diff --git a/libraries/AP_Mount/AP_Mount_Alexmos.cpp b/libraries/AP_Mount/AP_Mount_Alexmos.cpp
index 75bf82660c03d1..f7f39f6119be40 100644
--- a/libraries/AP_Mount/AP_Mount_Alexmos.cpp
+++ b/libraries/AP_Mount/AP_Mount_Alexmos.cpp
@@ -51,29 +51,38 @@ void AP_Mount_Alexmos::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
-            if (get_rc_rate_target(mnt_target.rate_rads)) {
-                mnt_target.target_type = MountTargetType::RATE;
-            } else if (get_rc_angle_target(mnt_target.angle_rad)) {
-                mnt_target.target_type = MountTargetType::ANGLE;
-            } else {
-                mnt_target.target_type = MountTargetType::INVALID;
+            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;
             }
             break;
         }
 
         // point mount to a GPS point given by the mission planner
         case MAV_MOUNT_MODE_GPS_POINT:
-            mnt_target.target_type = get_angle_target_to_roi(mnt_target.angle_rad) ? MountTargetType::ANGLE : MountTargetType::INVALID;
+            if (get_angle_target_to_roi(mnt_target.angle_rad)) {
+                mnt_target.target_type = MountTargetType::ANGLE;
+            }
             break;
 
         // point mount to Home location
         case MAV_MOUNT_MODE_HOME_LOCATION:
-            mnt_target.target_type = get_angle_target_to_home(mnt_target.angle_rad) ? MountTargetType::ANGLE : MountTargetType::INVALID;
+            if (get_angle_target_to_home(mnt_target.angle_rad)) {
+                mnt_target.target_type = MountTargetType::ANGLE;
+            }
             break;
 
         // point mount to another vehicle
         case MAV_MOUNT_MODE_SYSID_TARGET:
-            mnt_target.target_type = get_angle_target_to_sysid(mnt_target.angle_rad) ? MountTargetType::ANGLE : MountTargetType::INVALID;
+            if (get_angle_target_to_sysid(mnt_target.angle_rad)) {
+                mnt_target.target_type = MountTargetType::ANGLE;
+            }
             break;
 
         default:
@@ -86,7 +95,6 @@ void AP_Mount_Alexmos::update()
         case MountTargetType::RATE:
             update_angle_target_from_rate(mnt_target.rate_rads, mnt_target.angle_rad);
             FALLTHROUGH;
-        case MountTargetType::INVALID:
         case MountTargetType::ANGLE:
             // send latest angle targets to gimbal
             control_axis(mnt_target.angle_rad);
diff --git a/libraries/AP_Mount/AP_Mount_Backend.cpp b/libraries/AP_Mount/AP_Mount_Backend.cpp
index 4102698cd5f386..ac4d2878eb7e93 100644
--- a/libraries/AP_Mount/AP_Mount_Backend.cpp
+++ b/libraries/AP_Mount/AP_Mount_Backend.cpp
@@ -423,61 +423,44 @@ void AP_Mount_Backend::get_rc_input(float& roll_in, float& pitch_in, float& yaw_
     }
 }
 
-// get rate targets (in rad/s) from pilot RC
-// returns true on success (RC is providing rate targets), false on failure (RC is providing angle targets)
-bool AP_Mount_Backend::get_rc_rate_target(MountTarget& rate_rads) const
+// get angle or rate targets from pilot RC
+// target_type will be either ANGLE or RATE, rpy will be the target angle in deg or rate in deg/s
+void AP_Mount_Backend::get_rc_target(MountTargetType& target_type, MountTarget& target_rpy) const
 {
-    // exit immediately if RC is not providing rate targets
-    if (_params.rc_rate_max <= 0) {
-        return false;
-    }
-
     // get RC input from pilot
     float roll_in, pitch_in, yaw_in;
     get_rc_input(roll_in, pitch_in, yaw_in);
 
-    // calculate rates
-    const float rc_rate_max_rads = radians(_params.rc_rate_max.get());
-    rate_rads.roll = roll_in * rc_rate_max_rads;
-    rate_rads.pitch = pitch_in * rc_rate_max_rads;
-    rate_rads.yaw = yaw_in * rc_rate_max_rads;
-
     // yaw frame
-    rate_rads.yaw_is_ef = _yaw_lock;
-
-    return true;
-}
-
-// get angle targets (in radians) from pilot RC
-// returns true on success (RC is providing angle targets), false on failure (RC is providing rate targets)
-bool AP_Mount_Backend::get_rc_angle_target(MountTarget& angle_rad) const
-{
-    // exit immediately if RC is not providing angle targets
-    if (_params.rc_rate_max > 0) {
-        return false;
-    }
+    target_rpy.yaw_is_ef = _yaw_lock;
 
