diff --git a/ArduSub/Sub.h b/ArduSub/Sub.h
index 93dc2693c3..a49985c015 100644
--- a/ArduSub/Sub.h
+++ b/ArduSub/Sub.h
@@ -653,10 +653,6 @@ private:
     void do_set_home(const AP_Mission::Mission_Command& cmd);
     void do_roi(const AP_Mission::Mission_Command& cmd);
     void do_mount_control(const AP_Mission::Mission_Command& cmd);
-#if CAMERA == ENABLED
-    void do_digicam_configure(const AP_Mission::Mission_Command& cmd);
-    void do_digicam_control(const AP_Mission::Mission_Command& cmd);
-#endif
 
     bool verify_nav_wp(const AP_Mission::Mission_Command& cmd);
     bool verify_surface(const AP_Mission::Mission_Command& cmd);
diff --git a/ArduSub/commands_logic.cpp b/ArduSub/commands_logic.cpp
index d8f1514d16..343aa58481 100644
--- a/ArduSub/commands_logic.cpp
+++ b/ArduSub/commands_logic.cpp
@@ -105,23 +105,6 @@ bool Sub::start_command(const AP_Mission::Mission_Command& cmd)
         do_mount_control(cmd);
         break;
 
-#if CAMERA == ENABLED
-    case MAV_CMD_DO_CONTROL_VIDEO:                      // Control on-board camera capturing. |Camera ID (-1 for all)| Transmission: 0: disabled, 1: enabled compressed, 2: enabled raw| Transmission mode: 0: video stream, >0: single images every n seconds (decimal)| Recording: 0: disabled, 1: enabled compressed, 2: enabled raw| Empty| Empty| Empty|
-        break;
-
-    case MAV_CMD_DO_DIGICAM_CONFIGURE:                  // Mission command to configure an on-board camera controller system. |Modes: P, TV, AV, M, Etc| Shutter speed: Divisor number for one second| Aperture: F stop number| ISO number e.g. 80, 100, 200, Etc| Exposure type enumerator| Command Identity| Main engine cut-off time before camera trigger in seconds/10 (0 means no cut-off)|
-        do_digicam_configure(cmd);
-        break;
-
-    case MAV_CMD_DO_DIGICAM_CONTROL:                    // Mission command to control an on-board camera controller system. |Session control e.g. show/hide lens| Zoom's absolute position| Zooming step value to offset zoom from the current position| Focus Locking, Unlocking or Re-locking| Shooting Command| Command Identity| Empty|
-        do_digicam_control(cmd);
-        break;
-
-    case MAV_CMD_DO_SET_CAM_TRIGG_DIST:
-        camera.set_trigger_distance(cmd.content.cam_trigg_dist.meters);
-        break;
-#endif
-
 #if NAV_GUIDED == ENABLED
     case MAV_CMD_DO_GUIDED_LIMITS:                      // 222  accept guided mode limits
         do_guided_limits(cmd);
@@ -213,8 +196,6 @@ bool Sub::verify_command(const AP_Mission::Mission_Command& cmd)
     case MAV_CMD_DO_SET_ROI:
     case MAV_CMD_DO_MOUNT_CONTROL:
     case MAV_CMD_DO_CONTROL_VIDEO:
-    case MAV_CMD_DO_DIGICAM_CONFIGURE:
-    case MAV_CMD_DO_DIGICAM_CONTROL:
     case MAV_CMD_DO_SET_CAM_TRIGG_DIST:
     case MAV_CMD_DO_GUIDED_LIMITS:
         return true;
@@ -805,32 +786,6 @@ void Sub::do_roi(const AP_Mission::Mission_Command& cmd)
     set_auto_yaw_roi(cmd.content.location);
 }
 
-#if CAMERA == ENABLED
-// do_digicam_configure Send Digicam Configure message with the camera library
-void Sub::do_digicam_configure(const AP_Mission::Mission_Command& cmd)
-{
-    camera.configure(cmd.content.digicam_configure.shooting_mode,
-                     cmd.content.digicam_configure.shutter_speed,
-                     cmd.content.digicam_configure.aperture,
-                     cmd.content.digicam_configure.ISO,
-                     cmd.content.digicam_configure.exposure_type,
-                     cmd.content.digicam_configure.cmd_id,
-                     cmd.content.digicam_configure.engine_cutoff_time);
-}
-
-// do_digicam_control Send Digicam Control message with the camera library
-void Sub::do_digicam_control(const AP_Mission::Mission_Command& cmd)
-{
-    camera.control(cmd.content.digicam_control.session,
-                   cmd.content.digicam_control.zoom_pos,
-                   cmd.content.digicam_control.zoom_step,
-                   cmd.content.digicam_control.focus_lock,
-                   cmd.content.digicam_control.shooting_cmd,
-                   cmd.content.digicam_control.cmd_id);
-}
-
-#endif
-
 // point the camera to a specified angle
 void Sub::do_mount_control(const AP_Mission::Mission_Command& cmd)
 {