diff --git a/libraries/AP_Camera/AP_Camera.cpp b/libraries/AP_Camera/AP_Camera.cpp
index 91df78b139..a502968cde 100644
--- a/libraries/AP_Camera/AP_Camera.cpp
+++ b/libraries/AP_Camera/AP_Camera.cpp
@@ -233,11 +233,11 @@ MAV_RESULT AP_Camera::handle_command_long(const mavlink_command_long_t &packet)
         return MAV_RESULT_ACCEPTED;
     case MAV_CMD_SET_CAMERA_ZOOM:
         if (is_equal(packet.param1, (float)ZOOM_TYPE_CONTINUOUS) &&
-            set_zoom(AP_Camera::ZoomType::RATE, packet.param2)) {
+            set_zoom(ZoomType::RATE, packet.param2)) {
             return MAV_RESULT_ACCEPTED;
         }
         if (is_equal(packet.param1, (float)ZOOM_TYPE_RANGE) &&
-            set_zoom(AP_Camera::ZoomType::PCT, packet.param2)) {
+            set_zoom(ZoomType::PCT, packet.param2)) {
             return MAV_RESULT_ACCEPTED;
         }
         return MAV_RESULT_UNSUPPORTED;
diff --git a/libraries/AP_Camera/AP_Camera.h b/libraries/AP_Camera/AP_Camera.h
index 3c9c6ab06e..39026f62d4 100644
--- a/libraries/AP_Camera/AP_Camera.h
+++ b/libraries/AP_Camera/AP_Camera.h
@@ -9,6 +9,7 @@
 #include <AP_Param/AP_Param.h>
 #include <GCS_MAVLink/GCS_MAVLink.h>
 #include "AP_Camera_Params.h"
+#include "AP_Camera_shareddefs.h"
 
 #define AP_CAMERA_MAX_INSTANCES             2       // maximum number of camera backends
 
@@ -110,11 +111,6 @@ public:
     bool record_video(uint8_t instance, bool start_recording);
 
     // set zoom specified as a rate or percentage
-    // enumerators match MAVLink CAMERA_ZOOM_TYPE
-    enum class ZoomType : uint8_t {
-        RATE = 1,   // zoom in, out or hold (zoom out = -1, hold = 0, zoom in = 1). Same as ZOOM_TYPE_CONTINUOUS
-        PCT = 2     // zoom to a percentage (from 0 to 100) of the full range. Same as ZOOM_TYPE_RANGE
-    };
     bool set_zoom(ZoomType zoom_type, float zoom_value);
     bool set_zoom(uint8_t instance, ZoomType zoom_type, float zoom_value);
 
@@ -135,7 +131,7 @@ public:
     typedef struct {
         uint16_t take_pic_incr; // incremented each time camera is requested to take a picture
         bool recording_video;   // true when recording video
-        uint8_t zoom_type;      // see AP_Camera::ZoomType enum (1:Rate or 2:Pct)
+        uint8_t zoom_type;      // see ZoomType enum (1:Rate or 2:Pct)
         float zoom_value;       // percentage or zoom out = -1, hold = 0, zoom in = 1
         int8_t focus_step;      // focus in = -1, focus hold = 0, focus out = 1
         bool auto_focus;        // true when auto focusing
diff --git a/libraries/AP_Camera/AP_Camera_Backend.h b/libraries/AP_Camera/AP_Camera_Backend.h
index adecd98d0a..ed62fa4ecb 100644
--- a/libraries/AP_Camera/AP_Camera_Backend.h
+++ b/libraries/AP_Camera/AP_Camera_Backend.h
@@ -59,7 +59,7 @@ public:
     virtual bool record_video(bool start_recording) { return false; }
 
     // set zoom specified as a rate or percentage
-    virtual bool set_zoom(AP_Camera::ZoomType zoom_type, float zoom_value) { return false; }
+    virtual bool set_zoom(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_Camera/AP_Camera_MAVLinkCamV2.cpp b/libraries/AP_Camera/AP_Camera_MAVLinkCamV2.cpp
index 69072180cf..107db82ea5 100644
--- a/libraries/AP_Camera/AP_Camera_MAVLinkCamV2.cpp
+++ b/libraries/AP_Camera/AP_Camera_MAVLinkCamV2.cpp
@@ -65,7 +65,7 @@ bool AP_Camera_MAVLinkCamV2::record_video(bool start_recording)
 }
 