-    // get RC input from pilot
-    float roll_in, pitch_in, yaw_in;
-    get_rc_input(roll_in, pitch_in, yaw_in);
+    // if RC_RATE is zero, targets are angle
+    if (_params.rc_rate_max <= 0) {
+        target_type = MountTargetType::ANGLE;
 
-    // roll angle
-    angle_rad.roll = radians(((roll_in + 1.0f) * 0.5f * (_params.roll_angle_max - _params.roll_angle_min) + _params.roll_angle_min));
+        // roll angle
+        target_rpy.roll = radians(((roll_in + 1.0f) * 0.5f * (_params.roll_angle_max - _params.roll_angle_min) + _params.roll_angle_min));
 
-    // pitch angle
-    angle_rad.pitch = radians(((pitch_in + 1.0f) * 0.5f * (_params.pitch_angle_max - _params.pitch_angle_min) + _params.pitch_angle_min));
+        // pitch angle
+        target_rpy.pitch = radians(((pitch_in + 1.0f) * 0.5f * (_params.pitch_angle_max - _params.pitch_angle_min) + _params.pitch_angle_min));
 
-    // yaw angle
-    angle_rad.yaw_is_ef = _yaw_lock;
-    if (angle_rad.yaw_is_ef) {
-        // if yaw is earth-frame pilot yaw input control angle from -180 to +180 deg
-        angle_rad.yaw = yaw_in * M_PI;
-    } else {
-        // yaw target in body frame so apply body frame limits
-        angle_rad.yaw = radians(((yaw_in + 1.0f) * 0.5f * (_params.yaw_angle_max - _params.yaw_angle_min) + _params.yaw_angle_min));
+        // yaw angle
+        if (target_rpy.yaw_is_ef) {
+            // if yaw is earth-frame pilot yaw input control angle from -180 to +180 deg
+            target_rpy.yaw = yaw_in * M_PI;
+        } else {
+            // yaw target in body frame so apply body frame limits
+            target_rpy.yaw = radians(((yaw_in + 1.0f) * 0.5f * (_params.yaw_angle_max - _params.yaw_angle_min) + _params.yaw_angle_min));
+        }
+        return;
     }
 
-    return true;
+    // calculate rate targets
+    target_type = MountTargetType::RATE;
+    const float rc_rate_max_rads = radians(_params.rc_rate_max.get());
+    target_rpy.roll = roll_in * rc_rate_max_rads;
+    target_rpy.pitch = pitch_in * rc_rate_max_rads;
+    target_rpy.yaw = yaw_in * rc_rate_max_rads;
 }
 
 // get angle targets (in radians) to a Location
diff --git a/libraries/AP_Mount/AP_Mount_Backend.h b/libraries/AP_Mount/AP_Mount_Backend.h
index 3bb6b1a1ab70dc..c663d0dadd7816 100644
--- a/libraries/AP_Mount/AP_Mount_Backend.h
+++ b/libraries/AP_Mount/AP_Mount_Backend.h
@@ -178,7 +178,6 @@ class AP_Mount_Backend
 protected:
 
     enum class MountTargetType {
-        INVALID,
         ANGLE,
         RATE,
     };
@@ -211,13 +210,9 @@ class AP_Mount_Backend
     // get pilot input (in the range -1 to +1) received through RC
     void get_rc_input(float& roll_in, float& pitch_in, float& yaw_in) const;
 
-    // get rate targets (in rad/s) from pilot RC
-    // returns true on success (RC is providing rate targets), false on failure (RC is providing angle targets)
-    bool get_rc_rate_target(MountTarget& rate_rads) const WARN_IF_UNUSED;
-
-    // get angle targets (in radians) from pilot RC
-    // returns true on success (RC is providing angle targets), false on failure (RC is providing rate targets)
-    bool get_rc_angle_target(MountTarget& angle_rad) const WARN_IF_UNUSED;
+    // get angle or rate targets from pilot RC
+    // target_type will be either ANGLE or RATE, rpy will be the target angle in deg or rate in deg/s
+    void get_rc_target(MountTargetType& target_type, MountTarget& rpy) const;
 
