diff --git a/flight/CopterControl/Makefile b/flight/CopterControl/Makefile
index 814173731..fccc5afd0 100644
--- a/flight/CopterControl/Makefile
+++ b/flight/CopterControl/Makefile
@@ -166,6 +166,7 @@ SRC += $(OPUAVSYNTHDIR)/mixersettings.c
 SRC += $(OPUAVSYNTHDIR)/firmwareiapobj.c
 SRC += $(OPUAVSYNTHDIR)/attitudesettings.c
 SRC += $(OPUAVSYNTHDIR)/camerastabsettings.c
+SRC += $(OPUAVSYNTHDIR)/cameradesired.c
 SRC += $(OPUAVSYNTHDIR)/hwsettings.c
 
 SRC += $(OPUAVSYNTHDIR)/taskinfo.c
diff --git a/flight/Modules/CameraStab/camerastab.c b/flight/Modules/CameraStab/camerastab.c
index 710bc17c7..1f675ef59 100644
--- a/flight/Modules/CameraStab/camerastab.c
+++ b/flight/Modules/CameraStab/camerastab.c
@@ -50,6 +50,7 @@
 #include "accessorydesired.h"
 #include "attitudeactual.h"
 #include "camerastabsettings.h"
+#include "cameradesired.h"
 
 //
 // Configuration
@@ -75,6 +76,7 @@ int32_t CameraStabInitialize(void)
 	ev.event = 0;
 
 	CameraStabSettingsInitialize();
+	CameraDesiredInitialize();
 
 	EventPeriodicCallbackCreate(&ev, attitudeUpdated, SAMPLE_PERIOD_MS / portTICK_RATE_MS);
 
@@ -87,6 +89,7 @@ static void attitudeUpdated(UAVObjEvent* ev)
 		return;
 
 	float attitude;
+	float output;
 	AccessoryDesiredData accessory;
 
 	CameraStabSettingsData cameraStab;
@@ -108,26 +111,18 @@ static void attitudeUpdated(UAVObjEvent* ev)
 	}
 
 	// Set output channels
-	if(cameraStab.Outputs[CAMERASTABSETTINGS_OUTPUTS_ROLL] != CAMERASTABSETTINGS_OUTPUTS_NONE) {
-		AttitudeActualRollGet(&attitude);
-		accessory.AccessoryVal = (attitude + inputs[0]) / cameraStab.OutputRange[CAMERASTABSETTINGS_OUTPUTRANGE_ROLL];
-		if(AccessoryDesiredInstSet(cameraStab.Outputs[CAMERASTABSETTINGS_OUTPUTS_ROLL] - CAMERASTABSETTINGS_OUTPUTS_ACCESSORY0, &accessory) != 0)
-			AccessoryDesiredCreateInstance();
-	}
+	AttitudeActualRollGet(&attitude);
+	output = (attitude + inputs[0]) / cameraStab.OutputRange[CAMERASTABSETTINGS_OUTPUTRANGE_ROLL];
+	CameraDesiredRollSet(&output);
 
-	if(cameraStab.Outputs[CAMERASTABSETTINGS_OUTPUTS_PITCH] != CAMERASTABSETTINGS_OUTPUTS_NONE) {
-		AttitudeActualPitchGet(&attitude);
-		accessory.AccessoryVal = (attitude + inputs[1])  / cameraStab.OutputRange[CAMERASTABSETTINGS_OUTPUTRANGE_PITCH];
-		if(AccessoryDesiredInstSet(cameraStab.Outputs[CAMERASTABSETTINGS_OUTPUTS_PITCH] - CAMERASTABSETTINGS_OUTPUTS_ACCESSORY0, &accessory) != 0)
-			AccessoryDesiredCreateInstance();
-	}
+	AttitudeActualPitchGet(&attitude);
+	output = (attitude + inputs[1])  / cameraStab.OutputRange[CAMERASTABSETTINGS_OUTPUTRANGE_PITCH];
+	CameraDesiredPitchSet(&output);
+
+	AttitudeActualYawGet(&attitude);
+	output = (attitude + inputs[2])  / cameraStab.OutputRange[CAMERASTABSETTINGS_OUTPUTRANGE_YAW];
+	CameraDesiredYawSet(&output);
 
-	if(cameraStab.Outputs[CAMERASTABSETTINGS_OUTPUTS_YAW] != CAMERASTABSETTINGS_OUTPUTS_NONE) {
-		AttitudeActualYawGet(&attitude);
-		accessory.AccessoryVal = (attitude + inputs[2])  / cameraStab.OutputRange[CAMERASTABSETTINGS_OUTPUTRANGE_YAW];
-		if(AccessoryDesiredInstSet(cameraStab.Outputs[CAMERASTABSETTINGS_OUTPUTS_YAW] - CAMERASTABSETTINGS_OUTPUTS_ACCESSORY0, &accessory) != 0)
-			AccessoryDesiredCreateInstance();
-	}
 }
 
