I recently had to deal with a mold issue on an upholstered, foam-backed wall and some wood framing, and it's not as difficult as I feared during my initial panic.
Plain ol' white vinegar kills mold, so I sprayed the area generously. Afterward, I hit it with a steamer, which removed the staining, much like a carpet cleaner would. Once I was satisfied that the mold was dead and gone, I ran a fan for several hours to make sure the area was completely dry.
By that point, the vinegar smell had reduced to the point that we barely noticed it and within a day or two it was completely gone. So, you don't have to worry about your camper smelling like a salad.