diff --git a/libraries/AP_Mission/AP_Mission.cpp b/libraries/AP_Mission/AP_Mission.cpp
index f26681b3bb..0bf353eba3 100644
--- a/libraries/AP_Mission/AP_Mission.cpp
+++ b/libraries/AP_Mission/AP_Mission.cpp
@@ -264,6 +264,10 @@ bool AP_Mission::verify_command(const Mission_Command& cmd)
     switch (cmd.id) {
         // do-commands always return true for verify:
     case MAV_CMD_DO_GRIPPER:
+    case MAV_CMD_DO_SET_SERVO:
+    case MAV_CMD_DO_SET_RELAY:
+    case MAV_CMD_DO_REPEAT_SERVO:
+    case MAV_CMD_DO_REPEAT_RELAY:
         return true;
     default:
         return _cmd_verify_fn(cmd);
@@ -275,6 +279,11 @@ bool AP_Mission::start_command(const Mission_Command& cmd)
     switch (cmd.id) {
     case MAV_CMD_DO_GRIPPER:
         return start_command_do_gripper(cmd);
+    case MAV_CMD_DO_SET_SERVO:
+    case MAV_CMD_DO_SET_RELAY:
+    case MAV_CMD_DO_REPEAT_SERVO:
+    case MAV_CMD_DO_REPEAT_RELAY:
+        return start_command_do_servorelayevents(cmd);
     default:
         return _cmd_start_fn(cmd);
     }
diff --git a/libraries/AP_Mission/AP_Mission.h b/libraries/AP_Mission/AP_Mission.h
index def07d7ca1..30a8a86458 100644
--- a/libraries/AP_Mission/AP_Mission.h
+++ b/libraries/AP_Mission/AP_Mission.h
@@ -581,6 +581,7 @@ private:
 
     // mission items common to all vehicles:
     bool start_command_do_gripper(const AP_Mission::Mission_Command& cmd);
+    bool start_command_do_servorelayevents(const AP_Mission::Mission_Command& cmd);
 };
 
 namespace AP {
diff --git a/libraries/AP_Mission/AP_Mission_Commands.cpp b/libraries/AP_Mission/AP_Mission_Commands.cpp
index 507b0c4015..ae99727dac 100644
--- a/libraries/AP_Mission/AP_Mission_Commands.cpp
+++ b/libraries/AP_Mission/AP_Mission_Commands.cpp
@@ -2,6 +2,7 @@
 
 #include <GCS_MAVLink/GCS.h>
 #include <AP_Gripper/AP_Gripper.h>
+#include <AP_ServoRelayEvents/AP_ServoRelayEvents.h>
 
 bool AP_Mission::start_command_do_gripper(const AP_Mission::Mission_Command& cmd)
 {
@@ -30,3 +31,38 @@ bool AP_Mission::start_command_do_gripper(const AP_Mission::Mission_Command& cmd
 
     return true;
 }
+
+bool AP_Mission::start_command_do_servorelayevents(const AP_Mission::Mission_Command& cmd)
+{
+    AP_ServoRelayEvents *sre = AP::servorelayevents();
+    if (sre == nullptr) {
+        return true;
+    }
+
+    switch (cmd.id) {
+    case MAV_CMD_DO_SET_SERVO:
+        sre->do_set_servo(cmd.content.servo.channel, cmd.content.servo.pwm);
+        break;
+
+    case MAV_CMD_DO_SET_RELAY:
+        sre->do_set_relay(cmd.content.relay.num, cmd.content.relay.state);
+        break;
+
+    case MAV_CMD_DO_REPEAT_SERVO:
+        sre->do_repeat_servo(cmd.content.repeat_servo.channel,
+                             cmd.content.repeat_servo.pwm,
+                             cmd.content.repeat_servo.repeat_count,
+                             cmd.content.repeat_servo.cycle_time * 1000.0f);
+        break;
+
+    case MAV_CMD_DO_REPEAT_RELAY:
+        sre->do_repeat_relay(cmd.content.repeat_relay.num,
+                             cmd.content.repeat_relay.repeat_count,
+                             cmd.content.repeat_relay.cycle_time * 1000.0f);
+        break;
+    default:
+        break;
+    }
+
+    return true;
+}