diff --git a/src/modules/mavlink/mavlink_main.cpp b/src/modules/mavlink/mavlink_main.cpp
index b6b34ec2a7..14b8c03ca2 100644
--- a/src/modules/mavlink/mavlink_main.cpp
+++ b/src/modules/mavlink/mavlink_main.cpp
@@ -2042,6 +2042,7 @@ Mavlink::task_main(int argc, char *argv[])
 		configure_stream("CAMERA_CAPTURE", 2.0f);
 		//camera trigger is rate limited at the source, do not limit here
 		configure_stream("CAMERA_TRIGGER", 500.0f);
+		configure_stream("CAMERA_IMAGE_CAPTURED", 5.0f);
 		configure_stream("ACTUATOR_CONTROL_TARGET0", 10.0f);
 		break;
 
@@ -2094,6 +2095,7 @@ Mavlink::task_main(int argc, char *argv[])
 		configure_stream("VFR_HUD", 20.0f);
 		configure_stream("WIND_COV", 10.0f);
 		configure_stream("CAMERA_TRIGGER", 500.0f);
+		configure_stream("CAMERA_IMAGE_CAPTURED", 5.0f);
 		configure_stream("MISSION_ITEM", 50.0f);
 		configure_stream("ACTUATOR_CONTROL_TARGET0", 30.0f);
 		configure_stream("MANUAL_CONTROL", 5.0f);
diff --git a/src/modules/mavlink/mavlink_messages.cpp b/src/modules/mavlink/mavlink_messages.cpp
index 801890a13f..ca0fd9fdc7 100644
--- a/src/modules/mavlink/mavlink_messages.cpp
+++ b/src/modules/mavlink/mavlink_messages.cpp
@@ -1544,7 +1544,7 @@ protected:
 			msg.lat = capture.lat * 1e7;
 			msg.lon = capture.lon * 1e7;
 			msg.alt = capture.alt * 1e3f;
-			msg.relative_alt = capture.relative_alt * 1e3f;
+			msg.relative_alt = capture.ground_distance * 1e3f;
 			msg.q[0] = capture.q[0];
 			msg.q[1] = capture.q[1];
 			msg.q[2] = capture.q[2];