     // get angle targets (in radians) to a Location
     // returns true on success, false on failure
diff --git a/libraries/AP_Mount/AP_Mount_Gremsy.cpp b/libraries/AP_Mount/AP_Mount_Gremsy.cpp
index 357aa3faf9e779..b9bf372a680646 100644
--- a/libraries/AP_Mount/AP_Mount_Gremsy.cpp
+++ b/libraries/AP_Mount/AP_Mount_Gremsy.cpp
@@ -46,34 +46,40 @@ 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
-            if (get_rc_rate_target(mnt_target.rate_rads)) {
-                mnt_target.target_type = MountTargetType::RATE;
-            } else if (get_rc_angle_target(mnt_target.angle_rad)) {
-                mnt_target.target_type = MountTargetType::ANGLE;
-            } else {
-                mnt_target.target_type = MountTargetType::INVALID;
+            // 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;
             }
             break;
         }
 
         // point mount to a GPS point given by the mission planner
-        case MAV_MOUNT_MODE_GPS_POINT: {
-            mnt_target.target_type = get_angle_target_to_roi(mnt_target.angle_rad) ? MountTargetType::ANGLE : MountTargetType::INVALID;
+        case MAV_MOUNT_MODE_GPS_POINT:
+            if (get_angle_target_to_roi(mnt_target.angle_rad)) {
+                mnt_target.target_type = MountTargetType::ANGLE;
+            }
             break;
-        }
 
         // point mount to Home location
-        case MAV_MOUNT_MODE_HOME_LOCATION: {
-            mnt_target.target_type = get_angle_target_to_home(mnt_target.angle_rad) ? MountTargetType::ANGLE : MountTargetType::INVALID;
+        case MAV_MOUNT_MODE_HOME_LOCATION:
+            if (get_angle_target_to_home(mnt_target.angle_rad)) {
+                mnt_target.target_type = MountTargetType::ANGLE;
+            }
             break;
-        }
 
         // point mount to another vehicle
-        case MAV_MOUNT_MODE_SYSID_TARGET: {
-            mnt_target.target_type = get_angle_target_to_sysid(mnt_target.angle_rad) ? MountTargetType::ANGLE : MountTargetType::INVALID;
+        case MAV_MOUNT_MODE_SYSID_TARGET:
+            if (get_angle_target_to_sysid(mnt_target.angle_rad)) {
+                mnt_target.target_type = MountTargetType::ANGLE;
+            }
             break;
-        }
 
         default:
             // unknown mode so do nothing
@@ -82,10 +88,6 @@ void AP_Mount_Gremsy::update()
 
     // send target angles or rates depending on the target type
     switch (mnt_target.target_type) {
-        case MountTargetType::INVALID:
-            // send zero rates
-            send_gimbal_device_set_rate(0, 0, 0, false);
-            break;
         case MountTargetType::ANGLE:
             send_gimbal_device_set_attitude(mnt_target.angle_rad.roll, mnt_target.angle_rad.pitch, mnt_target.angle_rad.yaw, mnt_target.angle_rad.yaw_is_ef);
             break;
diff --git a/libraries/AP_Mount/AP_Mount_SToRM32.cpp b/libraries/AP_Mount/AP_Mount_SToRM32.cpp
index 6c93101bac7c30..1c1e5da3eadc1e 100644
--- a/libraries/AP_Mount/AP_Mount_SToRM32.cpp
+++ b/libraries/AP_Mount/AP_Mount_SToRM32.cpp
@@ -51,35 +51,42 @@ void AP_Mount_SToRM32::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
-            if (get_rc_rate_target(mnt_target.rate_rads)) {
-                mnt_target.target_type = MountTargetType::RATE;
-                update_angle_target_from_rate(mnt_target.rate_rads, mnt_target.angle_rad);
-                resend_now = true;
-            } else if (get_rc_angle_target(mnt_target.angle_rad)) {
-                mnt_target.target_type = MountTargetType::ANGLE;
-                resend_now = true;
-            } else {
-                mnt_target.target_type = MountTargetType::INVALID;
+            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;
             }
+            resend_now = true;
             break;
         }
 
