diff --git a/protos/gimbal/gimbal.proto b/protos/gimbal/gimbal.proto
index bbe9ea865..b4374c63d 100644
--- a/protos/gimbal/gimbal.proto
+++ b/protos/gimbal/gimbal.proto
@@ -7,6 +7,15 @@ option java_outer_classname = "GimbalProto";
 
 // Provide control over a gimbal.
 service GimbalService {
+    /*
+     *
+     * Set gimbal roll, pitch and yaw angles.
+     *
+     * This sets the desired roll, pitch and yaw angles of a gimbal.
+     * Will return when the command is accepted, however, it might
+     * take the gimbal longer to actually be set to the new angles.
+     */
+    rpc SetAngles(SetAnglesRequest) returns(SetAnglesResponse) {}
     /*
      *
      * Set gimbal pitch and yaw angles.
@@ -71,6 +80,15 @@ service GimbalService {
      rpc SubscribeControl(SubscribeControlRequest) returns(stream ControlResponse) {}
 }
 
+message SetAnglesRequest {
+    float roll_deg = 1; // Roll angle in degrees
+    float pitch_deg = 2; // Pitch angle in degrees (negative points down)
+    float yaw_deg = 3; // Yaw angle in degrees (positive is clock-wise, range: -180 to 180 or 0 to 360)
+}
+message SetAnglesResponse {
+    GimbalResult gimbal_result = 1;
+}
+
 message SetPitchAndYawRequest {
     float pitch_deg = 1; // Pitch angle in degrees (negative points down)
     float yaw_deg = 2; // Yaw angle in degrees (positive is clock-wise, range: -180 to 180 or 0 to 360)