diff --git a/libraries/AP_Mount/AP_Mount_Alexmos.cpp b/libraries/AP_Mount/AP_Mount_Alexmos.cpp
index 693d197860..7db333f6b7 100644
--- a/libraries/AP_Mount/AP_Mount_Alexmos.cpp
+++ b/libraries/AP_Mount/AP_Mount_Alexmos.cpp
@@ -100,20 +100,9 @@ void AP_Mount_Alexmos::update()
             break;
 
         // RC radio manual angle control, but with stabilization from the AHRS
-        case MAV_MOUNT_MODE_RC_TARGETING: {
-            // update targets using pilot's RC inputs
-            MountTarget rc_target;
-            get_rc_target(mnt_target.target_type, rc_target);
-            switch (mnt_target.target_type) {
-            case MountTargetType::ANGLE:
-                mnt_target.angle_rad = rc_target;
-                break;
-            case MountTargetType::RATE:
-                mnt_target.rate_rads = rc_target;
-                break;
-            }
+        case MAV_MOUNT_MODE_RC_TARGETING:
+            update_mnt_target_from_rc_target();
             break;
-        }
 
         // point mount to a GPS point given by the mission planner
         case MAV_MOUNT_MODE_GPS_POINT:
diff --git a/libraries/AP_Mount/AP_Mount_Backend.cpp b/libraries/AP_Mount/AP_Mount_Backend.cpp
index 9d064633b1..94f9e7e31b 100644
--- a/libraries/AP_Mount/AP_Mount_Backend.cpp
+++ b/libraries/AP_Mount/AP_Mount_Backend.cpp
@@ -66,6 +66,29 @@ bool AP_Mount_Backend::set_mode(MAV_MOUNT_MODE mode)
     return true;
 }
 
+// called when mount mode is RC-targetting, updates the mnt_target object from RC inputs:
+void AP_Mount_Backend::update_mnt_target_from_rc_target()
+{
+    if (rc().in_rc_failsafe()) {
+        if (option_set(Options::NEUTRAL_ON_RC_FS)) {
+            mnt_target.angle_rad.set(_params.neutral_angles.get() * DEG_TO_RAD, false);
+            mnt_target.target_type = MountTargetType::ANGLE;
+            return;
+        }
+    }
+
+    MountTarget rc_target;
+    get_rc_target(mnt_target.target_type, rc_target);
+    switch (mnt_target.target_type) {
+    case MountTargetType::ANGLE:
+        mnt_target.angle_rad = rc_target;
+        break;
+    case MountTargetType::RATE:
+        mnt_target.rate_rads = rc_target;
+        break;
+    }
+}
+
 // set angle target in degrees
 // roll and pitch are in earth-frame
 // yaw_is_earth_frame (aka yaw_lock) should be true if yaw angle is earth-frame, false if body-frame
diff --git a/libraries/AP_Mount/AP_Mount_Backend.h b/libraries/AP_Mount/AP_Mount_Backend.h
index a25bd4870a..67b673d656 100644
--- a/libraries/AP_Mount/AP_Mount_Backend.h
+++ b/libraries/AP_Mount/AP_Mount_Backend.h
@@ -253,6 +253,9 @@ protected:
     };
     bool option_set(Options opt) const { return (_params.options.get() & (uint8_t)opt) != 0; }
 
+    // called when mount mode is RC-targetting, updates the mnt_target object from RC inputs:
+    void update_mnt_target_from_rc_target();
+
     // returns true if user has configured a valid roll angle range
     // allows user to disable roll even on 3-axis gimbal
     bool roll_range_valid() const { return (_params.roll_angle_min < _params.roll_angle_max); }
diff --git a/libraries/AP_Mount/AP_Mount_Gremsy.cpp b/libraries/AP_Mount/AP_Mount_Gremsy.cpp
index 259de8e90c..631acc8778 100644
--- a/libraries/AP_Mount/AP_Mount_Gremsy.cpp
+++ b/libraries/AP_Mount/AP_Mount_Gremsy.cpp
@@ -48,20 +48,9 @@ void AP_Mount_Gremsy::update()
         }
 
