diff --git a/src/modules/vmount/input_mavlink.cpp b/src/modules/vmount/input_mavlink.cpp
index ec9e9134c4..d5b40ea955 100644
--- a/src/modules/vmount/input_mavlink.cpp
+++ b/src/modules/vmount/input_mavlink.cpp
@@ -825,9 +825,57 @@ int InputMavlinkGimbalV2::update_impl(unsigned int timeout_ms, ControlData **con
 						_ack_vehicle_command(&vehicle_command, vehicle_command_s::VEHICLE_CMD_RESULT_DENIED);
 					}
 
+				} else if (vehicle_command.command == vehicle_command_s::VEHICLE_CMD_DO_MOUNT_CONTROL) {
+
+					switch ((int)vehicle_command.param7) {
+					case vehicle_command_s::VEHICLE_MOUNT_MODE_RETRACT:
+						_control_data.gimbal_shutter_retract = true;
+
+					/* FALLTHROUGH */
+
+					case vehicle_command_s::VEHICLE_MOUNT_MODE_NEUTRAL:
+						_control_data.type = ControlData::Type::Neutral;
+
+						*control_data = &_control_data;
+						break;
+
+					case vehicle_command_s::VEHICLE_MOUNT_MODE_MAVLINK_TARGETING:
+						_control_data.type = ControlData::Type::Angle;
+						_control_data.type_data.angle.frames[0] = ControlData::TypeData::TypeAngle::Frame::AngleBodyFrame;
+						_control_data.type_data.angle.frames[1] = ControlData::TypeData::TypeAngle::Frame::AngleBodyFrame;
+						_control_data.type_data.angle.frames[2] = ControlData::TypeData::TypeAngle::Frame::AngleBodyFrame;
+						// vmount spec has roll on channel 0, MAVLink spec has pitch on channel 0
+						_control_data.type_data.angle.angles[0] = vehicle_command.param2 * M_DEG_TO_RAD_F;
+						// vmount spec has pitch on channel 1, MAVLink spec has roll on channel 1
+						_control_data.type_data.angle.angles[1] = vehicle_command.param1 * M_DEG_TO_RAD_F;
+						// both specs have yaw on channel 2
+						_control_data.type_data.angle.angles[2] = vehicle_command.param3 * M_DEG_TO_RAD_F;
+
+						// We expect angle of [-pi..+pi]. If the input range is [0..2pi] we can fix that.
+						if (_control_data.type_data.angle.angles[2] > M_PI_F) {
+							_control_data.type_data.angle.angles[2] -= 2 * M_PI_F;
+						}
+
+						*control_data = &_control_data;
+						break;
+
+					case vehicle_command_s::VEHICLE_MOUNT_MODE_RC_TARGETING:
+						break;
+
+					case vehicle_command_s::VEHICLE_MOUNT_MODE_GPS_POINT:
+						control_data_set_lon_lat((double)vehicle_command.param6, (double)vehicle_command.param5, vehicle_command.param4);
+
+						*control_data = &_control_data;
+						break;
+					}
+
+					_ack_vehicle_command(&vehicle_command);
+
+
 				} else {
 					exit_loop = false;
 				}
+
 			}
 
 			if (polls[4].revents & POLLIN) {