diff --git a/src/modules/mavlink/mavlink_receiver.cpp b/src/modules/mavlink/mavlink_receiver.cpp
index 990e101a0e..6ed6cbf041 100644
--- a/src/modules/mavlink/mavlink_receiver.cpp
+++ b/src/modules/mavlink/mavlink_receiver.cpp
@@ -188,6 +188,10 @@ MavlinkReceiver::handle_message(mavlink_message_t *msg)
 
 		break;
 
+	case MAVLINK_MSG_ID_COMMAND_ACK:
+		handle_message_command_ack(msg);
+		break;
+
 	case MAVLINK_MSG_ID_OPTICAL_FLOW_RAD:
 		handle_message_optical_flow_rad(msg);
 		break;
@@ -613,6 +617,19 @@ out:
 	}
 }
 
+void
+MavlinkReceiver::handle_message_command_ack(mavlink_message_t *msg)
+{
+	mavlink_command_ack_t ack;
+	mavlink_msg_command_ack_decode(msg, &ack);
+
+	if (ack.result != MAV_RESULT_ACCEPTED && ack.result != MAV_RESULT_IN_PROGRESS) {
+		if (msg->compid == MAV_COMP_ID_CAMERA) {
+			PX4_WARN("Got unsuccessful result %d from camera", ack.result);
+		}
+	}
+}
+
 void
 MavlinkReceiver::handle_message_optical_flow_rad(mavlink_message_t *msg)
 {
diff --git a/src/modules/mavlink/mavlink_receiver.h b/src/modules/mavlink/mavlink_receiver.h
index 51fa8189d0..2322037cc3 100644
--- a/src/modules/mavlink/mavlink_receiver.h
+++ b/src/modules/mavlink/mavlink_receiver.h
@@ -118,6 +118,7 @@ private:
 	void handle_message(mavlink_message_t *msg);
 	void handle_message_command_long(mavlink_message_t *msg);
 	void handle_message_command_int(mavlink_message_t *msg);
+	void handle_message_command_ack(mavlink_message_t *msg);
 	void handle_message_optical_flow_rad(mavlink_message_t *msg);
 	void handle_message_hil_optical_flow(mavlink_message_t *msg);
 	void handle_message_set_mode(mavlink_message_t *msg);