-        // point mount to a GPS location
+        // point mount to a GPS point given by the mission planner
         case MAV_MOUNT_MODE_GPS_POINT:
-            resend_now = get_angle_target_to_roi(mnt_target.angle_rad);
-            mnt_target.target_type = resend_now ? MountTargetType::ANGLE : MountTargetType::INVALID;
+            if (get_angle_target_to_roi(mnt_target.angle_rad)) {
+                mnt_target.target_type = MountTargetType::ANGLE;
+                resend_now = true;
+            }
             break;
 
         // point mount to Home location
         case MAV_MOUNT_MODE_HOME_LOCATION:
-            resend_now = get_angle_target_to_home(mnt_target.angle_rad);
-            mnt_target.target_type = resend_now ? MountTargetType::ANGLE : MountTargetType::INVALID;
+            if (get_angle_target_to_home(mnt_target.angle_rad)) {
+                mnt_target.target_type = MountTargetType::ANGLE;
+                resend_now = true;
+            }
             break;
 
         // point mount to another vehicle
         case MAV_MOUNT_MODE_SYSID_TARGET:
-            resend_now = get_angle_target_to_sysid(mnt_target.angle_rad);
-            mnt_target.target_type = resend_now ? MountTargetType::ANGLE : MountTargetType::INVALID;
+            if (get_angle_target_to_sysid(mnt_target.angle_rad)) {
+                mnt_target.target_type = MountTargetType::ANGLE;
+                resend_now = true;
+            }
             break;
 
         default:
diff --git a/libraries/AP_Mount/AP_Mount_SToRM32_serial.cpp b/libraries/AP_Mount/AP_Mount_SToRM32_serial.cpp
index 2ff1d34845be93..0fdcdd53c70fbf 100644
--- a/libraries/AP_Mount/AP_Mount_SToRM32_serial.cpp
+++ b/libraries/AP_Mount/AP_Mount_SToRM32_serial.cpp
@@ -62,35 +62,42 @@ void AP_Mount_SToRM32_serial::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
-            if (get_rc_rate_target(mnt_target.rate_rads)) {
-                mnt_target.target_type = MountTargetType::RATE;
-                update_angle_target_from_rate(mnt_target.rate_rads, mnt_target.angle_rad);
-                resend_now = true;
-            } else if (get_rc_angle_target(mnt_target.angle_rad)) {
-                mnt_target.target_type = MountTargetType::ANGLE;
-                resend_now = true;
-            } else {
-                mnt_target.target_type = MountTargetType::INVALID;
+            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;
             }
+            resend_now = true;
             break;
         }
 
         // point mount to a GPS point given by the mission planner
         case MAV_MOUNT_MODE_GPS_POINT:
-            resend_now = get_angle_target_to_roi(mnt_target.angle_rad);
-            mnt_target.target_type = resend_now ? MountTargetType::ANGLE : MountTargetType::INVALID;
+            if (get_angle_target_to_roi(mnt_target.angle_rad)) {
+                mnt_target.target_type = MountTargetType::ANGLE;
+                resend_now = true;
+            }
             break;
 
         // point mount to Home location
         case MAV_MOUNT_MODE_HOME_LOCATION:
-            resend_now = get_angle_target_to_home(mnt_target.angle_rad);
-            mnt_target.target_type = resend_now ? MountTargetType::ANGLE : MountTargetType::INVALID;
+            if (get_angle_target_to_home(mnt_target.angle_rad)) {
+                mnt_target.target_type = MountTargetType::ANGLE;
+                resend_now = true;
+            }
             break;
 
         // point mount to another vehicle
         case MAV_MOUNT_MODE_SYSID_TARGET:
-            resend_now = get_angle_target_to_sysid(mnt_target.angle_rad);
-            mnt_target.target_type = resend_now ? MountTargetType::ANGLE : MountTargetType::INVALID;
+            if (get_angle_target_to_sysid(mnt_target.angle_rad)) {
+                mnt_target.target_type = MountTargetType::ANGLE;
+                resend_now = true;
+            }
             break;
 
         default:
diff --git a/libraries/AP_Mount/AP_Mount_Scripting.cpp b/libraries/AP_Mount/AP_Mount_Scripting.cpp
index e297fee7cb787b..9eb738503919bc 100644
--- a/libraries/AP_Mount/AP_Mount_Scripting.cpp
+++ b/libraries/AP_Mount/AP_Mount_Scripting.cpp
@@ -43,47 +43,41 @@ void AP_Mount_Scripting::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
-            if (get_rc_rate_target(mnt_target.rate_rads)) {
-                mnt_target.target_type = MountTargetType::RATE;
-            } else if (get_rc_angle_target(mnt_target.angle_rad)) {
-                mnt_target.target_type = MountTargetType::ANGLE;
-            } else {
-                mnt_target.target_type = MountTargetType::INVALID;
+            // 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;
             }
             target_loc_valid = false;
             break;
         }
 