 // set zoom specified as a rate or percentage
-bool AP_Camera_MAVLinkCamV2::set_zoom(AP_Camera::ZoomType zoom_type, float zoom_value)
+bool AP_Camera_MAVLinkCamV2::set_zoom(ZoomType zoom_type, float zoom_value)
 {
     // exit immediately if have not found camera or does not support zoom
     if (_link == nullptr || !(_cap_flags & CAMERA_CAP_FLAGS_HAS_BASIC_ZOOM)) {
@@ -76,10 +76,10 @@ bool AP_Camera_MAVLinkCamV2::set_zoom(AP_Camera::ZoomType zoom_type, float zoom_
     mavlink_command_long_t pkt {};
     pkt.command = MAV_CMD_SET_CAMERA_ZOOM;
     switch (zoom_type) {
-    case AP_Camera::ZoomType::RATE:
+    case ZoomType::RATE:
         pkt.param1 = ZOOM_TYPE_CONTINUOUS;
         break;
-    case AP_Camera::ZoomType::PCT:
+    case ZoomType::PCT:
         pkt.param1 = ZOOM_TYPE_RANGE;
         break;
     }
diff --git a/libraries/AP_Camera/AP_Camera_MAVLinkCamV2.h b/libraries/AP_Camera/AP_Camera_MAVLinkCamV2.h
index 412e36e101..582a602ca5 100644
--- a/libraries/AP_Camera/AP_Camera_MAVLinkCamV2.h
+++ b/libraries/AP_Camera/AP_Camera_MAVLinkCamV2.h
@@ -44,7 +44,7 @@ public:
     bool record_video(bool start_recording) override;
 
     // set zoom specified as a rate or percentage
-    bool set_zoom(AP_Camera::ZoomType zoom_type, float zoom_value) override;
+    bool set_zoom(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
diff --git a/libraries/AP_Camera/AP_Camera_Mount.cpp b/libraries/AP_Camera/AP_Camera_Mount.cpp
index ca35390d73..4c61af0c3c 100644
--- a/libraries/AP_Camera/AP_Camera_Mount.cpp
+++ b/libraries/AP_Camera/AP_Camera_Mount.cpp
@@ -28,7 +28,7 @@ bool AP_Camera_Mount::record_video(bool start_recording)
 }
 
 // set zoom specified as a rate or percentage
-bool AP_Camera_Mount::set_zoom(AP_Camera::ZoomType zoom_type, float zoom_value)
+bool AP_Camera_Mount::set_zoom(ZoomType zoom_type, float zoom_value)
 {
     AP_Mount* mount = AP::mount();
     if (mount != nullptr) {
diff --git a/libraries/AP_Camera/AP_Camera_Mount.h b/libraries/AP_Camera/AP_Camera_Mount.h
index f2701f484d..752976e1b3 100644
--- a/libraries/AP_Camera/AP_Camera_Mount.h
+++ b/libraries/AP_Camera/AP_Camera_Mount.h
@@ -40,7 +40,7 @@ public:
     bool record_video(bool start_recording) override;
 
     // set zoom specified as a rate or percentage
-    bool set_zoom(AP_Camera::ZoomType zoom_type, float zoom_value) override;
+    bool set_zoom(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
diff --git a/libraries/AP_Camera/AP_Camera_Scripting.cpp b/libraries/AP_Camera/AP_Camera_Scripting.cpp
index c082b9dbd2..dd13722ec5 100644
--- a/libraries/AP_Camera/AP_Camera_Scripting.cpp
+++ b/libraries/AP_Camera/AP_Camera_Scripting.cpp
@@ -21,7 +21,7 @@ bool AP_Camera_Scripting::record_video(bool start_recording)
 }
 
 // set zoom specified as a rate or percentage
-bool AP_Camera_Scripting::set_zoom(AP_Camera::ZoomType zoom_type, float zoom_value)
+bool AP_Camera_Scripting::set_zoom(ZoomType zoom_type, float zoom_value)
 {
     _cam_state.zoom_type = (uint8_t)zoom_type;
     _cam_state.zoom_value = zoom_value;
diff --git a/libraries/AP_Camera/AP_Camera_Scripting.h b/libraries/AP_Camera/AP_Camera_Scripting.h
index 9bc7fae09e..3cfe616b01 100644
--- a/libraries/AP_Camera/AP_Camera_Scripting.h
+++ b/libraries/AP_Camera/AP_Camera_Scripting.h
@@ -40,7 +40,7 @@ public:
     bool record_video(bool start_recording) override;
 
     // set zoom specified as a rate or percentage
-    bool set_zoom(AP_Camera::ZoomType zoom_type, float zoom_value) override;
+    bool set_zoom(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
diff --git a/libraries/AP_Camera/AP_Camera_shareddefs.h b/libraries/AP_Camera/AP_Camera_shareddefs.h
new file mode 100644
index 0000000000..fc428dfd21
--- /dev/null
+++ b/libraries/AP_Camera/AP_Camera_shareddefs.h
@@ -0,0 +1,14 @@
+#pragma once
+
+// Camera related definitions required by both AP_Camera and AP_Mount are here
+// this avoids issues that would occur if AP_Mount and AP_Camera included each other
+
+#include <AP_Math/AP_Math.h>
+
+// set zoom specified as a rate or percentage
+// enumerators match MAVLink CAMERA_ZOOM_TYPE
+enum class ZoomType : uint8_t {
+    RATE = 1,   // zoom in, out or hold (zoom out = -1, hold = 0, zoom in = 1). Same as ZOOM_TYPE_CONTINUOUS
+    PCT = 2     // zoom to a percentage (from 0 to 100) of the full range. Same as ZOOM_TYPE_RANGE
+};
+