diff --git a/libraries/AP_Mount/AP_Mount.cpp b/libraries/AP_Mount/AP_Mount.cpp
index f720d4ae10..2f79d02b4c 100644
--- a/libraries/AP_Mount/AP_Mount.cpp
+++ b/libraries/AP_Mount/AP_Mount.cpp
@@ -512,6 +512,17 @@ void AP_Mount::set_mode(uint8_t instance, enum MAV_MOUNT_MODE mode)
     _backends[instance]->set_mode(mode);
 }
 
+// set_angle_targets - sets angle targets in degrees
+void AP_Mount::set_angle_targets(uint8_t instance, float roll, float tilt, float pan)
+{
+    if (instance >= AP_MOUNT_MAX_INSTANCES || _backends[instance] == NULL) {
+        return;
+    }
+
+    // send command to backend
+    _backends[instance]->set_angle_targets(roll, tilt, pan);
+}
+
 /// Change the configuration of the mount
 /// triggered by a MavLink packet.
 void AP_Mount::configure_msg(uint8_t instance, mavlink_message_t* msg)
diff --git a/libraries/AP_Mount/AP_Mount.h b/libraries/AP_Mount/AP_Mount.h
index 338571ded6..bed953c396 100644
--- a/libraries/AP_Mount/AP_Mount.h
+++ b/libraries/AP_Mount/AP_Mount.h
@@ -96,6 +96,10 @@ public:
     void set_mode_to_default() { set_mode_to_default(_primary); }
     void set_mode_to_default(uint8_t instance);
 
+    // set_angle_targets - sets angle targets in degrees
+    void set_angle_targets(float roll, float tilt, float pan) { set_angle_targets(_primary, roll, tilt, pan); }
+    void set_angle_targets(uint8_t instance, float roll, float tilt, float pan);
+
     // set_roi_target - sets target location that mount should attempt to point towards
     void set_roi_target(const struct Location &target_loc) { set_roi_target(_primary,target_loc); }
     void set_roi_target(uint8_t instance, const struct Location &target_loc);
diff --git a/libraries/AP_Mount/AP_Mount_Backend.cpp b/libraries/AP_Mount/AP_Mount_Backend.cpp
index c5bc792056..87b4edb3c5 100644
--- a/libraries/AP_Mount/AP_Mount_Backend.cpp
+++ b/libraries/AP_Mount/AP_Mount_Backend.cpp
@@ -4,6 +4,18 @@
 
 extern const AP_HAL::HAL& hal;
 
+// set_angle_targets - sets angle targets in degrees
+void AP_Mount_Backend::set_angle_targets(float roll, float tilt, float pan)
+{
+    // set angle targets
+    _angle_ef_target_rad.x = radians(roll);
+    _angle_ef_target_rad.y = radians(tilt);
+    _angle_ef_target_rad.z = radians(pan);
+
+    // set the mode to mavlink targeting
+    _frontend.set_mode(_instance, MAV_MOUNT_MODE_MAVLINK_TARGETING);
+}
+
 // set_roi_target - sets target location that mount should attempt to point towards
 void AP_Mount_Backend::set_roi_target(const struct Location &target_loc)
 {
@@ -44,9 +56,7 @@ void AP_Mount_Backend::control_msg(mavlink_message_t *msg)
 
         // set earth frame target angles from mavlink message
         case MAV_MOUNT_MODE_MAVLINK_TARGETING:
-            _angle_ef_target_rad.x = radians(packet.input_b*0.01f);
-            _angle_ef_target_rad.y = radians(packet.input_a*0.01f);
-            _angle_ef_target_rad.z = radians(packet.input_c*0.01f);
+            set_angle_targets(packet.input_b*0.01f, packet.input_a*0.01f, packet.input_c*0.01f);
             break;
 
         // Load neutral position and start RC Roll,Pitch,Yaw control with stabilization
diff --git a/libraries/AP_Mount/AP_Mount_Backend.h b/libraries/AP_Mount/AP_Mount_Backend.h
index d494661910..f8f19007a8 100644
--- a/libraries/AP_Mount/AP_Mount_Backend.h
+++ b/libraries/AP_Mount/AP_Mount_Backend.h
@@ -50,6 +50,9 @@ public:
     // set_mode - sets mount's mode
     virtual void set_mode(enum MAV_MOUNT_MODE mode) = 0;
 
+    // set_angle_targets - sets angle targets in degrees
+    virtual void set_angle_targets(float roll, float tilt, float pan);
+
     // set_roi_target - sets target location that mount should attempt to point towards
     virtual void set_roi_target(const struct Location &target_loc);