diff --git a/libraries/AP_Mission/AP_Mission.cpp b/libraries/AP_Mission/AP_Mission.cpp
index 22a2933992..1072b644e4 100644
--- a/libraries/AP_Mission/AP_Mission.cpp
+++ b/libraries/AP_Mission/AP_Mission.cpp
@@ -625,6 +625,11 @@ bool AP_Mission::mavlink_to_mission_cmd(const mavlink_mission_item_t& packet, AP
         cmd.p1 = packet.param1;                         // normal=0 inverted=1
         break;
 
+    case MAV_CMD_DO_GRIPPER:                            // MAV ID: 211
+        cmd.content.gripper.num = packet.param1;        // gripper number
+        cmd.content.gripper.action = packet.param2;     // action 0=release, 1=grab.  See GRIPPER_ACTION enum
+        break;
+
     default:
         // unrecognised command
         return false;
@@ -888,6 +893,11 @@ bool AP_Mission::mission_cmd_to_mavlink(const AP_Mission::Mission_Command& cmd,
         packet.param1 = cmd.p1;                         // normal=0 inverted=1
         break;
 
+    case MAV_CMD_DO_GRIPPER:                            // MAV ID: 211
+        packet.param1 = cmd.content.gripper.num;        // gripper number
+        packet.param2 = cmd.content.gripper.action;     // action 0=release, 1=grab.  See GRIPPER_ACTION enum
+        break;
+
     default:
         // unrecognised command
         return false;
diff --git a/libraries/AP_Mission/AP_Mission.h b/libraries/AP_Mission/AP_Mission.h
index bfd04261ac..b0e0374b6d 100644
--- a/libraries/AP_Mission/AP_Mission.h
+++ b/libraries/AP_Mission/AP_Mission.h
@@ -121,6 +121,12 @@ public:
         float meters;           // distance
     };
 
+    // gripper command structure
+    struct PACKED Gripper_Command {
+        uint8_t num;            // gripper number
+        uint8_t action;         // action (0 = release, 1 = grab)
+    };
+
     union PACKED Content {
         // Nav_Guided_Command
         Nav_Guided_Command nav_guided;
@@ -158,6 +164,9 @@ public:
         // cam trigg distance
         Cam_Trigg_Distance cam_trigg_dist;
 
+        // do-gripper
+        Gripper_Command gripper;
+
         // location
         Location location;      // Waypoint location