diff --git a/APMrover2/APMrover2.cpp b/APMrover2/APMrover2.cpp
index df2c8365fb..32e4a05d93 100644
--- a/APMrover2/APMrover2.cpp
+++ b/APMrover2/APMrover2.cpp
@@ -207,13 +207,7 @@ void Rover::mount_update(void)
 void Rover::update_trigger(void)
 {
 #if CAMERA == ENABLED
-    camera.trigger_pic_cleanup();
-    if (camera.check_trigger_pin()) {
-        gcs().send_message(MSG_CAMERA_FEEDBACK);
-        if (should_log(MASK_LOG_CAMERA)) {
-            DataFlash.Log_Write_Camera(ahrs, gps, current_loc);
-        }
-    }
+    camera.update_trigger();
 #endif
 }
 
@@ -403,9 +397,7 @@ void Rover::update_GPS_10Hz(void)
             ground_speed = ahrs.groundspeed();
 
 #if CAMERA == ENABLED
-            if (camera.update_location(current_loc, rover.ahrs) == true) {
-                do_take_picture();
-            }
+            camera.update();
 #endif
         }
     }
diff --git a/APMrover2/GCS_Mavlink.cpp b/APMrover2/GCS_Mavlink.cpp
index d0dd65fbba..61a0a8f3fb 100644
--- a/APMrover2/GCS_Mavlink.cpp
+++ b/APMrover2/GCS_Mavlink.cpp
@@ -456,7 +456,7 @@ bool GCS_MAVLINK_Rover::try_send_message(enum ap_message id)
     case MSG_CAMERA_FEEDBACK:
 #if CAMERA == ENABLED
         CHECK_PAYLOAD_SIZE(CAMERA_FEEDBACK);
-        rover.camera.send_feedback(chan, rover.gps, rover.ahrs, rover.current_loc);
+        rover.camera.send_feedback(chan);
 #endif
         break;
 
@@ -838,14 +838,12 @@ void GCS_MAVLINK_Rover::handleMessage(mavlink_message_t* msg)
             break;
 
         case MAV_CMD_DO_DIGICAM_CONTROL:
-            if (rover.camera.control(packet.param1,
-                                     packet.param2,
-                                     packet.param3,
-                                     packet.param4,
-                                     packet.param5,
-                                     packet.param6)) {
-                rover.log_picture();
-            }
+            rover.camera.control(packet.param1,
+                                 packet.param2,
+                                 packet.param3,
+                                 packet.param4,
+                                 packet.param5,
+                                 packet.param6);
             result = MAV_RESULT_ACCEPTED;
             break;
 
@@ -1366,7 +1364,6 @@ void GCS_MAVLINK_Rover::handleMessage(mavlink_message_t* msg)
     case MAVLINK_MSG_ID_DIGICAM_CONTROL:
     {
         rover.camera.control_msg(msg);
-        rover.log_picture();
         break;
     }
 #endif  // CAMERA == ENABLED
diff --git a/APMrover2/Rover.cpp b/APMrover2/Rover.cpp
index c418a8a65e..dde59369fb 100644
--- a/APMrover2/Rover.cpp
+++ b/APMrover2/Rover.cpp
@@ -35,7 +35,7 @@ Rover::Rover(void) :
             FUNCTOR_BIND_MEMBER(&Rover::exit_mission, void)),
     ServoRelayEvents(relay),
 #if CAMERA == ENABLED
-    camera(&relay),
+    camera(&relay, MASK_LOG_CAMERA, current_loc, gps, ahrs),
 #endif
 #if MOUNT == ENABLED
     camera_mount(ahrs, current_loc),
diff --git a/APMrover2/Rover.h b/APMrover2/Rover.h
index 1e322af1e5..c640affc55 100644
--- a/APMrover2/Rover.h
+++ b/APMrover2/Rover.h
@@ -508,10 +508,6 @@ private:
     bool verify_wait_delay();
     bool verify_within_distance();
     bool verify_yaw();
-#if CAMERA == ENABLED
-    void do_take_picture();
-    void log_picture();
-#endif
     void update_commands(void);
     void delay(uint32_t ms);
     void mavlink_delay(uint32_t ms);
diff --git a/APMrover2/commands_logic.cpp b/APMrover2/commands_logic.cpp
index f6c72079b1..870a907a45 100644
--- a/APMrover2/commands_logic.cpp
+++ b/APMrover2/commands_logic.cpp
@@ -551,36 +551,12 @@ void Rover::do_digicam_configure(const AP_Mission::Mission_Command& cmd)
 // do_digicam_control Send Digicam Control message with the camera library
 void Rover::do_digicam_control(const AP_Mission::Mission_Command& cmd)
 {
-    if (camera.control(cmd.content.digicam_control.session,
-                       cmd.content.digicam_control.zoom_pos,
-                       cmd.content.digicam_control.zoom_step,
-                       cmd.content.digicam_control.focus_lock,
-                       cmd.content.digicam_control.shooting_cmd,
-                       cmd.content.digicam_control.cmd_id)) {
-        log_picture();
-    }
-}
-
-// do_take_picture - take a picture with the camera library
-void Rover::do_take_picture()
-{
-    camera.trigger_pic(true);
-    log_picture();
-}
-
-// log_picture - log picture taken and send feedback to GCS
-void Rover::log_picture()
-{
-    if (!camera.using_feedback_pin()) {
-        gcs().send_message(MSG_CAMERA_FEEDBACK);
-        if (should_log(MASK_LOG_CAMERA)) {
-            DataFlash.Log_Write_Camera(ahrs, gps, current_loc);
-        }
-    } else {
-        if (should_log(MASK_LOG_CAMERA)) {
-            DataFlash.Log_Write_Trigger(ahrs, gps, current_loc);
-        }
-    }
+    camera.control(cmd.content.digicam_control.session,
+                   cmd.content.digicam_control.zoom_pos,
+                   cmd.content.digicam_control.zoom_step,
+                   cmd.content.digicam_control.focus_lock,
+                   cmd.content.digicam_control.shooting_cmd,
+                   cmd.content.digicam_control.cmd_id);
 }
 
 #endif