         // RC radio manual angle control, but with stabilization from the AHRS
-        case MAV_MOUNT_MODE_RC_TARGETING: {
-            // update targets using pilot's RC inputs
-            MountTarget rc_target;
-            get_rc_target(mnt_target.target_type, rc_target);
-            switch (mnt_target.target_type) {
-            case MountTargetType::ANGLE:
-                mnt_target.angle_rad = rc_target;
-                break;
-            case MountTargetType::RATE:
-                mnt_target.rate_rads = rc_target;
-                break;
-            }
+        case MAV_MOUNT_MODE_RC_TARGETING:
+            update_mnt_target_from_rc_target();
             break;
-        }
 
         // point mount to a GPS point given by the mission planner
         case MAV_MOUNT_MODE_GPS_POINT:
diff --git a/libraries/AP_Mount/AP_Mount_SToRM32.cpp b/libraries/AP_Mount/AP_Mount_SToRM32.cpp
index 59e4da66bc..bd638fa42a 100644
--- a/libraries/AP_Mount/AP_Mount_SToRM32.cpp
+++ b/libraries/AP_Mount/AP_Mount_SToRM32.cpp
@@ -52,21 +52,10 @@ void AP_Mount_SToRM32::update()
             break;
 
         // RC radio manual angle control, but with stabilization from the AHRS
-        case MAV_MOUNT_MODE_RC_TARGETING: {
-            // update targets using pilot's RC inputs
-            MountTarget rc_target;
-            get_rc_target(mnt_target.target_type, rc_target);
-            switch (mnt_target.target_type) {
-            case MountTargetType::ANGLE:
-                mnt_target.angle_rad = rc_target;
-                break;
-            case MountTargetType::RATE:
-                mnt_target.rate_rads = rc_target;
-                break;
-            }
+        case MAV_MOUNT_MODE_RC_TARGETING:
+            update_mnt_target_from_rc_target();
             resend_now = true;
             break;
-        }
 
         // point mount to a GPS point given by the mission planner
         case MAV_MOUNT_MODE_GPS_POINT:
diff --git a/libraries/AP_Mount/AP_Mount_SToRM32_serial.cpp b/libraries/AP_Mount/AP_Mount_SToRM32_serial.cpp
index 82387a0e93..9b003de0fe 100644
--- a/libraries/AP_Mount/AP_Mount_SToRM32_serial.cpp
+++ b/libraries/AP_Mount/AP_Mount_SToRM32_serial.cpp
@@ -49,21 +49,10 @@ void AP_Mount_SToRM32_serial::update()
             break;
 
         // RC radio manual angle control, but with stabilization from the AHRS
-        case MAV_MOUNT_MODE_RC_TARGETING: {
-            // update targets using pilot's RC inputs
-            MountTarget rc_target;
-            get_rc_target(mnt_target.target_type, rc_target);
-            switch (mnt_target.target_type) {
-            case MountTargetType::ANGLE:
-                mnt_target.angle_rad = rc_target;
-                break;
-            case MountTargetType::RATE:
-                mnt_target.rate_rads = rc_target;
-                break;
-            }
+        case MAV_MOUNT_MODE_RC_TARGETING:
+            update_mnt_target_from_rc_target();
             resend_now = true;
             break;
-        }
 
         // point mount to a GPS point given by the mission planner
         case MAV_MOUNT_MODE_GPS_POINT:
diff --git a/libraries/AP_Mount/AP_Mount_Scripting.cpp b/libraries/AP_Mount/AP_Mount_Scripting.cpp
index c2b93304e6..e70c030036 100644
--- a/libraries/AP_Mount/AP_Mount_Scripting.cpp
+++ b/libraries/AP_Mount/AP_Mount_Scripting.cpp
@@ -45,21 +45,10 @@ void AP_Mount_Scripting::update()
             break;
 
