diff --git a/ArduCopter/GCS_Mavlink.cpp b/ArduCopter/GCS_Mavlink.cpp
index f7879c2018..d0eabe52bb 100644
--- a/ArduCopter/GCS_Mavlink.cpp
+++ b/ArduCopter/GCS_Mavlink.cpp
@@ -1062,35 +1062,6 @@ void GCS_MAVLINK_Copter::handleMessage(mavlink_message_t* msg)
             result = MAV_RESULT_ACCEPTED;
             break;
 
-#if CAMERA == ENABLED
-        case MAV_CMD_DO_DIGICAM_CONFIGURE:
-            copter.camera.configure(packet.param1,
-                                    packet.param2,
-                                    packet.param3,
-                                    packet.param4,
-                                    packet.param5,
-                                    packet.param6,
-                                    packet.param7);
-
-            result = MAV_RESULT_ACCEPTED;
-            break;
-
-        case MAV_CMD_DO_DIGICAM_CONTROL:
-            copter.camera.control(packet.param1,
-                                  packet.param2,
-                                  packet.param3,
-                                  packet.param4,
-                                  packet.param5,
-                                  packet.param6);
-            result = MAV_RESULT_ACCEPTED;
-            break;
-
-        case MAV_CMD_DO_SET_CAM_TRIGG_DIST:
-            copter.camera.set_trigger_distance(packet.param1);
-            result = MAV_RESULT_ACCEPTED;
-            break;
-
-#endif // CAMERA == ENABLED
         case MAV_CMD_DO_MOUNT_CONTROL:
 #if MOUNT == ENABLED
             copter.camera_mount.control(packet.param1, packet.param2, packet.param3, (MAV_MOUNT_MODE) packet.param7);
@@ -1695,17 +1666,6 @@ void GCS_MAVLINK_Copter::handleMessage(mavlink_message_t* msg)
         break;
 #endif // AC_FENCE == ENABLED
 
-#if CAMERA == ENABLED
-    //deprecated.  Use MAV_CMD_DO_DIGICAM_CONFIGURE
-    case MAVLINK_MSG_ID_DIGICAM_CONFIGURE:      // MAV ID: 202
-        break;
-
-    //deprecated.  Use MAV_CMD_DO_DIGICAM_CONTROL
-    case MAVLINK_MSG_ID_DIGICAM_CONTROL:
-        copter.camera.control_msg(msg);
-        break;
-#endif // CAMERA == ENABLED
-
 #if MOUNT == ENABLED
     //deprecated. Use MAV_CMD_DO_MOUNT_CONFIGURE
     case MAVLINK_MSG_ID_MOUNT_CONFIGURE:        // MAV ID: 204
@@ -1862,6 +1822,15 @@ AP_GPS *GCS_MAVLINK_Copter::get_gps() const
     return &copter.gps;
 }
 
+AP_Camera *GCS_MAVLINK_Copter::get_camera() const
+{
+#if CAMERA == ENABLED
+    return &copter.camera;
+#else
+    return nullptr;
+#endif
+}
+
 AP_ServoRelayEvents *GCS_MAVLINK_Copter::get_servorelayevents() const
 {
     return &copter.ServoRelayEvents;
diff --git a/ArduCopter/GCS_Mavlink.h b/ArduCopter/GCS_Mavlink.h
index dff2c9518f..ae386b369f 100644
--- a/ArduCopter/GCS_Mavlink.h
+++ b/ArduCopter/GCS_Mavlink.h
@@ -21,6 +21,7 @@ protected:
     AP_Mission *get_mission() override;
     AP_Rally *get_rally() const override;
     Compass *get_compass() const override;
+    AP_Camera *get_camera() const override;
     AP_ServoRelayEvents *get_servorelayevents() const override;
     AP_GPS *get_gps() const override;