-        // point mount towards a GPS point
-        case MAV_MOUNT_MODE_GPS_POINT: {
-            target_loc_valid = _roi_target_set;
-            if (target_loc_valid) {
-                target_loc = _roi_target;
-                mnt_target.target_type = get_angle_target_to_roi(mnt_target.angle_rad) ? MountTargetType::ANGLE : MountTargetType::INVALID;
+        // point mount to a GPS point given by the mission planner
+        case MAV_MOUNT_MODE_GPS_POINT:
+            if (get_angle_target_to_roi(mnt_target.angle_rad)) {
+                mnt_target.target_type = MountTargetType::ANGLE;
             }
             break;
-        }
 
-        // point mount towards home
-        case MAV_MOUNT_MODE_HOME_LOCATION: {
-            target_loc_valid = AP::ahrs().home_is_set();
-            if (target_loc_valid) {
-                target_loc = AP::ahrs().get_home();
-                mnt_target.target_type = get_angle_target_to_home(mnt_target.angle_rad) ? MountTargetType::ANGLE : MountTargetType::INVALID;
+        // point mount to Home location
+        case MAV_MOUNT_MODE_HOME_LOCATION:
+            if (get_angle_target_to_home(mnt_target.angle_rad)) {
+                mnt_target.target_type = MountTargetType::ANGLE;
             }
             break;
-        }
 
-        // point mount towards another vehicle
-        case MAV_MOUNT_MODE_SYSID_TARGET: {
-            target_loc_valid = _target_sysid_location_set;
-            if (target_loc_valid) {
-                target_loc = _target_sysid_location;
-                mnt_target.target_type = get_angle_target_to_sysid(mnt_target.angle_rad) ? MountTargetType::ANGLE : MountTargetType::INVALID;
+        // point mount to another vehicle
+        case MAV_MOUNT_MODE_SYSID_TARGET:
+            if (get_angle_target_to_sysid(mnt_target.angle_rad)) {
+                mnt_target.target_type = MountTargetType::ANGLE;
             }
             break;
-        }
 
         default:
             // we do not know this mode so raise internal error
diff --git a/libraries/AP_Mount/AP_Mount_Servo.cpp b/libraries/AP_Mount/AP_Mount_Servo.cpp
index b4345c318562ff..6d1d45a7668a0f 100644
--- a/libraries/AP_Mount/AP_Mount_Servo.cpp
+++ b/libraries/AP_Mount/AP_Mount_Servo.cpp
@@ -54,33 +54,39 @@ 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
-            if (get_rc_rate_target(mnt_target.rate_rads)) {
-                mnt_target.target_type = MountTargetType::RATE;
-            } else if (get_rc_angle_target(mnt_target.angle_rad)) {
-                mnt_target.target_type = MountTargetType::ANGLE;
-            } else {
-                mnt_target.target_type = MountTargetType::INVALID;
+            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;
             }
             break;
         }
 
         // point mount to a GPS point given by the mission planner
-        case MAV_MOUNT_MODE_GPS_POINT: {
-            mnt_target.target_type = get_angle_target_to_roi(mnt_target.angle_rad) ? MountTargetType::ANGLE : MountTargetType::INVALID;
+        case MAV_MOUNT_MODE_GPS_POINT:
+            if (get_angle_target_to_roi(mnt_target.angle_rad)) {
+                mnt_target.target_type = MountTargetType::ANGLE;
+            }
             break;
-        }
 
         // point mount to Home location
-        case MAV_MOUNT_MODE_HOME_LOCATION: {
-            mnt_target.target_type = get_angle_target_to_home(mnt_target.angle_rad) ? MountTargetType::ANGLE : MountTargetType::INVALID;
+        case MAV_MOUNT_MODE_HOME_LOCATION:
+            if (get_angle_target_to_home(mnt_target.angle_rad)) {
+                mnt_target.target_type = MountTargetType::ANGLE;
+            }
             break;
-        }
 
