diff --git a/CommunicationSystemsSubmodule b/CommunicationSystemsSubmodule
index 9fb7b8a..b0d5390 160000
--- a/CommunicationSystemsSubmodule
+++ b/CommunicationSystemsSubmodule
@@ -1 +1 @@
-Subproject commit 9fb7b8a5c4e1b40baff4d47704290b106aa0e2cc
+Subproject commit b0d5390dad2a7308d8bbb15d89e60d7d7c833766
diff --git a/Components/Communication/CANMessageHandler.cpp b/Components/Communication/CANMessageHandler.cpp
index 8fa8801..aeed25d 100644
--- a/Components/Communication/CANMessageHandler.cpp
+++ b/Components/Communication/CANMessageHandler.cpp
@@ -89,5 +89,35 @@ bool CANTask::HandleCANCommands() {
 		}
 	}
 
+	{
+		RPB_CAMERA_SIMULATE_BUTTON_COMMAND cmd;
+		if(dau.ReadMessageByLogIndex(_RPB_CAMERA_SIMULATE_BUTTON_COMMAND_LOGINDEX, (uint8_t*)&cmd,sizeof(cmd))) {
+			SOAR_PRINT("got sim button cmd %d btn %d\n",cmd.cam,cmd.button);
+			Command cm = {TASK_SPECIFIC_COMMAND,CAMERA_COMMAND_SIM_BUTTON};
+			cm.CopyDataToCommand((uint8_t*)&cmd, sizeof(cmd));
+			CameraTask::Inst().SendCommandReference(cm);
+		}
+	}
+
+	{
+		RPB_CAM_TX_CONTROL_COMMAND cmd;
+		if(dau.ReadMessageByLogIndex(_RPB_CAM_TX_CONTROL_COMMAND_LOGINDEX, (uint8_t*)&cmd,sizeof(cmd))) {
+			SOAR_PRINT("got tx cmd %d\n",cmd.fieldToSet);
+			if(cmd.fieldToSet == cmd.ENABLED) {
+				Command cm = {TASK_SPECIFIC_COMMAND,cmd.enabled ? CAMERA_COMMAND_VIDEO_ENABLE : CAMERA_COMMAND_VIDEO_DISABLE};
+				CameraTask::Inst().SendCommandReference(cm);
+			} else if(cmd.fieldToSet == cmd.POWER) {
+				Command cm = {TASK_SPECIFIC_COMMAND,CAMERA_COMMAND_SET_TX_POWER};
+				cm.CopyDataToCommand((uint8_t*)&cmd.power, sizeof(cmd.power));
+				CameraTask::Inst().SendCommandReference(cm);
+			} else if(cmd.fieldToSet == cmd.FREQUENCY) {
+				Command cm = {TASK_SPECIFIC_COMMAND,CAMERA_COMMAND_SET_TX_FREQ};
+				cm.CopyDataToCommand((uint8_t*)&cmd.freq, sizeof(cmd.freq));
+				CameraTask::Inst().SendCommandReference(cm);
+			}
+
+		}
+	}
+
 	return foundone;
 };
diff --git a/Components/PeriphTasks/CameraTask.cpp b/Components/PeriphTasks/CameraTask.cpp
index c014eaa..fc538ab 100644
--- a/Components/PeriphTasks/CameraTask.cpp
+++ b/Components/PeriphTasks/CameraTask.cpp
@@ -15,6 +15,7 @@
 #include "callsign.h"
 #include "logo.h"
 #include "RPBLogs.hpp"
+#include "IRCTramp.hpp"
 
 /**
  * @brief Constructor, sets up task
@@ -145,12 +146,15 @@ void CameraTask::HandleCommand(Command &cm)
 			switch (cam) {
 			case 0:
 				muxDriver.Select(Camera::CAMERA1);
+				cm.Reset();
 				return;
 			case 1:
 				muxDriver.Select(Camera::CAMERA2);
+				cm.Reset();
 				return;
 			case 2:
 				muxDriver.Select(Camera::CAMERA3);
+				cm.Reset();
 				return;
 			}
 			SOAR_PRINT("Invalid camera %d should be 0-2\n",cam);
@@ -168,6 +172,29 @@ void CameraTask::HandleCommand(Command &cm)
 			HAL_GPIO_WritePin(VideoTX_Enable_GPIO_Port,VideoTX_Enable_Pin,GPIO_PIN_SET);
 			break;
 
