diff --git a/libraries/AP_Mount/AP_Mount.cpp b/libraries/AP_Mount/AP_Mount.cpp
index 806cb673c6..c4c8cd91dd 100644
--- a/libraries/AP_Mount/AP_Mount.cpp
+++ b/libraries/AP_Mount/AP_Mount.cpp
@@ -618,15 +618,14 @@ bool AP_Mount::record_video(uint8_t instance, bool start_recording)
     return backend->record_video(start_recording);
 }
 
-// set camera zoom step.  returns true on success
-// zoom out = -1, hold = 0, zoom in = 1
-bool AP_Mount::set_zoom_step(uint8_t instance, int8_t zoom_step)
+// set zoom specified as a rate or percentage
+bool AP_Mount::set_zoom(uint8_t instance, AP_Camera::ZoomType zoom_type, float zoom_value)
 {
     auto *backend = get_instance(instance);
     if (backend == nullptr) {
         return false;
     }
-    return backend->set_zoom_step(zoom_step);
+    return backend->set_zoom(zoom_type, zoom_value);
 }
 
 // set focus in, out or hold.  returns true on success
diff --git a/libraries/AP_Mount/AP_Mount.h b/libraries/AP_Mount/AP_Mount.h
index e441eeca26..ff7524c5cd 100644
--- a/libraries/AP_Mount/AP_Mount.h
+++ b/libraries/AP_Mount/AP_Mount.h
@@ -27,6 +27,7 @@
 #include <AP_Common/AP_Common.h>
 #include <AP_Common/Location.h>
 #include <GCS_MAVLink/GCS_MAVLink.h>
+#include <AP_Camera/AP_Camera.h>
 #include "AP_Mount_Params.h"
 
 // maximum number of mounts
@@ -180,9 +181,8 @@ public:
     // set start_recording = true to start record, false to stop recording
     bool record_video(uint8_t instance, bool start_recording);
 
-    // set camera zoom step
-    // zoom out = -1, hold = 0, zoom in = 1
-    bool set_zoom_step(uint8_t instance, int8_t zoom_step);
+    // set zoom specified as a rate or percentage
+    bool set_zoom(uint8_t instance, AP_Camera::ZoomType zoom_type, float zoom_value);
 
     // set focus in, out or hold
     // focus in = -1, focus hold = 0, focus out = 1
diff --git a/libraries/AP_Mount/AP_Mount_Backend.h b/libraries/AP_Mount/AP_Mount_Backend.h
index 7afd5545d8..d91bae8dc9 100644
--- a/libraries/AP_Mount/AP_Mount_Backend.h
+++ b/libraries/AP_Mount/AP_Mount_Backend.h
@@ -124,9 +124,8 @@ public:
     // set start_recording = true to start record, false to stop recording
     virtual bool record_video(bool start_recording) { return false; }
 
-    // set camera zoom step.  returns true on success
-    // zoom out = -1, hold = 0, zoom in = 1
-    virtual bool set_zoom_step(int8_t zoom_step) { return false; }
+    // set zoom specified as a rate or percentage
+    virtual bool set_zoom(AP_Camera::ZoomType zoom_type, float zoom_value) { return false; }
 
     // set focus in, out or hold.  returns true on success
     // focus in = -1, focus hold = 0, focus out = 1
diff --git a/libraries/AP_Mount/AP_Mount_Siyi.cpp b/libraries/AP_Mount/AP_Mount_Siyi.cpp
index 1a7a2aaa0b..9f5a7e5ca5 100644
--- a/libraries/AP_Mount/AP_Mount_Siyi.cpp
+++ b/libraries/AP_Mount/AP_Mount_Siyi.cpp
@@ -625,11 +625,22 @@ bool AP_Mount_Siyi::record_video(bool start_recording)
     return ret;
 }
 
-// set camera zoom step.  returns true on success
-// zoom out = -1, hold = 0, zoom in = 1
-bool AP_Mount_Siyi::set_zoom_step(int8_t zoom_step)
+// set zoom specified as a rate or percentage
+bool AP_Mount_Siyi::set_zoom(AP_Camera::ZoomType zoom_type, float zoom_value)
 {
-    return send_1byte_packet(SiyiCommandId::MANUAL_ZOOM_AND_AUTO_FOCUS, (uint8_t)zoom_step);
+    if (zoom_type == AP_Camera::ZoomType::RATE) {
+        uint8_t zoom_step = 0;
+        if (zoom_value > 0) {
+            zoom_step = 1;
+        }
+        if (zoom_value < 0) {
+            zoom_step = UINT8_MAX;
+        }
+        return send_1byte_packet(SiyiCommandId::MANUAL_ZOOM_AND_AUTO_FOCUS, zoom_step);
+    }
+
+    // unsupported zoom type
+    return false;
 }
 
 // set focus in, out or hold.  returns true on success
diff --git a/libraries/AP_Mount/AP_Mount_Siyi.h b/libraries/AP_Mount/AP_Mount_Siyi.h
index 7529a3080a..6d000a36e7 100644
--- a/libraries/AP_Mount/AP_Mount_Siyi.h
+++ b/libraries/AP_Mount/AP_Mount_Siyi.h
@@ -62,9 +62,8 @@ public:
     // set start_recording = true to start record, false to stop recording
     bool record_video(bool start_recording) override;
 
-    // set camera zoom step.  returns true on success
-    // zoom out = -1, hold = 0, zoom in = 1
-    bool set_zoom_step(int8_t zoom_step) override;
+    // set zoom specified as a rate or percentage
+    bool set_zoom(AP_Camera::ZoomType zoom_type, float zoom_value) override;
 
     // set focus in, out or hold.  returns true on success
     // focus in = -1, focus hold = 0, focus out = 1