diff --git a/APMrover2/APMrover2.pde b/APMrover2/APMrover2.pde
index 80518f1b6c..11d7e49ec9 100644
--- a/APMrover2/APMrover2.pde
+++ b/APMrover2/APMrover2.pde
@@ -286,7 +286,7 @@ static struct 	Location current_loc;
 // --------------------------------------
 #if MOUNT == ENABLED
 // current_loc uses the baro/gps soloution for altitude rather than gps only.
-AP_Mount camera_mount(&current_loc, ahrs, 0);
+AP_Mount camera_mount(ahrs, current_loc);
 #endif
 
 
@@ -616,7 +616,7 @@ static void ahrs_update()
 static void mount_update(void)
 {
 #if MOUNT == ENABLED
-	camera_mount.update_mount_position();
+	camera_mount.update();
 #endif
 #if CAMERA == ENABLED
     camera.trigger_pic_cleanup();
@@ -705,10 +705,6 @@ static void update_logging2(void)
 static void update_aux(void)
 {
     RC_Channel_aux::enable_aux_servos();
-        
-#if MOUNT == ENABLED
-    camera_mount.update_mount_type();
-#endif
 }
 
 /*
@@ -729,10 +725,6 @@ static void one_second_loop(void)
     // cope with changes to aux functions
     update_aux();
 
-#if MOUNT == ENABLED
-    camera_mount.update_mount_type();
-#endif
-
     // cope with changes to mavlink system ID
     mavlink_system.sysid = g.sysid_this_mav;
 
diff --git a/APMrover2/GCS_Mavlink.pde b/APMrover2/GCS_Mavlink.pde
index 6935c5fbcf..0b52a63d62 100644
--- a/APMrover2/GCS_Mavlink.pde
+++ b/APMrover2/GCS_Mavlink.pde
@@ -830,7 +830,7 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
                     }
                 } else {
                     // send the command to the camera mount
-                    camera_mount.set_roi_cmd(&roi_loc);
+                    camera_mount.set_roi_target(roi_loc);
                 }
                 result = MAV_RESULT_ACCEPTED;
                 break;
diff --git a/APMrover2/Parameters.h b/APMrover2/Parameters.h
index 1d428c9d26..ad336d89ed 100644
--- a/APMrover2/Parameters.h
+++ b/APMrover2/Parameters.h
@@ -162,7 +162,7 @@ public:
         //
         k_param_camera,
         k_param_camera_mount,
-        k_param_camera_mount2,
+        k_param_camera_mount2,          // unused
 
         //
         // 240: PID Controllers
diff --git a/APMrover2/commands_logic.pde b/APMrover2/commands_logic.pde
index b4eac1f0e5..9c85339c86 100644
--- a/APMrover2/commands_logic.pde
+++ b/APMrover2/commands_logic.pde
@@ -104,17 +104,9 @@ start_command(const AP_Mission::Mission_Command& cmd)
                 }
             } else {
                 // send the command to the camera mount
-                camera_mount.set_roi_cmd(&cmd.content.location);
+                camera_mount.set_roi_target(cmd.content.location);
             }
             break;
-
-		case MAV_CMD_DO_MOUNT_CONFIGURE:	// Mission command to configure a camera mount |Mount operation mode (see MAV_CONFIGURE_MOUNT_MODE enum)| stabilize roll? (1 = yes, 0 = no)| stabilize pitch? (1 = yes, 0 = no)| stabilize yaw? (1 = yes, 0 = no)| Empty| Empty| Empty|
-			camera_mount.configure_cmd();
-			break;
-
-		case MAV_CMD_DO_MOUNT_CONTROL:		// Mission command to control a camera mount |pitch(deg*100) or lat, depending on mount mode.| roll(deg*100) or lon depending on mount mode| yaw(deg*100) or alt (in cm) depending on mount mode| Empty| Empty| Empty| Empty|
-			camera_mount.control_cmd();
-			break;
 #endif
 
 		default:
diff --git a/APMrover2/system.pde b/APMrover2/system.pde
index 0a32c7433d..eec834c728 100644
--- a/APMrover2/system.pde
+++ b/APMrover2/system.pde
@@ -196,6 +196,9 @@ static void init_ardupilot()
 
     relay.init();
 
+    // initialise camera mount
+    camera_mount.init();
+
     /*
       setup the 'main loop is dead' check. Note that this relies on
       the RC library being initialised.