         // point mount to another vehicle
-        case MAV_MOUNT_MODE_SYSID_TARGET: {
-            mnt_target.target_type = get_angle_target_to_sysid(mnt_target.angle_rad) ? MountTargetType::ANGLE : MountTargetType::INVALID;
+        case MAV_MOUNT_MODE_SYSID_TARGET:
+            if (get_angle_target_to_sysid(mnt_target.angle_rad)) {
+                mnt_target.target_type = MountTargetType::ANGLE;
+            }
             break;
-        }
 
         default:
             //do nothing
@@ -92,8 +98,6 @@ void AP_Mount_Servo::update()
         case MountTargetType::RATE:
             update_angle_target_from_rate(mnt_target.rate_rads, mnt_target.angle_rad);
             FALLTHROUGH;
-        case MountTargetType::INVALID:
-            // use lastest angle targets
         case MountTargetType::ANGLE:
             // update _angle_bf_output_rad based on angle target
             if ((mount_mode != MAV_MOUNT_MODE_RETRACT) & (mount_mode != MAV_MOUNT_MODE_NEUTRAL)) {
diff --git a/libraries/AP_Mount/AP_Mount_Siyi.cpp b/libraries/AP_Mount/AP_Mount_Siyi.cpp
index 266d5976da39b8..f1dc4a1bfa6c8d 100644
--- a/libraries/AP_Mount/AP_Mount_Siyi.cpp
+++ b/libraries/AP_Mount/AP_Mount_Siyi.cpp
@@ -90,34 +90,40 @@ void AP_Mount_Siyi::update()
         }
 
         case MAV_MOUNT_MODE_RC_TARGETING: {
-            // update targets using pilot's rc inputs
-            if (get_rc_rate_target(mnt_target.rate_rads)) {
-                mnt_target.target_type = MountTargetType::RATE;
-            } else if (get_rc_angle_target(mnt_target.angle_rad)) {
-                mnt_target.target_type = MountTargetType::ANGLE;
-            } else {
-                mnt_target.target_type = MountTargetType::INVALID;
+            // 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;
             }
             break;
         }
 
         // point mount to a GPS point given by the mission planner
-        case MAV_MOUNT_MODE_GPS_POINT: {
-            mnt_target.target_type = get_angle_target_to_roi(mnt_target.angle_rad) ? MountTargetType::ANGLE : MountTargetType::INVALID;
+        case MAV_MOUNT_MODE_GPS_POINT:
+            if (get_angle_target_to_roi(mnt_target.angle_rad)) {
+                mnt_target.target_type = MountTargetType::ANGLE;
+            }
             break;
-        }
 
         // point mount to Home location
-        case MAV_MOUNT_MODE_HOME_LOCATION: {
-            mnt_target.target_type = get_angle_target_to_home(mnt_target.angle_rad) ? MountTargetType::ANGLE : MountTargetType::INVALID;
+        case MAV_MOUNT_MODE_HOME_LOCATION:
+            if (get_angle_target_to_home(mnt_target.angle_rad)) {
+                mnt_target.target_type = MountTargetType::ANGLE;
+            }
             break;
-        }
 
         // point mount to another vehicle
-        case MAV_MOUNT_MODE_SYSID_TARGET: {
-            mnt_target.target_type = get_angle_target_to_sysid(mnt_target.angle_rad) ? MountTargetType::ANGLE : MountTargetType::INVALID;
+        case MAV_MOUNT_MODE_SYSID_TARGET:
+            if (get_angle_target_to_sysid(mnt_target.angle_rad)) {
+                mnt_target.target_type = MountTargetType::ANGLE;
+            }
             break;
-        }
 
         default:
             // we do not know this mode so raise internal error
@@ -127,10 +133,6 @@ void AP_Mount_Siyi::update()
 
