diff --git a/APMrover2/Rover.h b/APMrover2/Rover.h
index bf1ac6993e..929eae1bf9 100644
--- a/APMrover2/Rover.h
+++ b/APMrover2/Rover.h
@@ -428,10 +428,6 @@ private:
     bool verify_within_distance();
     void do_change_speed(const AP_Mission::Mission_Command& cmd);
     void do_set_home(const AP_Mission::Mission_Command& cmd);
-#if CAMERA == ENABLED
-    void do_digicam_configure(const AP_Mission::Mission_Command& cmd);
-    void do_digicam_control(const AP_Mission::Mission_Command& cmd);
-#endif
     void do_set_reverse(const AP_Mission::Mission_Command& cmd);
 
     // commands.cpp
diff --git a/APMrover2/commands_logic.cpp b/APMrover2/commands_logic.cpp
index f6d7f245d1..c44d72aed8 100644
--- a/APMrover2/commands_logic.cpp
+++ b/APMrover2/commands_logic.cpp
@@ -59,23 +59,6 @@ bool Rover::start_command(const AP_Mission::Mission_Command& cmd)
         do_set_home(cmd);
         break;
 
-#if CAMERA == ENABLED
-    case MAV_CMD_DO_CONTROL_VIDEO:                      // Control on-board camera capturing. |Camera ID (-1 for all)| Transmission: 0: disabled, 1: enabled compressed, 2: enabled raw| Transmission mode: 0: video stream, >0: single images every n seconds (decimal)| Recording: 0: disabled, 1: enabled compressed, 2: enabled raw| Empty| Empty| Empty|
-        break;
-
-    case MAV_CMD_DO_DIGICAM_CONFIGURE:                  // Mission command to configure an on-board camera controller system. |Modes: P, TV, AV, M, Etc| Shutter speed: Divisor number for one second| Aperture: F stop number| ISO number e.g. 80, 100, 200, Etc| Exposure type enumerator| Command Identity| Main engine cut-off time before camera trigger in seconds/10 (0 means no cut-off)|
-        do_digicam_configure(cmd);
-        break;
-
-    case MAV_CMD_DO_DIGICAM_CONTROL:                    // Mission command to control an on-board camera controller system. |Session control e.g. show/hide lens| Zoom's absolute position| Zooming step value to offset zoom from the current position| Focus Locking, Unlocking or Re-locking| Shooting Command| Command Identity| Empty|
-        do_digicam_control(cmd);
-        break;
-
-    case MAV_CMD_DO_SET_CAM_TRIGG_DIST:
-        camera.set_trigger_distance(cmd.content.cam_trigg_dist.meters);
-        break;
-#endif
-
 #if MOUNT == ENABLED
     // Sets the region of interest (ROI) for a sensor set or the
     // vehicle itself. This can then be used by the vehicles control
@@ -176,8 +159,6 @@ bool Rover::verify_command(const AP_Mission::Mission_Command& cmd)
     case MAV_CMD_DO_CHANGE_SPEED:
     case MAV_CMD_DO_SET_HOME:
     case MAV_CMD_DO_CONTROL_VIDEO:
-    case MAV_CMD_DO_DIGICAM_CONFIGURE:
-    case MAV_CMD_DO_DIGICAM_CONTROL:
     case MAV_CMD_DO_SET_CAM_TRIGG_DIST:
     case MAV_CMD_DO_SET_ROI:
     case MAV_CMD_DO_SET_REVERSE:
@@ -367,33 +348,6 @@ void Rover::do_set_home(const AP_Mission::Mission_Command& cmd)
     }
 }
 
-#if CAMERA == ENABLED
-
-// do_digicam_configure Send Digicam Configure message with the camera library
-void Rover::do_digicam_configure(const AP_Mission::Mission_Command& cmd)
-{
-    camera.configure(cmd.content.digicam_configure.shooting_mode,
-                     cmd.content.digicam_configure.shutter_speed,
-                     cmd.content.digicam_configure.aperture,
-                     cmd.content.digicam_configure.ISO,
-                     cmd.content.digicam_configure.exposure_type,
-                     cmd.content.digicam_configure.cmd_id,
-                     cmd.content.digicam_configure.engine_cutoff_time);
-}
-
-// do_digicam_control Send Digicam Control message with the camera library
-void Rover::do_digicam_control(const AP_Mission::Mission_Command& cmd)
-{
-    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
-
 void Rover::do_set_reverse(const AP_Mission::Mission_Command& cmd)
 {
     control_mode->set_reversed(cmd.p1 == 1);