diff --git a/libraries/AP_Camera/AP_Camera.cpp b/libraries/AP_Camera/AP_Camera.cpp
index 9a2deb8a18..57302c8bde 100644
--- a/libraries/AP_Camera/AP_Camera.cpp
+++ b/libraries/AP_Camera/AP_Camera.cpp
@@ -2,6 +2,7 @@
 
 #if AP_CAMERA_ENABLED
 
+#include <GCS_MAVLink/GCS.h>
 #include <AP_Math/AP_Math.h>
 #include <AP_HAL/AP_HAL.h>
 #include <SRV_Channel/SRV_Channel.h>
@@ -432,6 +433,44 @@ MAV_RESULT AP_Camera::handle_command(const mavlink_command_int_t &packet)
     }
 }
 
+// send a mavlink message; returns false if there was not space to
+// send the message, true otherwise
+bool AP_Camera::send_mavlink_message(GCS_MAVLINK &link, const enum ap_message msg_id)
+{
+    const auto chan = link.get_chan();
+
+    switch (msg_id) {
+    case MSG_CAMERA_FEEDBACK:
+        CHECK_PAYLOAD_SIZE2(CAMERA_FEEDBACK);
+        send_feedback(chan);
+        break;
+    case MSG_CAMERA_INFORMATION:
+        CHECK_PAYLOAD_SIZE2(CAMERA_INFORMATION);
+        send_camera_information(chan);
+        break;
+    case MSG_CAMERA_SETTINGS:
+        CHECK_PAYLOAD_SIZE2(CAMERA_SETTINGS);
+        send_camera_settings(chan);
+        break;
+#if AP_CAMERA_SEND_FOV_STATUS_ENABLED
+    case MSG_CAMERA_FOV_STATUS:
+        CHECK_PAYLOAD_SIZE2(CAMERA_FOV_STATUS);
+        send_camera_fov_status(chan);
+        break;
+#endif
+    case MSG_CAMERA_CAPTURE_STATUS:
+        CHECK_PAYLOAD_SIZE2(CAMERA_CAPTURE_STATUS);
+        send_camera_capture_status(chan);
+        break;
+
+    default:
+        // should not reach this; should only be called for specific IDs
+        break;
+    }
+
+    return true;
+}
+
 // set camera trigger distance in a mission
 void AP_Camera::set_trigger_distance(uint8_t instance, float distance_m)
 {
diff --git a/libraries/AP_Camera/AP_Camera.h b/libraries/AP_Camera/AP_Camera.h
index ee9f142cec..dd9f4ddfde 100644
--- a/libraries/AP_Camera/AP_Camera.h
+++ b/libraries/AP_Camera/AP_Camera.h
@@ -8,6 +8,7 @@
 
 #include <AP_Param/AP_Param.h>
 #include <GCS_MAVLink/GCS_MAVLink.h>
+#include <GCS_MAVLink/ap_message.h>
 #include "AP_Camera_Params.h"
 #include "AP_Camera_shareddefs.h"
 
@@ -86,22 +87,9 @@ public:
     // handle MAVLink command from GCS to control the camera
     MAV_RESULT handle_command(const mavlink_command_int_t &packet);
 
-    // send camera feedback message to GCS
-    void send_feedback(mavlink_channel_t chan);
-
-    // send camera information message to GCS
-    void send_camera_information(mavlink_channel_t chan);
-
-    // send camera settings message to GCS
-    void send_camera_settings(mavlink_channel_t chan);
-
-#if AP_CAMERA_SEND_FOV_STATUS_ENABLED
-    // send camera field of view status
-    void send_camera_fov_status(mavlink_channel_t chan);
-#endif
-
-    // send camera capture status message to GCS
-    void send_camera_capture_status(mavlink_channel_t chan);
+    // send a mavlink message; returns false if there was not space to
+    // send the message, true otherwise
+    bool send_mavlink_message(class GCS_MAVLINK &link, const enum ap_message id);
 
     // configure camera
     void configure(float shooting_mode, float shutter_speed, float aperture, float ISO, int32_t exposure_type, int32_t cmd_id, float engine_cutoff_time);
@@ -232,6 +220,23 @@ private:
     // perform any required parameter conversion
     void convert_params();
 
+    // send camera feedback message to GCS
+    void send_feedback(mavlink_channel_t chan);
+
+    // send camera information message to GCS
+    void send_camera_information(mavlink_channel_t chan);
+
+    // send camera settings message to GCS
+    void send_camera_settings(mavlink_channel_t chan);
+
+#if AP_CAMERA_SEND_FOV_STATUS_ENABLED
+    // send camera field of view status
+    void send_camera_fov_status(mavlink_channel_t chan);
+#endif
+
+    // send camera capture status message to GCS
+    void send_camera_capture_status(mavlink_channel_t chan);
+
     HAL_Semaphore _rsem;                // semaphore for multi-thread access
     AP_Camera_Backend *primary;         // primary camera backed
     bool _is_in_auto_mode;              // true if in AUTO mode