diff --git a/Tools/ardupilotwaf/boards.py b/Tools/ardupilotwaf/boards.py
index ec378b65da..9b997b67a2 100644
--- a/Tools/ardupilotwaf/boards.py
+++ b/Tools/ardupilotwaf/boards.py
@@ -67,7 +67,34 @@ class Board:
         # allow GCS disable for AP_DAL example
         if cfg.options.no_gcs:
             env.CXXFLAGS += ['-DHAL_NO_GCS=1']
-            
+
+        # setup for supporting onvif cam control
+        if cfg.options.enable_onvif:
+            cfg.recurse('libraries/AP_ONVIF')
+            env.ENABLE_ONVIF = True
+            env.ROMFS_FILES += [('scripts/ONVIF_Camera_Control.lua',
+                                'libraries/AP_Scripting/applets/ONVIF_Camera_Control.lua')]
+            env.DEFINES.update(
+                ENABLE_ONVIF=1,
+                SCRIPTING_ENABLE_DEFAULT=1,
+            )
+            env.AP_LIBRARIES += [
+                'AP_ONVIF'
+            ]
+            env.CXXFLAGS += [
+                '-Wno-shadow',
+                '-Wno-undef',
+            ]
+            if 'clang++' not in cfg.env.COMPILER_CXX:
+                env.CXXFLAGS += [
+                    '-Wno-suggest-override',
+                ]
+        else:
+            env.ENABLE_ONVIF = False
+            env.DEFINES.update(
+                ENABLE_ONVIF=0,
+            )
+
         d = env.get_merged_dict()
         # Always prepend so that arguments passed in the command line get
         # the priority.
@@ -444,7 +471,6 @@ class sitl(Board):
             AP_SCRIPTING_CHECKS = 1, # SITL should always do runtime scripting checks
         )
 
-
         if self.with_can:
             cfg.define('HAL_NUM_CAN_IFACES', 2)
             cfg.define('UAVCAN_EXCEPTIONS', 0)
diff --git a/wscript b/wscript
index 0ef07b313d..ee95965666 100644
--- a/wscript
+++ b/wscript
@@ -164,6 +164,10 @@ submodules at specific revisions.
                  default=True,
                  help="Enable runtime scripting sanity checks")
 
+    g.add_option('--enable-onvif', action='store_true',
+                 default=False,
+                 help="Enables and sets up ONVIF camera control")
+
     g = opt.ap_groups['linux']
 
     linux_options = ('--prefix', '--destdir', '--bindir', '--libdir')
@@ -527,6 +531,7 @@ def _build_dynamic_sources(bld):
             ]
         )
 
+
     def write_version_header(tsk):
         bld = tsk.generator.bld
         return bld.write_version_header(tsk.outputs[0].abspath())
@@ -600,6 +605,9 @@ def _build_recursion(bld):
 
     dirs_to_recurse.append('libraries/AP_Scripting')
 
+    if bld.env.ENABLE_ONVIF:
+        dirs_to_recurse.append('libraries/AP_ONVIF')
+
     for p in hal_dirs_patterns:
         dirs_to_recurse += collect_dirs_to_recurse(
             bld,