diff --git a/src/modules/mavlink/mavlink_mission.cpp b/src/modules/mavlink/mavlink_mission.cpp
index 36d4453344..c24796b19d 100644
--- a/src/modules/mavlink/mavlink_mission.cpp
+++ b/src/modules/mavlink/mavlink_mission.cpp
@@ -1527,6 +1527,11 @@ MavlinkMissionManager::parse_mavlink_mission_item(const mavlink_mission_item_t *
 			mission_item->nav_cmd = (NAV_CMD)mavlink_mission_item->command;
 			break;
 
+		case MAV_CMD_COMPONENT_ARM_DISARM:
+			mission_item->nav_cmd = (NAV_CMD)mavlink_mission_item->command;
+			mission_item->params[0] = (uint16_t)mavlink_mission_item->param1;
+			break;
+
 		default:
 			mission_item->nav_cmd = NAV_CMD_INVALID;
 			PX4_DEBUG("Unsupported command %d", mavlink_mission_item->command);
@@ -1616,6 +1621,7 @@ MavlinkMissionManager::parse_mavlink_mission_item(const mavlink_mission_item_t *
 		case MAV_CMD_CONDITION_DELAY:
 		case MAV_CMD_CONDITION_DISTANCE:
 		case MAV_CMD_DO_SET_ACTUATOR:
+		case MAV_CMD_COMPONENT_ARM_DISARM:
 			mission_item->nav_cmd = (NAV_CMD)mavlink_mission_item->command;
 			break;
 
diff --git a/src/modules/navigator/MissionFeasibility/FeasibilityChecker.cpp b/src/modules/navigator/MissionFeasibility/FeasibilityChecker.cpp
index c35d2c1bde..713eb151b7 100644
--- a/src/modules/navigator/MissionFeasibility/FeasibilityChecker.cpp
+++ b/src/modules/navigator/MissionFeasibility/FeasibilityChecker.cpp
@@ -263,6 +263,7 @@ bool FeasibilityChecker::checkMissionItemValidity(mission_item_s &mission_item,
 	    mission_item.nav_cmd != NAV_CMD_DO_LAND_START &&
 	    mission_item.nav_cmd != NAV_CMD_DO_TRIGGER_CONTROL &&
 	    mission_item.nav_cmd != NAV_CMD_DO_DIGICAM_CONTROL &&
+	    mission_item.nav_cmd != NAV_CMD_COMPONENT_ARM_DISARM &&
 	    mission_item.nav_cmd != NAV_CMD_IMAGE_START_CAPTURE &&
 	    mission_item.nav_cmd != NAV_CMD_IMAGE_STOP_CAPTURE &&
 	    mission_item.nav_cmd != NAV_CMD_VIDEO_START_CAPTURE &&
diff --git a/src/modules/navigator/mission_block.cpp b/src/modules/navigator/mission_block.cpp
index 3f2c621baa..3f8bfd3a52 100644
--- a/src/modules/navigator/mission_block.cpp
+++ b/src/modules/navigator/mission_block.cpp
@@ -82,6 +82,7 @@ MissionBlock::is_mission_item_reached_or_completed()
 	case NAV_CMD_DO_MOUNT_CONFIGURE:
 	case NAV_CMD_DO_MOUNT_CONTROL:
 	case NAV_CMD_DO_GIMBAL_MANAGER_CONFIGURE:
+	case NAV_CMD_COMPONENT_ARM_DISARM:
 	case NAV_CMD_DO_SET_ROI:
 	case NAV_CMD_DO_SET_ROI_LOCATION:
 	case NAV_CMD_DO_SET_ROI_WPNEXT_OFFSET:
@@ -95,6 +96,7 @@ MissionBlock::is_mission_item_reached_or_completed()
 	case NAV_CMD_SET_CAMERA_FOCUS:
 	case NAV_CMD_DO_CHANGE_SPEED:
 	case NAV_CMD_DO_SET_HOME:
+
 		return true;
 
 	// Indefinite Waypoints
diff --git a/src/modules/navigator/navigation.h b/src/modules/navigator/navigation.h
index 2d31866581..1c32f3042e 100644
--- a/src/modules/navigator/navigation.h
+++ b/src/modules/navigator/navigation.h
@@ -76,6 +76,7 @@ enum NAV_CMD {
 	NAV_CMD_DO_SET_CAM_TRIGG_INTERVAL = 214,
 	NAV_CMD_DO_SET_CAM_TRIGG_DIST = 206,
 	NAV_CMD_OBLIQUE_SURVEY = 260,
+	NAV_CMD_COMPONENT_ARM_DISARM = 400,
 	NAV_CMD_SET_CAMERA_MODE = 530,
 	NAV_CMD_SET_CAMERA_SOURCE = 534,
 	NAV_CMD_SET_CAMERA_ZOOM = 531,