     // send target angles or rates depending on the target type
     switch (mnt_target.target_type) {
-        case MountTargetType::INVALID:
-            // send zero rates
-            send_target_rates(0, 0, false);
-            break;
         case MountTargetType::ANGLE:
             send_target_angles(mnt_target.angle_rad.pitch, mnt_target.angle_rad.yaw, mnt_target.angle_rad.yaw_is_ef);
             break;
diff --git a/libraries/AP_Mount/AP_Mount_SoloGimbal.cpp b/libraries/AP_Mount/AP_Mount_SoloGimbal.cpp
index 2a7fecdcbb92e2..907b09a0d4574c 100644
--- a/libraries/AP_Mount/AP_Mount_SoloGimbal.cpp
+++ b/libraries/AP_Mount/AP_Mount_SoloGimbal.cpp
@@ -61,37 +61,42 @@ void AP_Mount_SoloGimbal::update()
         // RC radio manual angle control, but with stabilization from the AHRS
         case MAV_MOUNT_MODE_RC_TARGETING: {
             _gimbal.set_lockedToBody(false);
-            if (get_rc_rate_target(mnt_target.rate_rads)) {
-                mnt_target.target_type = MountTargetType::RATE;
-                update_angle_target_from_rate(mnt_target.rate_rads, mnt_target.angle_rad);
-            } else if (get_rc_angle_target(mnt_target.angle_rad)) {
-                mnt_target.target_type = MountTargetType::ANGLE;
-            } else {
-                mnt_target.target_type = MountTargetType::INVALID;
+            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;
             }
             break;
         }
 
         // point mount to a GPS point given by the mission planner
-        case MAV_MOUNT_MODE_GPS_POINT: {
-            _gimbal.set_lockedToBody(false);
-            mnt_target.target_type = get_angle_target_to_roi(mnt_target.angle_rad) ? MountTargetType::ANGLE : MountTargetType::INVALID;
+        case MAV_MOUNT_MODE_GPS_POINT:
+            if (get_angle_target_to_roi(mnt_target.angle_rad)) {
+                mnt_target.target_type = MountTargetType::ANGLE;
+                _gimbal.set_lockedToBody(false);
+            }
             break;
-        }
 
         // point mount to Home location
-        case MAV_MOUNT_MODE_HOME_LOCATION: {
-            _gimbal.set_lockedToBody(false);
-            mnt_target.target_type = get_angle_target_to_home(mnt_target.angle_rad) ? MountTargetType::ANGLE : MountTargetType::INVALID;
+        case MAV_MOUNT_MODE_HOME_LOCATION:
+            if (get_angle_target_to_home(mnt_target.angle_rad)) {
+                mnt_target.target_type = MountTargetType::ANGLE;
+                _gimbal.set_lockedToBody(false);
+            }
             break;
-        }
 
         // point mount to another vehicle
-        case MAV_MOUNT_MODE_SYSID_TARGET: {
-            _gimbal.set_lockedToBody(false);
-            mnt_target.target_type = get_angle_target_to_sysid(mnt_target.angle_rad) ? MountTargetType::ANGLE : MountTargetType::INVALID;
+        case MAV_MOUNT_MODE_SYSID_TARGET:
+            if (get_angle_target_to_sysid(mnt_target.angle_rad)) {
+                mnt_target.target_type = MountTargetType::ANGLE;
+                _gimbal.set_lockedToBody(false);
+            }
             break;
-        }
 
         default:
             // we do not know this mode so do nothing
diff --git a/libraries/AP_Mount/AP_Mount_Viewpro.cpp b/libraries/AP_Mount/AP_Mount_Viewpro.cpp
index 0ae7ff39f513c0..36965cb6911f3d 100644
--- a/libraries/AP_Mount/AP_Mount_Viewpro.cpp
+++ b/libraries/AP_Mount/AP_Mount_Viewpro.cpp
@@ -96,32 +96,40 @@ void AP_Mount_Viewpro::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
-            if (get_rc_rate_target(mnt_target.rate_rads)) {
-                mnt_target.target_type = MountTargetType::RATE;
-            } else if (get_rc_angle_target(mnt_target.angle_rad)) {
-                mnt_target.target_type = MountTargetType::ANGLE;
-            } else {
-                mnt_target.target_type = MountTargetType::INVALID;
+            // 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;
             }
             break;
         }
 
         // point mount to a GPS point given by the mission planner
-        case MAV_MOUNT_MODE_GPS_POINT: {
-            mnt_target.target_type = get_angle_target_to_roi(mnt_target.angle_rad) ? MountTargetType::ANGLE : MountTargetType::INVALID;
+        case MAV_MOUNT_MODE_GPS_POINT:
+            if (get_angle_target_to_roi(mnt_target.angle_rad)) {
+                mnt_target.target_type = MountTargetType::ANGLE;
+            }
             break;
-        }
 
-        case MAV_MOUNT_MODE_HOME_LOCATION: {
-            mnt_target.target_type = get_angle_target_to_home(mnt_target.angle_rad) ? MountTargetType::ANGLE : MountTargetType::INVALID;
+        // point mount to Home location
+        case MAV_MOUNT_MODE_HOME_LOCATION:
+            if (get_angle_target_to_home(mnt_target.angle_rad)) {
+                mnt_target.target_type = MountTargetType::ANGLE;
+            }
             break;
-        }
 
-        case MAV_MOUNT_MODE_SYSID_TARGET:{
-            mnt_target.target_type = get_angle_target_to_sysid(mnt_target.angle_rad) ? MountTargetType::ANGLE : MountTargetType::INVALID;
+        // point mount to another vehicle
+        case MAV_MOUNT_MODE_SYSID_TARGET:
+            if (get_angle_target_to_sysid(mnt_target.angle_rad)) {
+                mnt_target.target_type = MountTargetType::ANGLE;
+            }
             break;
-        }
 
         default:
             // we do not know this mode so raise internal error
@@ -131,10 +139,6 @@ void AP_Mount_Viewpro::update()
 
     // send target angles or rates depending on the target type
     switch (mnt_target.target_type) {
-        case MountTargetType::INVALID:
-            // send zero rates
-            send_target_rates(0, 0, false);
-            break;
         case MountTargetType::ANGLE:
             send_target_angles(mnt_target.angle_rad.pitch, mnt_target.angle_rad.yaw, mnt_target.angle_rad.yaw_is_ef);
             break;
diff --git a/libraries/AP_Mount/AP_Mount_Xacti.cpp b/libraries/AP_Mount/AP_Mount_Xacti.cpp
index f28c2d0192fe1a..62ec3396a3e4a9 100644
--- a/libraries/AP_Mount/AP_Mount_Xacti.cpp
+++ b/libraries/AP_Mount/AP_Mount_Xacti.cpp
@@ -72,34 +72,40 @@ void AP_Mount_Xacti::update()
         }
 
         case MAV_MOUNT_MODE_RC_TARGETING: {
-            // update targets using pilot's rc inputs
-            if (get_rc_rate_target(mnt_target.rate_rads)) {
-                mnt_target.target_type = MountTargetType::RATE;
-            } else if (get_rc_angle_target(mnt_target.angle_rad)) {
-                mnt_target.target_type = MountTargetType::ANGLE;
-            } else {
-                mnt_target.target_type = MountTargetType::INVALID;
+            // 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;
             }
             break;
         }
 
         // point mount to a GPS point given by the mission planner
-        case MAV_MOUNT_MODE_GPS_POINT: {
-            mnt_target.target_type = get_angle_target_to_roi(mnt_target.angle_rad) ? MountTargetType::ANGLE : MountTargetType::INVALID;
+        case MAV_MOUNT_MODE_GPS_POINT:
+            if (get_angle_target_to_roi(mnt_target.angle_rad)) {
+                mnt_target.target_type = MountTargetType::ANGLE;
+            }
             break;
-        }
 
         // point mount to Home location
-        case MAV_MOUNT_MODE_HOME_LOCATION: {
-            mnt_target.target_type = get_angle_target_to_home(mnt_target.angle_rad) ? MountTargetType::ANGLE : MountTargetType::INVALID;
+        case MAV_MOUNT_MODE_HOME_LOCATION:
+            if (get_angle_target_to_home(mnt_target.angle_rad)) {
+                mnt_target.target_type = MountTargetType::ANGLE;
+            }
             break;
-        }
 
         // point mount to another vehicle
-        case MAV_MOUNT_MODE_SYSID_TARGET: {
-            mnt_target.target_type = get_angle_target_to_sysid(mnt_target.angle_rad) ? MountTargetType::ANGLE : MountTargetType::INVALID;
+        case MAV_MOUNT_MODE_SYSID_TARGET:
+            if (get_angle_target_to_sysid(mnt_target.angle_rad)) {
+                mnt_target.target_type = MountTargetType::ANGLE;
+            }
             break;
-        }
 
         default:
             // we do not know this mode so raise internal error
@@ -109,9 +115,6 @@ void AP_Mount_Xacti::update()
 
     // send target angles or rates depending on the target type
     switch (mnt_target.target_type) {
-        case MountTargetType::INVALID:
-            send_target_rates(0, 0, false);
-            break;
         case MountTargetType::ANGLE:
             send_target_angles(mnt_target.angle_rad.pitch, mnt_target.angle_rad.yaw, mnt_target.angle_rad.yaw_is_ef);
             break;