diff --git a/.github/workflows/rpi-build.yml b/.github/workflows/rpi-build.yml
index 349e1cf..d6f114f 100644
--- a/.github/workflows/rpi-build.yml
+++ b/.github/workflows/rpi-build.yml
@@ -33,9 +33,9 @@ jobs:
             apt-get update
             apt-get install -y libgstreamer1.0-dev libgstrtspserver-1.0-dev build-essential cmake git wget rubygems
             gem install fpm
-            wget https://github.com/mavlink/MAVSDK/releases/download/v2.4.0/libmavsdk-dev_2.4.0_debian12_arm64.deb
-            dpkg -i libmavsdk-dev_2.4.0_debian12_arm64.deb
-            rm libmavsdk-dev_2.4.0_debian12_arm64.deb
+            wget https://github.com/mavlink/MAVSDK/releases/download/v2.6.0/libmavsdk-dev_2.6.0_debian12_arm64.deb
+            dpkg -i libmavsdk-dev_2.6.0_debian12_arm64.deb
+            rm libmavsdk-dev_2.6.0_debian12_arm64.deb
             git config --global --add safe.directory "$GITHUB_WORKSPACE"
             cmake -DCMAKE_BUILD_TYPE=RelWithDebInfo -DBUILD_SHARED_LIBS=ON -DCMAKE_INSTALL_PREFIX=install -Bbuild -S.
             cmake --build build -j$(nproc) --target install
diff --git a/camera-manager/camera_manager.cpp b/camera-manager/camera_manager.cpp
index 6bdf89d..906e8e7 100644
--- a/camera-manager/camera_manager.cpp
+++ b/camera-manager/camera_manager.cpp
@@ -319,6 +319,37 @@ int main(int argc, char* argv[])
             storage_information);
     });
 
+    camera_server.subscribe_zoom_range([&](float zoom_factor) {
+        if (zoom_factor < 1.f) {
+            std::cout << "Zoom below 1x not possible" << std::endl;
+            camera_server.respond_zoom_range(mavsdk::CameraServer::CameraFeedback::Failed);
+            return;
+        }
+        if (zoom_factor > 6.f) {
+            std::cout << "Zoom above 6x not possible" << std::endl;
+            camera_server.respond_zoom_range(mavsdk::CameraServer::CameraFeedback::Failed);
+            return;
+        }
+
+        siyi_camera.absolute_zoom(zoom_factor);
+        camera_server.respond_zoom_range(mavsdk::CameraServer::CameraFeedback::Ok);
+    });
+
+    camera_server.subscribe_zoom_in_start([&](int) {
+        siyi_camera.zoom(siyi::Camera::Zoom::In);
+        camera_server.respond_zoom_in_start(mavsdk::CameraServer::CameraFeedback::Ok);
+    });
+
+    camera_server.subscribe_zoom_out_start([&](int) {
+        siyi_camera.zoom(siyi::Camera::Zoom::Out);
+        camera_server.respond_zoom_in_start(mavsdk::CameraServer::CameraFeedback::Ok);
+    });
+
+    camera_server.subscribe_zoom_stop([&](int) {
+        siyi_camera.zoom(siyi::Camera::Zoom::Stop);
+        camera_server.respond_zoom_stop(mavsdk::CameraServer::CameraFeedback::Ok);
+    });
+
     // Run as a server and never quit
     while (true) {
         std::this_thread::sleep_for(std::chrono::seconds(1));
diff --git a/camera-manager/siyi_camera.hpp b/camera-manager/siyi_camera.hpp
index d69b35f..aca14c5 100644
--- a/camera-manager/siyi_camera.hpp
+++ b/camera-manager/siyi_camera.hpp
@@ -301,11 +301,14 @@ class Camera {
         switch (option) {
             case Zoom::In:
                 manual_zoom.zoom = 1;
+                std::cerr << "Starting to zoom in" << std::endl;
                 break;
             case Zoom::Out:
                 manual_zoom.zoom = -1;
+                std::cerr << "Starting to zoom out" << std::endl;
                 break;
             case Zoom::Stop:
+                std::cerr << "Stopping to zoom" << std::endl;
                 manual_zoom.zoom = 0;
                 break;
         }