diff --git a/msg/VehicleCommand.msg b/msg/VehicleCommand.msg
index 13ac224582..0135873e38 100644
--- a/msg/VehicleCommand.msg
+++ b/msg/VehicleCommand.msg
@@ -118,11 +118,6 @@ uint8 VEHICLE_ROI_LOCATION = 3                    	# Point toward fixed location
 uint8 VEHICLE_ROI_TARGET = 4                       	# Point toward target
 uint8 VEHICLE_ROI_ENUM_END = 5
 
-uint8 VEHICLE_CAMERA_ZOOM_TYPE_STEP = 0            	# Zoom one step increment
-uint8 VEHICLE_CAMERA_ZOOM_TYPE_CONTINUOUS = 1      	# Continuous zoom up/down until stopped
-uint8 VEHICLE_CAMERA_ZOOM_TYPE_RANGE = 2           	# Zoom value as proportion of full camera range
-uint8 VEHICLE_CAMERA_ZOOM_TYPE_FOCAL_LENGTH = 3    	# Zoom to a focal length
-
 uint8 PARACHUTE_ACTION_DISABLE = 0
 uint8 PARACHUTE_ACTION_ENABLE = 1
 uint8 PARACHUTE_ACTION_RELEASE = 2
diff --git a/src/modules/mavlink/mavlink_mission.cpp b/src/modules/mavlink/mavlink_mission.cpp
index b56731bdad..72daf437d6 100644
--- a/src/modules/mavlink/mavlink_mission.cpp
+++ b/src/modules/mavlink/mavlink_mission.cpp
@@ -1545,7 +1545,6 @@ MavlinkMissionManager::parse_mavlink_mission_item(const mavlink_mission_item_t *
 		case MAV_CMD_OBLIQUE_SURVEY:
 		case MAV_CMD_DO_SET_CAM_TRIGG_INTERVAL:
 		case MAV_CMD_SET_CAMERA_MODE:
-		case MAV_CMD_SET_CAMERA_ZOOM:
 		case MAV_CMD_DO_VTOL_TRANSITION:
 		case MAV_CMD_NAV_DELAY:
 		case MAV_CMD_NAV_RETURN_TO_LAUNCH:
diff --git a/src/modules/mavlink/mavlink_receiver.cpp b/src/modules/mavlink/mavlink_receiver.cpp
index 85ff50a0c0..96f34c6903 100644
--- a/src/modules/mavlink/mavlink_receiver.cpp
+++ b/src/modules/mavlink/mavlink_receiver.cpp
@@ -525,28 +525,6 @@ void MavlinkReceiver::handle_message_command_both(mavlink_message_t *msg, const
 							vehicle_command.param2, vehicle_command.param3, vehicle_command.param4,
 							vehicle_command.param5, vehicle_command.param6, vehicle_command.param7);
 
-	} else if (cmd_mavlink.command == MAV_CMD_SET_CAMERA_ZOOM) {
-		struct actuator_controls_s actuator_controls = {};
-		actuator_controls.timestamp = hrt_absolute_time();
-
-		for (size_t i = 0; i < 8; i++) {
-			actuator_controls.control[i] = NAN;
-		}
-
-		switch ((int)(cmd_mavlink.param1 + 0.5f)) {
-		case vehicle_command_s::VEHICLE_CAMERA_ZOOM_TYPE_RANGE:
-			actuator_controls.control[actuator_controls_s::INDEX_CAMERA_ZOOM] = cmd_mavlink.param2 / 50.0f - 1.0f;
-			break;
-
-		case vehicle_command_s::VEHICLE_CAMERA_ZOOM_TYPE_STEP:
-		case vehicle_command_s::VEHICLE_CAMERA_ZOOM_TYPE_CONTINUOUS:
-		case vehicle_command_s::VEHICLE_CAMERA_ZOOM_TYPE_FOCAL_LENGTH:
-		default:
-			send_ack = false;
-		}
-
-		_actuator_controls_pubs[actuator_controls_s::GROUP_INDEX_GIMBAL].publish(actuator_controls);
-
 	} else if (cmd_mavlink.command == MAV_CMD_INJECT_FAILURE) {
 		if (_mavlink->failure_injection_enabled()) {
 			_cmd_pub.publish(vehicle_command);