diff --git a/libraries/AP_Mount/AP_Mount.cpp b/libraries/AP_Mount/AP_Mount.cpp
index b46a6819be..93533671c3 100644
--- a/libraries/AP_Mount/AP_Mount.cpp
+++ b/libraries/AP_Mount/AP_Mount.cpp
@@ -8,6 +8,7 @@
 #include <AP_Mount_Servo.h>
 #include <AP_Mount_MAVLink.h>
 #include <AP_Mount_Alexmos.h>
+#include <AP_Mount_SToRM32.h>
 
 const AP_Param::GroupInfo AP_Mount::var_info[] PROGMEM = {
     // @Param: _DEFLT_MODE
@@ -194,7 +195,7 @@ const AP_Param::GroupInfo AP_Mount::var_info[] PROGMEM = {
     // @Param: _TYPE
     // @DisplayName: Mount Type
     // @Description: Mount Type (None, Servo or MAVLink)
-    // @Values: 0:None, 1:Servo, 2:MAVLink, 3:Alexmos Serial
+    // @Values: 0:None, 1:Servo, 2:MAVLink, 3:Alexmos Serial, 4:SToRM32
     // @User: Standard
     AP_GROUPINFO("_TYPE", 19, AP_Mount, state[0]._type, 0),
 
@@ -377,7 +378,7 @@ const AP_Param::GroupInfo AP_Mount::var_info[] PROGMEM = {
     // @Param: 2_TYPE
     // @DisplayName: Mount2 Type
     // @Description: Mount Type (None, Servo or MAVLink)
-    // @Values: 0:None, 1:Servo, 2:MAVLink, 3:Alexmos Serial
+    // @Values: 0:None, 1:Servo, 2:MAVLink, 3:Alexmos Serial, 4:SToRM32
     // @User: Standard
     AP_GROUPINFO("2_TYPE",           42, AP_Mount, state[1]._type, 0),
 #endif // AP_MOUNT_MAX_INSTANCES > 1
@@ -431,6 +432,11 @@ void AP_Mount::init(const AP_SerialManager& serial_manager)
         } else if (mount_type == Mount_Type_Alexmos) {
             _backends[instance] = new AP_Mount_Alexmos(*this, state[instance], instance);
             _num_instances++;
+
+        // check for SToRM32 mounts
+        } else if (mount_type == Mount_Type_SToRM32) {
+            _backends[instance] = new AP_Mount_SToRM32(*this, state[instance], instance);
+            _num_instances++;
         }
 
         // init new instance
diff --git a/libraries/AP_Mount/AP_Mount.h b/libraries/AP_Mount/AP_Mount.h
index 4534f33e82..4656f301db 100644
--- a/libraries/AP_Mount/AP_Mount.h
+++ b/libraries/AP_Mount/AP_Mount.h
@@ -38,6 +38,7 @@ class AP_Mount_Backend;
 class AP_Mount_Servo;
 class AP_Mount_MAVLink;
 class AP_Mount_Alexmos;
+class AP_Mount_SToRM32;
 
 /*
   This is a workaround to allow the MAVLink backend access to the
@@ -56,6 +57,7 @@ class AP_Mount
     friend class AP_Mount_Servo;
     friend class AP_Mount_MAVLink;
     friend class AP_Mount_Alexmos;
+    friend class AP_Mount_SToRM32;
 
 public:
 
@@ -64,7 +66,8 @@ public:
         Mount_Type_None = 0,            /// no mount
         Mount_Type_Servo = 1,           /// servo controlled mount
         Mount_Type_MAVLink = 2,         /// MAVLink controlled mount
-        Mount_Type_Alexmos = 3         /// MAVLink controlled mount
+        Mount_Type_Alexmos = 3,         /// Alexmos mount
+        Mount_Type_SToRM32 = 4          /// SToRM32 mount
     };
 
     // Constructor