diff --git a/libraries/AP_Mount/AP_Mount_Siyi.cpp b/libraries/AP_Mount/AP_Mount_Siyi.cpp
index 54c3150b08..ccb4d9fe63 100644
--- a/libraries/AP_Mount/AP_Mount_Siyi.cpp
+++ b/libraries/AP_Mount/AP_Mount_Siyi.cpp
@@ -384,7 +384,8 @@ void AP_Mount_Siyi::process_packet()
         break;
 
     case SiyiCommandId::ACQUIRE_GIMBAL_CONFIG_INFO: {
-        if (_parsed_msg.data_bytes_received != 5) {
+        if (_parsed_msg.data_bytes_received != 5 &&     // ZR10 firmware version reply is 5 bytes
+            _parsed_msg.data_bytes_received != 7) {     // A8 firmware version reply is 7 bytes
 #if AP_MOUNT_SIYI_DEBUG
             unexpected_len = true;
 #endif