diff --git a/libraries/AP_Mount/AP_Mount.cpp b/libraries/AP_Mount/AP_Mount.cpp
index 4b26c1a519..ce9eae5f90 100644
--- a/libraries/AP_Mount/AP_Mount.cpp
+++ b/libraries/AP_Mount/AP_Mount.cpp
@@ -625,16 +625,6 @@ void AP_Mount::configure_msg(uint8_t instance, mavlink_message_t* msg)
     _backends[instance]->configure_msg(msg);
 }
 
-void AP_Mount::configure(uint8_t instance, enum MAV_MOUNT_MODE mount_mode, uint8_t stab_roll, uint8_t stab_tilt, uint8_t stab_pan)
-{
-    if (instance >= AP_MOUNT_MAX_INSTANCES || _backends[instance] == NULL) {
-        return;
-    }
-
-    // send message to backend
-    _backends[instance]->configure(mount_mode, stab_roll, stab_tilt, stab_pan);
-}
-
 /// Control the mount (depends on the previously set mount configuration)
 /// triggered by a MavLink packet.
 void AP_Mount::control_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 82ef4766b7..017e4ab8c3 100644
--- a/libraries/AP_Mount/AP_Mount.h
+++ b/libraries/AP_Mount/AP_Mount.h
@@ -114,10 +114,6 @@ public:
     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);
 
-    // configure - configure the mount
-    void configure(enum MAV_MOUNT_MODE mount_mode, uint8_t stab_roll, uint8_t stab_tilt, uint8_t stab_pan) { configure(_primary, mount_mode, stab_roll, stab_tilt, stab_pan); }
-    void configure(uint8_t instance, enum MAV_MOUNT_MODE mount_mode, uint8_t stab_roll, uint8_t stab_tilt, uint8_t stab_pan);
-
     // control - control the mount
     void control(int32_t pitch_or_lat, int32_t roll_or_lon, int32_t yaw_or_alt, enum MAV_MOUNT_MODE mount_mode) { control(_primary, pitch_or_lat, roll_or_lon, yaw_or_alt, mount_mode); }
     void control(uint8_t instance, int32_t pitch_or_lat, int32_t roll_or_lon, int32_t yaw_or_alt, enum MAV_MOUNT_MODE mount_mode);
diff --git a/libraries/AP_Mount/AP_Mount_Backend.cpp b/libraries/AP_Mount/AP_Mount_Backend.cpp
index afde3cfabb..de48c467c7 100644
--- a/libraries/AP_Mount/AP_Mount_Backend.cpp
+++ b/libraries/AP_Mount/AP_Mount_Backend.cpp
@@ -32,17 +32,7 @@ void AP_Mount_Backend::configure_msg(mavlink_message_t* msg)
     __mavlink_mount_configure_t packet;
     mavlink_msg_mount_configure_decode(msg, &packet);
 
-    configure((MAV_MOUNT_MODE)packet.mount_mode, packet.stab_roll, packet.stab_pitch, packet.stab_yaw);
-}
-
-void AP_Mount_Backend::configure(MAV_MOUNT_MODE mount_mode, uint8_t stab_roll, uint8_t stab_tilt, uint8_t stab_pan)
-{
-    // set mode
-    _frontend.set_mode(_instance, mount_mode);
-    // set which axis are stabilized
-    _state._stab_roll = stab_roll;
-    _state._stab_tilt = stab_tilt;
-    _state._stab_pan = stab_pan;
+    set_mode((MAV_MOUNT_MODE)packet.mount_mode);
 }
 
 // control_msg - process MOUNT_CONTROL messages received from GCS. deprecated.
@@ -51,14 +41,12 @@ void AP_Mount_Backend::control_msg(mavlink_message_t *msg)
     __mavlink_mount_control_t packet;
     mavlink_msg_mount_control_decode(msg, &packet);
 
-    control((int32_t) packet.input_a, (int32_t) packet.input_b, (int32_t) packet.input_c, 0);
+    control((int32_t)packet.input_a, (int32_t)packet.input_b, (int32_t)packet.input_c, _state._mode);
 }
 
-void AP_Mount_Backend::control(int32_t pitch_or_lat, int32_t roll_or_lon, int32_t yaw_or_alt, uint8_t mount_mode)
+void AP_Mount_Backend::control(int32_t pitch_or_lat, int32_t roll_or_lon, int32_t yaw_or_alt, MAV_MOUNT_MODE mount_mode)
 {
-    if(mount_mode > 0) {
-        _frontend.set_mode(_instance, (MAV_MOUNT_MODE) mount_mode);
-    }
+    _frontend.set_mode(_instance, mount_mode);
 
     // interpret message fields based on mode
     switch (_frontend.get_mode(_instance)) {
diff --git a/libraries/AP_Mount/AP_Mount_Backend.h b/libraries/AP_Mount/AP_Mount_Backend.h
index c2dc69449f..221f310fec 100644
--- a/libraries/AP_Mount/AP_Mount_Backend.h
+++ b/libraries/AP_Mount/AP_Mount_Backend.h
@@ -56,10 +56,8 @@ public:
     // set_roi_target - sets target location that mount should attempt to point towards
     virtual void set_roi_target(const struct Location &target_loc);
 
-    // configure - configure the mount
-    virtual void configure(MAV_MOUNT_MODE mount_mode, uint8_t stab_roll, uint8_t stab_tilt, uint8_t stab_pan);
     // control - control the mount
-    virtual void control(int32_t pitch_or_lat, int32_t roll_or_lon, int32_t yaw_or_alt, uint8_t mount_mode);
+    virtual void control(int32_t pitch_or_lat, int32_t roll_or_lon, int32_t yaw_or_alt, MAV_MOUNT_MODE mount_mode);
     
     // configure_msg - process MOUNT_CONFIGURE messages received from GCS
     virtual void configure_msg(mavlink_message_t* msg);