 /**
diff --git a/flight/Project/OpenPilotOSX/OpenPilotOSX.xcodeproj/project.pbxproj b/flight/Project/OpenPilotOSX/OpenPilotOSX.xcodeproj/project.pbxproj
index 894b64da9..147923766 100644
--- a/flight/Project/OpenPilotOSX/OpenPilotOSX.xcodeproj/project.pbxproj
+++ b/flight/Project/OpenPilotOSX/OpenPilotOSX.xcodeproj/project.pbxproj
@@ -2695,6 +2695,7 @@
 		65C9908E13AC5D8D0082BD60 /* uavobjectsinit_linker.c */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.c; path = uavobjectsinit_linker.c; sourceTree = "<group>"; };
 		65D2CA841248F9A400B1E7D6 /* mixersettings.xml */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = text.xml; path = mixersettings.xml; sourceTree = "<group>"; };
 		65D2CA851248F9A400B1E7D6 /* mixerstatus.xml */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = text.xml; path = mixerstatus.xml; sourceTree = "<group>"; };
+		65DEA79113F2143B00095B06 /* cameradesired.xml */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = text.xml; path = cameradesired.xml; sourceTree = "<group>"; };
 		65E410AE12F65AEA00725888 /* attitudesettings.xml */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = text.xml; path = attitudesettings.xml; sourceTree = "<group>"; };
 		65E6D80713E3A4D0002A557A /* hwsettings.xml */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = text.xml; path = hwsettings.xml; sourceTree = "<group>"; };
 		65E6DF7112E02E8E00058553 /* Makefile */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.make; path = Makefile; sourceTree = "<group>"; };
@@ -7475,6 +7476,7 @@
 				65C35E7712EFB2F3004811C2 /* velocityactual.xml */,
 				65C35E7812EFB2F3004811C2 /* velocitydesired.xml */,
 				65C35E7912EFB2F3004811C2 /* watchdogstatus.xml */,
+				65DEA79113F2143B00095B06 /* cameradesired.xml */,
 			);
 			path = uavobjectdefinition;
 			sourceTree = "<group>";
diff --git a/shared/uavobjectdefinition/cameradesired.xml b/shared/uavobjectdefinition/cameradesired.xml
new file mode 100644
index 000000000..9492fb4db
--- /dev/null
+++ b/shared/uavobjectdefinition/cameradesired.xml
@@ -0,0 +1,12 @@
+<xml>
+    <object name="CameraDesired" singleinstance="false" settings="false">
+        <description>Desired camera outputs.  Comes from @ref CameraStabilization module.</description>
+        <field name="Roll" units="" type="float" elements="1"/>
+        <field name="Pitch" units="" type="float" elements="1"/>
+        <field name="Yaw" units="" type="float" elements="1"/>
+        <access gcs="readwrite" flight="readwrite"/>
+        <telemetrygcs acked="false" updatemode="manual" period="0"/>
+        <telemetryflight acked="false" updatemode="periodic" period="1000"/>
+        <logging updatemode="never" period="0"/>
+    </object>
+</xml>
diff --git a/shared/uavobjectdefinition/camerastabsettings.xml b/shared/uavobjectdefinition/camerastabsettings.xml
index 8d7b68cd2..09199b77a 100644
--- a/shared/uavobjectdefinition/camerastabsettings.xml
+++ b/shared/uavobjectdefinition/camerastabsettings.xml
@@ -1,8 +1,7 @@
 <xml>
     <object name="CameraStabSettings" singleinstance="true" settings="true">
         <description>Settings for the @ref CameraStab mmodule</description>
-        <field name="Outputs" units="channel" type="enum" elementnames="Roll,Pitch,Yaw" options="Accessory0,Accessory1,Accessory2,Accessory3,Accessory4,Accessory5,,None" defaultvalue="None"/>
-	<field name="Inputs" units="channel" type="enum" elementnames="Roll,Pitch,Yaw" options="Accessory0,Accessory1,Accessory2,Accessory3,Accessory4,Accessory5,,None" defaultvalue="None"/>
+        <field name="Inputs" units="channel" type="enum" elementnames="Roll,Pitch,Yaw" options="Accessory0,Accessory1,Accessory2,Accessory3,Accessory4,Accessory5,,None" defaultvalue="None"/>
         <field name="InputRange" units="deg" type="uint8" elementnames="Roll,Pitch,Yaw" defaultvalue="20"/>
         <field name="OutputRange" units="deg" type="uint8" elementnames="Roll,Pitch,Yaw" defaultvalue="20"/>
         <access gcs="readwrite" flight="readwrite"/>