         // RC radio manual angle control, but with stabilization from the AHRS
-        case MAV_MOUNT_MODE_RC_TARGETING: {
-            // update targets using pilot's RC inputs
-            MountTarget rc_target;
-            get_rc_target(mnt_target.target_type, rc_target);
-            switch (mnt_target.target_type) {
-            case MountTargetType::ANGLE:
-                mnt_target.angle_rad = rc_target;
-                break;
-            case MountTargetType::RATE:
-                mnt_target.rate_rads = rc_target;
-                break;
-            }
+        case MAV_MOUNT_MODE_RC_TARGETING:
+            update_mnt_target_from_rc_target();
             target_loc_valid = false;
             break;
-        }
 
         // point mount to a GPS point given by the mission planner
         case MAV_MOUNT_MODE_GPS_POINT:
diff --git a/libraries/AP_Mount/AP_Mount_Servo.cpp b/libraries/AP_Mount/AP_Mount_Servo.cpp
index 7c97656c12..743708fa9d 100644
--- a/libraries/AP_Mount/AP_Mount_Servo.cpp
+++ b/libraries/AP_Mount/AP_Mount_Servo.cpp
@@ -55,28 +55,9 @@ void AP_Mount_Servo::update()
         }
 
         // RC radio manual angle control, but with stabilization from the AHRS
-        case MAV_MOUNT_MODE_RC_TARGETING: {
-            // update targets using pilot's rc inputs or go to neutral or retracted targets if no rc
-            if (rc().in_rc_failsafe()) {
-                if (option_set(Options::NEUTRAL_ON_RC_FS)) {
-                    mnt_target.angle_rad.set(_angle_bf_output_rad, false);
-                    mnt_target.target_type = MountTargetType::ANGLE;
-                }
-            } else {
-            // update targets using pilot's RC inputs
-            MountTarget rc_target;
-            get_rc_target(mnt_target.target_type, rc_target);
-            switch (mnt_target.target_type) {
-            case MountTargetType::ANGLE:
-                mnt_target.angle_rad = rc_target;
-                break;
-            case MountTargetType::RATE:
-                mnt_target.rate_rads = rc_target;
-                break;
-            }
-            }
+        case MAV_MOUNT_MODE_RC_TARGETING:
+            update_mnt_target_from_rc_target();
             break;
-        }
 
         // point mount to a GPS point given by the mission planner
         case MAV_MOUNT_MODE_GPS_POINT:
diff --git a/libraries/AP_Mount/AP_Mount_Siyi.cpp b/libraries/AP_Mount/AP_Mount_Siyi.cpp
index d0e82cd503..1c91af6a43 100644
--- a/libraries/AP_Mount/AP_Mount_Siyi.cpp
+++ b/libraries/AP_Mount/AP_Mount_Siyi.cpp
@@ -121,20 +121,9 @@ void AP_Mount_Siyi::update()
             break;
         }
 
-        case MAV_MOUNT_MODE_RC_TARGETING: {
-            // update targets using pilot's RC inputs
-            MountTarget rc_target;
-            get_rc_target(mnt_target.target_type, rc_target);
-            switch (mnt_target.target_type) {
-            case MountTargetType::ANGLE:
-                mnt_target.angle_rad = rc_target;
-                break;
-            case MountTargetType::RATE:
-                mnt_target.rate_rads = rc_target;
-                break;
-            }
+        case MAV_MOUNT_MODE_RC_TARGETING:
+            update_mnt_target_from_rc_target();
             break;
-        }
 
         // point mount to a GPS point given by the mission planner
         case MAV_MOUNT_MODE_GPS_POINT:
diff --git a/libraries/AP_Mount/AP_Mount_SoloGimbal.cpp b/libraries/AP_Mount/AP_Mount_SoloGimbal.cpp
index 02c8c3f247..251c859693 100644
--- a/libraries/AP_Mount/AP_Mount_SoloGimbal.cpp
+++ b/libraries/AP_Mount/AP_Mount_SoloGimbal.cpp
@@ -65,20 +65,10 @@ void AP_Mount_SoloGimbal::update()
             break;
 
         // RC radio manual angle control, but with stabilization from the AHRS
-        case MAV_MOUNT_MODE_RC_TARGETING: {
+        case MAV_MOUNT_MODE_RC_TARGETING:
             _gimbal.set_lockedToBody(false);
-            MountTarget rc_target;
-            get_rc_target(mnt_target.target_type, rc_target);
-            switch (mnt_target.target_type) {
-            case MountTargetType::ANGLE:
-                mnt_target.angle_rad = rc_target;
-                break;
-            case MountTargetType::RATE:
-                mnt_target.rate_rads = rc_target;
-                break;
-            }
+            update_mnt_target_from_rc_target();
             break;
-        }
 
