diff --git a/src/modules/mavlink/mavlink_mission.cpp b/src/modules/mavlink/mavlink_mission.cpp
index ec7e8dcec9..1c339fbabe 100644
--- a/src/modules/mavlink/mavlink_mission.cpp
+++ b/src/modules/mavlink/mavlink_mission.cpp
@@ -1386,6 +1386,10 @@ MavlinkMissionManager::parse_mavlink_mission_item(const mavlink_mission_item_t *
 			mission_item->yaw = wrap_2pi(math::radians(mavlink_mission_item->param4));
 			break;
 
+		case MAV_CMD_CONDITION_GATE:
+			mission_item->nav_cmd = (NAV_CMD)mavlink_mission_item->command;
+			break;
+
 		case MAV_CMD_NAV_FENCE_RETURN_POINT:
 			mission_item->nav_cmd = (NAV_CMD)mavlink_mission_item->command;
 			break;
@@ -1469,6 +1473,8 @@ MavlinkMissionManager::parse_mavlink_mission_item(const mavlink_mission_item_t *
 		case MAV_CMD_NAV_RETURN_TO_LAUNCH:
 		case MAV_CMD_DO_SET_ROI_WPNEXT_OFFSET:
 		case MAV_CMD_DO_SET_ROI_NONE:
+		case MAV_CMD_CONDITION_DELAY:
+		case MAV_CMD_CONDITION_DISTANCE:
 			mission_item->nav_cmd = (NAV_CMD)mavlink_mission_item->command;
 			break;