diff --git a/Tools/cameras_gimbals/siyi-download/siyi-download.py b/Tools/cameras_gimbals/siyi-download/siyi-download.py
new file mode 100644
index 0000000000..97dea2da94
--- /dev/null
+++ b/Tools/cameras_gimbals/siyi-download/siyi-download.py
@@ -0,0 +1,145 @@
+#!/usr/bin/env python3
+
+"""
+Downloads files from a Siyi camera connected via ethernet
+
+AP_FLAKE8_CLEAN
+"""
+
+#
+# utility to download files from a siyi camera
+#
+
+import os
+import json
+from argparse import ArgumentParser
+from urllib.request import urlopen, urlretrieve
+from urllib.parse import urlencode
+from urllib.error import URLError, HTTPError
+from enum import Enum
+
+# prefix string for text outout to user
+prefix_str = "siyi-download.py: "
+ip_address_default = "192.168.144.25"
+
+
+# media types
+class MediaTypes(Enum):
+    IMAGE = 0
+    VIDEO = 1
+
+
+# media type strings. used to display to user
+MEDIA_TYPE_STR = ["image", "video"]
+
+
+# get URL for list of directories
+def get_dirlist_url(ip_address, media_type):
+    params = {'media_type': media_type}
+    return f"http://{ip_address}:82/cgi-bin/media.cgi/api/v1/getdirectories?" + urlencode(params)
+
+
+# get URL for list of files in a directory
+def get_filelist_url(ip_address, media_type, dir_path):
+    params = {
+        'media_type': str(media_type),
+        'path': dir_path,
+        'start': 0,
+        'count': 999
+    }
+    return f"http://{ip_address}:82/cgi-bin/media.cgi/api/v1/getmedialist?" + urlencode(params)
+
+
+# download files from camera
+def download_files(ip_address, dest_dir):
+
+    # repeat for images and videos
+    for media_type in [mt.value for mt in MediaTypes]:
+
+        # display output to user
+        print(prefix_str + f"downloading {MEDIA_TYPE_STR[media_type]} files")
+
+        # download list of directories in JSON format
+        dir_list_url = get_dirlist_url(ip_address, media_type)
+        with urlopen(dir_list_url) as get_dir_url:
+            dir_dict = json.load(get_dir_url)
+
+            # check that the request succeeded
+            if (not dir_dict['success']):
+                exit(prefix_str + "failed to get list of directories")
+
+            # check response includes 'data'
+            if ('data' not in dir_dict.keys()):
+                exit(prefix_str + "could not get list of directories, no 'data' in response")
+            dir_dict_data = dir_dict['data']
+
+            # check response includes 'directories'
+            if ('directories' not in dir_dict_data.keys()):
+                exit(prefix_str + "could not get list of directories, no 'directories' in response")
+            dir_dict_data_directories = dir_dict_data['directories']
+
+            # create list of directories from 'path' values
+            dir_list = []
+            for dir in dir_dict_data_directories:
+                if ('path' in dir.keys()):
+                    dir_list.append(dir['path'])
+            print(prefix_str + f"{len(dir_list)} directories")
+
+            # get list of files in each directory
+            for dir_path in dir_list:
+                filenames_url = get_filelist_url(ip_address, media_type, dir_path)
+                with urlopen(filenames_url) as get_filenames_url:
+                    filename_dict = json.load(get_filenames_url)
+
+                    # check that the request succeeded
+                    if (not filename_dict['success']):
+                        exit(prefix_str + "failed to get list of files")
+
+                    # check response includes 'data'
+                    if ('data' not in filename_dict.keys()):
+                        exit(prefix_str + "could not get list of files, no 'data' in response")
+                    filename_dict_data = filename_dict['data']
+
+                    # check response includes 'list'
+                    if ('list' not in filename_dict_data.keys()):
+                        exit(prefix_str + "could not get list of files, no 'list' in response")
+                    filename_dict_data_list = filename_dict_data['list']
+                    print(prefix_str + f"{len(filename_dict_data_list)} files")
+
+                    # download each image
+                    for fileinfo in filename_dict_data_list:
+                        if ('name' not in fileinfo.keys() or 'url' not in fileinfo.keys()):
+                            exit(prefix_str + "could not get list of files, no 'name' or 'url' in response")
+                        filename = fileinfo['name']
+                        file_url = fileinfo['url']
+
+                        # correct incorrect ip address in returned url
+                        file_url_fixed = file_url.replace(ip_address_default, ip_address)
+
+                        # download file
+                        print(prefix_str + f"downloading {filename} from {file_url_fixed}")
+                        dest_filename = os.path.join(dest_dir, filename)
+                        try:
+                            urlretrieve(file_url_fixed, dest_filename)
+                        except (URLError, HTTPError) as e:
+                            print(prefix_str + f"failed to download {filename}: {e}")
+
+
+# main function
+def main():
+    parser = ArgumentParser(description=__doc__)
+    parser.add_argument("--ipaddr", default=ip_address_default, help="IP address of camera")
+    parser.add_argument("--dest", default=".", help="destination directory where downloaded files will be saved")
+    args = parser.parse_args()
+
+    # check destination directory exists
+    if not os.path.exists(args.dest):
+        exit(prefix_str + "invalid destination directory")
+
+    # download files
+    download_files(args.ipaddr, args.dest)
+
+
+# main
+if __name__ == "__main__":
+    main()