+		case CAMERA_COMMAND_SIM_BUTTON: {
+			RPB_CAMERA_SIMULATE_BUTTON_COMMAND cmd = *(RPB_CAMERA_SIMULATE_BUTTON_COMMAND*)cm.GetDataPointer();
+			USART_TypeDef* uart;
+			switch (cmd.cam) {
+			case 0:
+				uart = USART1;
+				break;
+			case 1:
+				uart = USART2;
+				break;
+			case 2:
+				uart = USART3;
+				break;
+			default:
+				SOAR_PRINT("invalid cam %d\n",cmd.cam);
+				cm.Reset();
+				return;
+			}
+			RunCamCommand(uart, cmd.button);
+			break;
+		}
+
+
 		case CAMERA_COMMAND_START_RECORDING: {
 			uint8_t cam = *cm.GetDataPointer();
 			USART_TypeDef* uart;
@@ -183,6 +210,7 @@ void CameraTask::HandleCommand(Command &cm)
 				break;
 			default:
 				SOAR_PRINT("invalid cam %d\n",cam);
+				cm.Reset();
 				return;
 			}
 			RunCamCommand(uart, 0x03);
@@ -203,6 +231,7 @@ void CameraTask::HandleCommand(Command &cm)
 				break;
 			default:
 				SOAR_PRINT("invalid cam %d\n",cam);
+				cm.Reset();
 				return;
 			}
 			RunCamCommand(uart, 0x04);
@@ -223,6 +252,7 @@ void CameraTask::HandleCommand(Command &cm)
 				break;
 			default:
 				SOAR_PRINT("invalid cam %d\n",cam);
+				cm.Reset();
 				return;
 			}
 			break;
@@ -241,10 +271,65 @@ void CameraTask::HandleCommand(Command &cm)
 				break;
 			default:
 				SOAR_PRINT("invalid cam %d\n",cam);
+				cm.Reset();
 				return;
 			}
 			break;
 		}
+		case CAMERA_COMMAND_SET_TX_POWER: {
+			uint16_t power = *cm.GetDataPointer();
+			SOAR_PRINT("set tx power %d\n",power);
+
+			IRCTramp::POWER pow;
+			bool invalid = false;
+			switch(power) {
+			case 25:
+				pow = IRCTramp::POWER_25MW;
+				break;
+			case 200:
+				pow = IRCTramp::POWER_200MW;
+				break;
+			case 1000:
+				pow = IRCTramp::POWER_1W;
+				break;
+			case 4000:
+				pow = IRCTramp::POWER_4W;
+				break;
+			default:
+				SOAR_PRINT("invalid power\n");
+				invalid = true;
+				break;
+			}
+			if(!invalid){
+				IRCTramp::SetVTXPower(pow, UART5);
+			}
+			break;
+
+		}
+		case CAMERA_COMMAND_SET_TX_FREQ: {
+			uint16_t freq = *cm.GetDataPointer();
+			SOAR_PRINT("set tx freq %d\n",freq);
+
+			IRCTramp::FREQUENCY frequency;
+			bool invalid = false;
+			switch(freq) {
+			case 1258:
+				frequency = IRCTramp::FREQ_1258MHZ;
+				break;
+			case 1280:
+				frequency = IRCTramp::FREQ_1280MHZ;
+				break;
+			default:
+				SOAR_PRINT("invalid freq\n");
+				invalid = true;
+				break;
+			}
+			if(!invalid){
+				IRCTramp::SetVTXFrequency(frequency,UART5);
+			}
+			break;
+
+		}
 		default:
 			SOAR_PRINT("CameraTask - Received Unsupported Task Command {%d}\n", cm.GetTaskCommand());
 			break;
diff --git a/Components/PeriphTasks/Inc/CameraTask.hpp b/Components/PeriphTasks/Inc/CameraTask.hpp
index 5f7ffc3..df1c89e 100644
--- a/Components/PeriphTasks/Inc/CameraTask.hpp
+++ b/Components/PeriphTasks/Inc/CameraTask.hpp
@@ -27,7 +27,10 @@ enum CAMERA_TASK_COMMANDS
 	CAMERA_COMMAND_START_RECORDING,
 	CAMERA_COMMAND_STOP_RECORDING,
 	CAMERA_COMMAND_POWER_ON,
-	CAMERA_COMMAND_POWER_OFF
+	CAMERA_COMMAND_POWER_OFF,
+	CAMERA_COMMAND_SIM_BUTTON,
+	CAMERA_COMMAND_SET_TX_POWER,
+	CAMERA_COMMAND_SET_TX_FREQ
 };
 
 /* Macros ------------------------------------------------------------------*/
diff --git a/SoarDrivers b/SoarDrivers
index f3b1e9d..f8ed3ba 160000
--- a/SoarDrivers
+++ b/SoarDrivers
@@ -1 +1 @@
-Subproject commit f3b1e9de3797ff512853d1f1efc6139afaf4dad1
+Subproject commit f8ed3ba7c6b90ecd2a3c24916e28a4542f567056