diff --git a/libraries/GCS_MAVLink/GCS.h b/libraries/GCS_MAVLink/GCS.h
index a505f760b9..7ba2c0c2c8 100644
--- a/libraries/GCS_MAVLink/GCS.h
+++ b/libraries/GCS_MAVLink/GCS.h
@@ -654,7 +654,7 @@ protected:
     virtual bool mav_frame_for_command_long(MAV_FRAME &fame, MAV_CMD packet_command) const;
     MAV_RESULT try_command_long_as_command_int(const mavlink_command_long_t &packet, const mavlink_message_t &msg);
     MAV_RESULT handle_command_long_packet(const mavlink_command_long_t &packet, const mavlink_message_t &msg);
-    MAV_RESULT handle_command_camera(const mavlink_command_long_t &packet);
+    MAV_RESULT handle_command_camera(const mavlink_command_int_t &packet);
     MAV_RESULT handle_command_do_set_roi(const mavlink_command_int_t &packet);
     virtual MAV_RESULT handle_command_do_set_roi(const Location &roi_loc);
     MAV_RESULT handle_command_do_gripper(const mavlink_command_long_t &packet);
diff --git a/libraries/GCS_MAVLink/GCS_Common.cpp b/libraries/GCS_MAVLink/GCS_Common.cpp
index 1d383a1003..46e6b3378e 100644
--- a/libraries/GCS_MAVLink/GCS_Common.cpp
+++ b/libraries/GCS_MAVLink/GCS_Common.cpp
@@ -3449,14 +3449,14 @@ void GCS_MAVLINK::handle_system_time_message(const mavlink_message_t &msg)
 #endif
 
 #if AP_CAMERA_ENABLED
-MAV_RESULT GCS_MAVLINK::handle_command_camera(const mavlink_command_long_t &packet)
+MAV_RESULT GCS_MAVLINK::handle_command_camera(const mavlink_command_int_t &packet)
 {
     AP_Camera *camera = AP::camera();
     if (camera == nullptr) {
         return MAV_RESULT_UNSUPPORTED;
     }
 
-    return camera->handle_command_long(packet);
+    return camera->handle_command(packet);
 }
 #endif
 
@@ -4725,22 +4725,6 @@ MAV_RESULT GCS_MAVLINK::handle_command_long_packet(const mavlink_command_long_t
 
     switch (packet.command) {
 
-#if AP_CAMERA_ENABLED
-    case MAV_CMD_DO_DIGICAM_CONFIGURE:
-    case MAV_CMD_DO_DIGICAM_CONTROL:
-    case MAV_CMD_DO_SET_CAM_TRIGG_DIST:
-    case MAV_CMD_SET_CAMERA_ZOOM:
-    case MAV_CMD_SET_CAMERA_FOCUS:
-    case MAV_CMD_IMAGE_START_CAPTURE:
-    case MAV_CMD_IMAGE_STOP_CAPTURE:
-    case MAV_CMD_CAMERA_TRACK_POINT:
-    case MAV_CMD_CAMERA_TRACK_RECTANGLE:
-    case MAV_CMD_CAMERA_STOP_TRACKING:
-    case MAV_CMD_VIDEO_START_CAPTURE:
-    case MAV_CMD_VIDEO_STOP_CAPTURE:
-        result = handle_command_camera(packet);
-        break;
-#endif
 #if AP_GRIPPER_ENABLED
     case MAV_CMD_DO_GRIPPER:
         result = handle_command_do_gripper(packet);
@@ -5037,6 +5021,7 @@ MAV_RESULT GCS_MAVLINK::handle_command_storage_format(const mavlink_command_int_
 MAV_RESULT GCS_MAVLINK::handle_command_int_packet(const mavlink_command_int_t &packet, const mavlink_message_t &msg)
 {
     switch (packet.command) {
+
 #if HAL_INS_ACCELCAL_ENABLED
     case MAV_CMD_ACCELCAL_VEHICLE_POS:
         return handle_command_accelcal_vehicle_pos(packet);
@@ -5073,6 +5058,22 @@ MAV_RESULT GCS_MAVLINK::handle_command_int_packet(const mavlink_command_int_t &p
     case MAV_CMD_DO_SET_MODE:
         return handle_command_do_set_mode(packet);
 
+#if AP_CAMERA_ENABLED
+    case MAV_CMD_DO_DIGICAM_CONFIGURE:
+    case MAV_CMD_DO_DIGICAM_CONTROL:
+    case MAV_CMD_DO_SET_CAM_TRIGG_DIST:
+    case MAV_CMD_SET_CAMERA_ZOOM:
+    case MAV_CMD_SET_CAMERA_FOCUS:
+    case MAV_CMD_IMAGE_START_CAPTURE:
+    case MAV_CMD_IMAGE_STOP_CAPTURE:
+    case MAV_CMD_CAMERA_TRACK_POINT:
+    case MAV_CMD_CAMERA_TRACK_RECTANGLE:
+    case MAV_CMD_CAMERA_STOP_TRACKING:
+    case MAV_CMD_VIDEO_START_CAPTURE:
+    case MAV_CMD_VIDEO_STOP_CAPTURE:
+        return handle_command_camera(packet);
+#endif
+
     case MAV_CMD_DO_SET_ROI_NONE: {
         const Location zero_loc = Location();
         return handle_command_do_set_roi(zero_loc);