Ch 7: Defense of Tyrol
When I followed Lancelot and Queen Virginal to Tyrol we saw King Arthur with shining armor and Excalibur in hand.
Lancelot exclaimed "It is the king! I have returned your majesty."
Virginal assured us she would set him straight.
Lancelot solemnly admitted to putting us all in danger and that he would ride out to prevent Mordred from doing any more harm...
Ch 8: The Traitor's Star Fort
Queen Virginal has convinced King Arthur of Lancelot's true allegiance and rides out with renewed vigor to raise an army. I must ride to their aid immediately.
Ch 9: The Transylvanian Termination
King Arthur and Lancelot have mended their bond of trust with Arthur welcoming Lancelot back with open arms. We are ready for the final assault. King Arthur has laid down the plans for our three pronged attack with each of us taking at least one additional commander to aid us in Transylvania's final reckoning.
Note: Typically if one of the armies does not charge in Ch 9 they will eventually charge late game. Interestingly it is the same case with the original Stronghold 2 mission so that is a crazy coincidence.