diff --git a/common/source/docs/common-adti-cameras-and-gimbals.rst b/common/source/docs/common-adti-cameras-and-gimbals.rst
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+++ b/common/source/docs/common-adti-cameras-and-gimbals.rst
@@ -0,0 +1,56 @@
+.. _common-adti-cameras-and-gimbals:
+
+[copywiki destination="plane,copter,rover"]
+
+========================
+ADTi Cameras and Gimbals
+========================
+
+The `ADTi <https://www.adti.camera/>`__ manufactures and sells a `range of high resolution cameras <https://www.adti.camera/adti-products>`__ which are most often paired with :ref:`Gremsy gimbals <common-gremsy-pixyu-gimbal>`
+
+.. image:: ../../../images/adti-title-image.png
+
+Where to Buy
+------------
+
+These gimbals can be purchased directly from `ADTi <https://www.adti.camera/contact>`__
+
+Connecting to the Autopilot
+---------------------------
+
+Connect the camera's SHUTTER pin to one of the autopilot's PWM outputs (e.g. AUXOUT 5).  Below is the wiring for a ADTi 24sv3 but the port location may be different for each camera type.
+Please open the `ADTi support site <https://www.adti.camera/support>`__, select your camera type and refer to the "Camera Engineer Drawings" to find the SHUTTER pin location for your camera
+
+.. image:: ../../../images/adti-autopilot-wiring.png
+    :target: ../_images/adti-autopilot-wiring.png
+    :width: 450px
+
+To control the camera shutter using PWM set the following parameters.  These parameters assume the autopilot's AUXOUT 5 is connected to the camera's shutter trigger
+
+- :ref:`CAM1_TYPE <CAM1_TYPE>` = 1 (Servo)
+- :ref:`CAM1_DURATION <CAM1_DURATION>` = 0.4 seconds
+- :ref:`CAM1_SERVO_OFF <CAM1_SERVO_OFF>` = 1250
+- :ref:`CAM1_SERVO_ON <CAM1_SERVO_ON>` = 1850
+- :ref:`SERVO13_FUNCTION <SERVO13_FUNCTION>` = 10 (CameraTrigger)
+
+To control the camera shutter using a :ref:`Relay <common-relay>` set the following parameters.  These parameters assume the autopilot's AUXOUT 5 is connected to the camera's shutter trigger
+
+- :ref:`CAM1_TYPE <CAM1_TYPE>` = 2 (Relay)
+- :ref:`CAM1_DURATION <CAM1_DURATION>` = 0.4 seconds
+- :ref:`CAM1_RELAY_ON <CAM1_RELAY_ON>` = 0 (Low)
+- :ref:`RELAY1_PIN <RELAY1_PIN>` = 54 (AUXOUT5)
+- :ref:`SERVO13_FUNCTION <SERVO13_FUNCTION>` = -1 (GPIO)
+
+Optionally the camera shutter can be triggered from a transmitter auxiliary switch.  The parameter below assumes the pilot wishes to use RC channel 9
+
+- :ref:`RC9_OPTION <RC9_OPTION>` = 9 ("Camera Trigger") to take a picture
+
+Configuring the Gimbal
+----------------------
+
+Please refer to the :ref:`Gremsy gimbal setup instructions <common-gremsy-pixyu-gimbal>` for details on how to configure the gimbal
+
+Control and Testing
+-------------------
+
+See :ref:`Gimbal / Mount Controls <common-mount-targeting>` and :ref:`Camera Controls <common-camera-controls>`  for details on how to control the camera and gimbal using RC, GCS or Auto mode mission commands
diff --git a/common/source/docs/common-cameras-and-gimbals.rst b/common/source/docs/common-cameras-and-gimbals.rst
index 97ae3a427a..51ddd1d5f6 100644
--- a/common/source/docs/common-cameras-and-gimbals.rst
+++ b/common/source/docs/common-cameras-and-gimbals.rst
@@ -19,10 +19,11 @@ ArduPilot supports both brushless direct drive gimbals (Tarot, SimpleBGC, SToRM3
 that have their own self-stabilization controllers and the simpler servo-driven
 gimbals in which ArduPilot controls the stabilisation. Some gimbals also integrate still or video cameras.
 
--  :ref:`Servo Gimbals <common-camera-gimbal>` — older-style servo-driven gimbal where ArduPilot provides stabilisation
+-  :ref:`ADTi cameras and gimbals <common-adti-cameras-and-gimbals>`
 -  :ref:`Brushless PWM <common-brushless-pwm-gimbal>` - brushless gimbals that accept PWM or SBUS input for angle control
 -  :ref:`DJI RS2 and RS3-Pro gimbals <common-djirs2-gimbal>`
 -  :ref:`Gremsy Mio, Pixy, S1, T3, T7 and ZIO <common-gremsy-pixyu-gimbal>` - high quality 3-axis gimbals
+-  :ref:`Servo Gimbals <common-camera-gimbal>` — older-style servo-driven gimbal where ArduPilot provides stabilisation
 -  :ref:`SimpleBGC (aka AlexMos) Gimbal Controller <common-simplebgc-gimbal>` - a popular 2-axis or 3-axis brushess gimbal controller which uses a custom serial interface
 -  :ref:`Siyi ZR10, ZR30, ZT6, ZT30, and A8 <common-siyi-zr10-gimbal>` - 3-axis gimbal and camera
 -  :ref:`SToRM32 Gimbal Controller <common-storm32-gimbal>` — an inexpensive 2-axis or 3-axis brushless gimbal controller which responds to MAVLink commands (a richer format than PWM) over a serial interface
@@ -60,6 +61,7 @@ Shutter Controllers
 Control of Specific Camera Models
 ---------------------------------
 
+-  :ref:`ADTi cameras and gimbals <common-adti-cameras-and-gimbals>`
 -  :ref:`Airpixel Entire Geotagger <common-geotagging-airpixel-entire>`
 -  :ref:`FLIR Vue Pro Thermal Camera <common-flir-vue-pro>`
 -  :ref:`RunCam Camera Control <common-camera-runcam>`
@@ -96,6 +98,7 @@ more scenic photos. ArduPilot will stabilize the gimbal to whatever position you
 .. toctree::
     :hidden:
 
+    ADTi Cameras and Gimbals <common-adti-cameras-and-gimbals>
     Brushless PWM <common-brushless-pwm-gimbal>
     DJI RS2 and RS3-Pro gimbals <common-djirs2-gimbal>
     Gremsy Pixy U Gimbal <common-gremsy-pixyu-gimbal>
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