diff --git a/libraries/AP_Mission/AP_Mission.cpp b/libraries/AP_Mission/AP_Mission.cpp
index e3da3b6b66..8bb87a48c4 100644
--- a/libraries/AP_Mission/AP_Mission.cpp
+++ b/libraries/AP_Mission/AP_Mission.cpp
@@ -604,8 +604,13 @@ bool AP_Mission::mavlink_to_mission_cmd(const mavlink_mission_item_t& packet, AP
         break;
 
     case MAV_CMD_DO_DIGICAM_CONTROL:                    // MAV ID: 203
+        // command takes no parameters
+        break;
+
     case MAV_CMD_DO_MOUNT_CONTROL:                      // MAV ID: 205
-        // these commands takes no parameters
+        cmd.content.mount_control.pitch = packet.param1;
+        cmd.content.mount_control.roll = packet.param2;
+        cmd.content.mount_control.yaw = packet.param3;
         break;
 
     case MAV_CMD_DO_SET_CAM_TRIGG_DIST:                 // MAV ID: 206
@@ -877,10 +882,15 @@ bool AP_Mission::mission_cmd_to_mavlink(const AP_Mission::Mission_Command& cmd,
         break;
 
     case MAV_CMD_DO_DIGICAM_CONTROL:                    // MAV ID: 203
-    case MAV_CMD_DO_MOUNT_CONTROL:                      // MAV ID: 205
         // these commands takes no parameters
         break;
 
+    case MAV_CMD_DO_MOUNT_CONTROL:                      // MAV ID: 205
+        packet.param1 = cmd.content.mount_control.pitch;
+        packet.param2 = cmd.content.mount_control.roll;
+        packet.param3 = cmd.content.mount_control.yaw;
+        break;
+
     case MAV_CMD_DO_SET_CAM_TRIGG_DIST:                 // MAV ID: 206
         packet.param1 = cmd.content.cam_trigg_dist.meters;  // distance between camera shots in meters
         break;
diff --git a/libraries/AP_Mission/AP_Mission.h b/libraries/AP_Mission/AP_Mission.h
index ede4430942..30232242fd 100644
--- a/libraries/AP_Mission/AP_Mission.h
+++ b/libraries/AP_Mission/AP_Mission.h
@@ -106,6 +106,13 @@ public:
         float cycle_time;       // cycle time in seconds (the time between peaks or the time the servo is at the specified pwm value for each cycle?)
     };
 
+    // mount control command structure
+    struct PACKED Mount_Control {
+        float pitch;            // pitch angle in degrees
+        float roll;             // roll angle in degrees
+        float yaw;              // yaw angle (relative to vehicle heading) in degrees
+    };
+
     // set cam trigger distance command structure
     struct PACKED Cam_Trigg_Distance {
         float meters;           // distance
@@ -153,6 +160,9 @@ public:
         // do-repeate-servo
         Repeat_Servo_Command repeat_servo;
 
+        // mount control
+        Mount_Control mount_control;
+
         // cam trigg distance
         Cam_Trigg_Distance cam_trigg_dist;