diff --git a/src/modules/mavlink/mavlink_mission.cpp b/src/modules/mavlink/mavlink_mission.cpp
index 1dffaabd6e..2914d622a9 100644
--- a/src/modules/mavlink/mavlink_mission.cpp
+++ b/src/modules/mavlink/mavlink_mission.cpp
@@ -983,6 +983,8 @@ MavlinkMissionManager::parse_mavlink_mission_item(const mavlink_mission_item_t *
 		case MAV_CMD_DO_DIGICAM_CONTROL:
 		case MAV_CMD_DO_MOUNT_CONFIGURE:
 		case MAV_CMD_DO_MOUNT_CONTROL:
+		case NAV_CMD_DO_SET_ROI:
+		case NAV_CMD_ROI:
 		case MAV_CMD_DO_SET_CAM_TRIGG_DIST:
 		case MAV_CMD_DO_VTOL_TRANSITION:
 			mission_item->nav_cmd = (NAV_CMD)mavlink_mission_item->command;
@@ -1040,6 +1042,8 @@ MavlinkMissionManager::format_mavlink_mission_item(const struct mission_item_s *
 		case NAV_CMD_DO_DIGICAM_CONTROL:
 		case NAV_CMD_DO_MOUNT_CONFIGURE:
 		case NAV_CMD_DO_MOUNT_CONTROL:
+		case NAV_CMD_DO_SET_ROI:
+		case NAV_CMD_ROI:
 		case NAV_CMD_DO_SET_CAM_TRIGG_DIST:
 		case NAV_CMD_DO_VTOL_TRANSITION:
 			break;
diff --git a/src/modules/navigator/mission_block.cpp b/src/modules/navigator/mission_block.cpp
index 8ed8912c14..025beb146b 100644
--- a/src/modules/navigator/mission_block.cpp
+++ b/src/modules/navigator/mission_block.cpp
@@ -106,6 +106,8 @@ MissionBlock::is_mission_item_reached()
 		case NAV_CMD_DO_DIGICAM_CONTROL:
 		case NAV_CMD_DO_MOUNT_CONFIGURE:
 		case NAV_CMD_DO_MOUNT_CONTROL:
+		case NAV_CMD_DO_SET_ROI:
+		case NAV_CMD_ROI:
 		case NAV_CMD_DO_SET_CAM_TRIGG_DIST:
 			return true;
 
@@ -404,6 +406,8 @@ MissionBlock::item_contains_position(const struct mission_item_s *item)
 		item->nav_cmd == NAV_CMD_DO_DIGICAM_CONTROL ||
 		item->nav_cmd == NAV_CMD_DO_MOUNT_CONFIGURE ||
 		item->nav_cmd == NAV_CMD_DO_MOUNT_CONTROL ||
+		item->nav_cmd == NAV_CMD_DO_SET_ROI ||
+		item->nav_cmd == NAV_CMD_ROI ||
 		item->nav_cmd == NAV_CMD_DO_SET_CAM_TRIGG_DIST ||
 		item->nav_cmd == NAV_CMD_DO_VTOL_TRANSITION) {
 
diff --git a/src/modules/navigator/mission_feasibility_checker.cpp b/src/modules/navigator/mission_feasibility_checker.cpp
index 8cbb3ef599..0e9db25a91 100644
--- a/src/modules/navigator/mission_feasibility_checker.cpp
+++ b/src/modules/navigator/mission_feasibility_checker.cpp
@@ -250,6 +250,8 @@ bool MissionFeasibilityChecker::checkMissionItemValidity(dm_item_t dm_current, s
 			missionitem.nav_cmd != NAV_CMD_DO_DIGICAM_CONTROL &&
 			missionitem.nav_cmd != NAV_CMD_DO_MOUNT_CONFIGURE &&
 			missionitem.nav_cmd != NAV_CMD_DO_MOUNT_CONTROL &&
+			missionitem.nav_cmd != NAV_CMD_DO_SET_ROI &&
+			missionitem.nav_cmd != NAV_CMD_ROI &&
 			missionitem.nav_cmd != NAV_CMD_DO_SET_CAM_TRIGG_DIST &&
 			missionitem.nav_cmd != NAV_CMD_DO_VTOL_TRANSITION) {
 
diff --git a/src/modules/navigator/navigation.h b/src/modules/navigator/navigation.h
index 85a4dd8c22..eb41580dd6 100644
--- a/src/modules/navigator/navigation.h
+++ b/src/modules/navigator/navigation.h
@@ -59,11 +59,13 @@ enum NAV_CMD {
 	NAV_CMD_TAKEOFF = 22,
 	NAV_CMD_LOITER_TO_ALT = 31,
 	NAV_CMD_DO_FOLLOW_REPOSITION = 33,
+	NAV_CMD_ROI = 80,
 	NAV_CMD_VTOL_TAKEOFF = 84,
 	NAV_CMD_VTOL_LAND = 85,
 	NAV_CMD_DO_JUMP = 177,
 	NAV_CMD_DO_CHANGE_SPEED = 178,
 	NAV_CMD_DO_SET_SERVO=183,
+	NAV_CMD_DO_SET_ROI=201,
 	NAV_CMD_DO_DIGICAM_CONTROL=203,
 	NAV_CMD_DO_MOUNT_CONFIGURE=204,
 	NAV_CMD_DO_MOUNT_CONTROL=205,