         // point mount to a GPS point given by the mission planner
         case MAV_MOUNT_MODE_GPS_POINT:
diff --git a/libraries/AP_Mount/AP_Mount_Topotek.cpp b/libraries/AP_Mount/AP_Mount_Topotek.cpp
index 09682a8429..bfe93ec83a 100755
--- a/libraries/AP_Mount/AP_Mount_Topotek.cpp
+++ b/libraries/AP_Mount/AP_Mount_Topotek.cpp
@@ -156,20 +156,9 @@ void AP_Mount_Topotek::update()
             break;
 
         // RC radio manual angle control, but with stabilization from the AHRS
-        case MAV_MOUNT_MODE_RC_TARGETING: {
-            // update targets using pilot's RC inputs
-            MountTarget rc_target;
-            get_rc_target(mnt_target.target_type, rc_target);
-            switch (mnt_target.target_type) {
-            case MountTargetType::ANGLE:
-                mnt_target.angle_rad = rc_target;
-                break;
-            case MountTargetType::RATE:
-                mnt_target.rate_rads = rc_target;
-                break;
-            }
+        case MAV_MOUNT_MODE_RC_TARGETING:
+            update_mnt_target_from_rc_target();
             break;
-        }
 
         // point mount to a GPS point given by the mission planner
         case MAV_MOUNT_MODE_GPS_POINT:
diff --git a/libraries/AP_Mount/AP_Mount_Viewpro.cpp b/libraries/AP_Mount/AP_Mount_Viewpro.cpp
index f9b06f3b80..1de89fbc67 100644
--- a/libraries/AP_Mount/AP_Mount_Viewpro.cpp
+++ b/libraries/AP_Mount/AP_Mount_Viewpro.cpp
@@ -94,20 +94,9 @@ void AP_Mount_Viewpro::update()
             break;
 
         // RC radio manual angle control, but with stabilization from the AHRS
-        case MAV_MOUNT_MODE_RC_TARGETING: {
-            // update targets using pilot's RC inputs
-            MountTarget rc_target;
-            get_rc_target(mnt_target.target_type, rc_target);
-            switch (mnt_target.target_type) {
-            case MountTargetType::ANGLE:
-                mnt_target.angle_rad = rc_target;
-                break;
-            case MountTargetType::RATE:
-                mnt_target.rate_rads = rc_target;
-                break;
-            }
+        case MAV_MOUNT_MODE_RC_TARGETING:
+            update_mnt_target_from_rc_target();
             break;
-        }
 
         // point mount to a GPS point given by the mission planner
         case MAV_MOUNT_MODE_GPS_POINT:
diff --git a/libraries/AP_Mount/AP_Mount_Xacti.cpp b/libraries/AP_Mount/AP_Mount_Xacti.cpp
index 6353ce41d0..c5727f6c02 100644
--- a/libraries/AP_Mount/AP_Mount_Xacti.cpp
+++ b/libraries/AP_Mount/AP_Mount_Xacti.cpp
@@ -135,20 +135,9 @@ void AP_Mount_Xacti::update()
             break;
         }
 
-        case MAV_MOUNT_MODE_RC_TARGETING: {
-            // update targets using pilot's RC inputs
-            MountTarget rc_target;
-            get_rc_target(mnt_target.target_type, rc_target);
-            switch (mnt_target.target_type) {
-            case MountTargetType::ANGLE:
-                mnt_target.angle_rad = rc_target;
-                break;
-            case MountTargetType::RATE:
-                mnt_target.rate_rads = rc_target;
-                break;
-            }
+        case MAV_MOUNT_MODE_RC_TARGETING:
+            update_mnt_target_from_rc_target();
             break;
-        }
 
         // point mount to a GPS point given by the mission planner
         case MAV_MOUNT_MODE_GPS_POINT: