diff --git a/src/modules/vmount/input.cpp b/src/modules/vmount/input.cpp
index 2bf3200c38..f6e544076e 100644
--- a/src/modules/vmount/input.cpp
+++ b/src/modules/vmount/input.cpp
@@ -76,5 +76,11 @@ void InputBase::control_data_set_lon_lat(double lon, double lat, float altitude,
 	_control_data.type_data.lonlat.yaw_angle_offset = 0.f;
 }
 
-} /* namespace vmount */
+void InputBase::set_stabilize(bool roll_stabilize, bool pitch_stabilize, bool yaw_stabilize)
+{
+	_control_data.stabilize_axis[0] = roll_stabilize;
+	_control_data.stabilize_axis[1] = pitch_stabilize;
+	_control_data.stabilize_axis[2] = yaw_stabilize;
+}
 
+} /* namespace vmount */
diff --git a/src/modules/vmount/input.h b/src/modules/vmount/input.h
index 2a7c113219..e7b26a697e 100644
--- a/src/modules/vmount/input.h
+++ b/src/modules/vmount/input.h
@@ -73,6 +73,8 @@ public:
 	/** report status to stdout */
 	virtual void print_status() = 0;
 
+	void set_stabilize(bool roll_stabilize, bool pitch_stabilize, bool yaw_stabilize);
+
 protected:
 	virtual int update_impl(unsigned int timeout_ms, ControlData **control_data, bool already_active) = 0;
 
diff --git a/src/modules/vmount/output.cpp b/src/modules/vmount/output.cpp
index b2541d94d7..913274aad0 100644
--- a/src/modules/vmount/output.cpp
+++ b/src/modules/vmount/output.cpp
@@ -72,13 +72,6 @@ void OutputBase::publish()
 	_mount_orientation_pub.publish(mount_orientation);
 }
 
-void OutputBase::set_stabilize(bool roll_stabilize, bool pitch_stabilize, bool yaw_stabilize)
-{
-	_stabilize[0] = roll_stabilize;
-	_stabilize[1] = pitch_stabilize;
-	_stabilize[2] = yaw_stabilize;
-}
-
 float OutputBase::_calculate_pitch(double lon, double lat, float altitude,
 				   const vehicle_global_position_s &global_position)
 {
@@ -142,6 +135,10 @@ void OutputBase::_set_angle_setpoints(const ControlData *control_data)
 		_angle_velocity[2] = NAN;
 		break;
 	}
+
+	for (int i = 0; i < 3; ++i) {
+		_stabilize[i] = control_data->stabilize_axis[i];
+	}
 }
 
 void OutputBase::_handle_position_update(bool force_update)
diff --git a/src/modules/vmount/output.h b/src/modules/vmount/output.h
index 1c13edd16e..21e6f09275 100644
--- a/src/modules/vmount/output.h
+++ b/src/modules/vmount/output.h
@@ -97,8 +97,6 @@ public:
 	/** Publish _angle_outputs as a mount_orientation message. */
 	void publish();
 
-	void set_stabilize(bool roll_stabilize, bool pitch_stabilize, bool yaw_stabilize);
-
 protected:
 	float _calculate_pitch(double lon, double lat, float altitude,
 			       const vehicle_global_position_s &global_position);
diff --git a/src/modules/vmount/vmount.cpp b/src/modules/vmount/vmount.cpp
index 2fe8956091..161f3ae9a2 100644
--- a/src/modules/vmount/vmount.cpp
+++ b/src/modules/vmount/vmount.cpp
@@ -345,16 +345,6 @@ static int vmount_thread_main(int argc, char *argv[])
 				thread_should_exit = true;
 				break;
 			}
-
-			if (params.mnt_do_stab == 1) {
-				thread_data.output_obj->set_stabilize(true, true, true);
-
-			} else if (params.mnt_do_stab == 2) {
-				thread_data.output_obj->set_stabilize(false, false, true);
-
-			} else {
-				thread_data.output_obj->set_stabilize(false, false, false);
-			}
 		}
 
 		if (thread_data.input_objs_len > 0) {
@@ -364,6 +354,17 @@ static int vmount_thread_main(int argc, char *argv[])
 
 			for (int i = 0; i < thread_data.input_objs_len; ++i) {
 
+				if (params.mnt_do_stab == 1) {
+					thread_data.input_objs[i]->set_stabilize(true, true, true);
+
+				} else if (params.mnt_do_stab == 2) {
+					thread_data.input_objs[i]->set_stabilize(false, false, true);
+
+				} else {
+					thread_data.input_objs[i]->set_stabilize(false, false, false);
+				}
+
+
 				bool already_active = (last_active == i);
 
 				ControlData *control_data_to_check = nullptr;