOM) {
+		struct actuator_controls_s actuator_controls = {};
+		actuator_controls.timestamp = hrt_absolute_time();
+
+		for (size_t i = 0; i < 8; i++) {
+			actuator_controls.control[i] = NAN;
+		}
+
+		switch ((int)(cmd_mavlink.param1 + 0.5f)) {
+		case vehicle_command_s::VEHICLE_CAMERA_ZOOM_TYPE_RANGE:
+			actuator_controls.control[actuator_controls_s::INDEX_CAMERA_ZOOM] = cmd_mavlink.param2 / 50.0f - 1.0f;
+			break;
+		case vehicle_command_s::VEHICLE_CAMERA_ZOOM_TYPE_STEP:
+		case vehicle_command_s::VEHICLE_CAMERA_ZOOM_TYPE_CONTINUOUS:
+		case vehicle_command_s::VEHICLE_CAMERA_ZOOM_TYPE_FOCAL_LENGTH:
+		default:
+			send_ack = false;
+		}
+
+		_actuator_controls_pubs[actuator_controls_s::GROUP_INDEX_GIMBAL].publish(actuator_controls);
+
 	} else {
 
 		send_ack = false;
diff --git a/src/modules/navigator/mission_block.cpp b/src/modules/navigator/mission_block.cpp
index 09c0027520..0364b14320 100644
--- a/src/modules/navigator/mission_block.cpp
+++ b/src/modules/navigator/mission_block.cpp
@@ -102,6 +102,7 @@ MissionBlock::is_mission_item_reached()
 	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_SET_CAMERA_ZOOM:
 		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 0b07c32fc5..8f8a670455 100644
--- a/src/modules/navigator/mission_feasibility_checker.cpp
+++ b/src/modules/navigator/mission_feasibility_checker.cpp
@@ -268,6 +268,7 @@ MissionFeasibilityChecker::checkMissionItemValidity(const mission_s &mission)
 		    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_SET_CAMERA_ZOOM &&
 		    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),
@@ -392,6 +393,7 @@ MissionFeasibilityChecker::checkTakeoff(const mission_s &mission, float home_alt
 					  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_SET_CAMERA_ZOOM &&
 					  missionitem.nav_cmd != NAV_CMD_DO_VTOL_TRANSITION);
 		}
 	}
diff --git a/src/modules/navigator/navigation.h b/src/modules/navigator/navigation.h
index 882cf1cb4e..1c06f52c41 100644
--- a/src/modules/navigator/navigation.h
+++ b/src/modules/navigator/navigation.h
@@ -83,6 +83,7 @@ enum NAV_CMD {
 	NAV_CMD_DO_SET_CAM_TRIGG_INTERVAL = 214,
 	NAV_CMD_DO_SET_CAM_TRIGG_DIST = 206,
 	NAV_CMD_SET_CAMERA_MODE = 530,
+	NAV_CMD_SET_CAMERA_ZOOM = 531,
 	NAV_CMD_IMAGE_START_CAPTURE = 2000,
 	NAV_CMD_IMAGE_STOP_CAPTURE = 2001,
 	NAV_CMD_DO_TRIGGER_CONTROL = 2003,