diff --git a/ROMFS/px4fmu_common/init.d-posix/rcS b/ROMFS/px4fmu_common/init.d-posix/rcS
index 5b65256e2d..5aa031072d 100644
--- a/ROMFS/px4fmu_common/init.d-posix/rcS
+++ b/ROMFS/px4fmu_common/init.d-posix/rcS
@@ -261,7 +261,7 @@ else
 	mavlink start -x -u $udp_onboard_payload_port_local -r 4000 -f -m onboard -o $udp_onboard_payload_port_remote
 
 	# Onboard link to gimbal
-	mavlink start -x -u $udp_onboard_gimbal_port_local -r 400000 -f -m gimbal
+	mavlink start -x -u $udp_onboard_gimbal_port_local -r 400000 -m gimbal
 fi
 
 # execute autostart post script if any
diff --git a/src/modules/mavlink/mavlink_main.cpp b/src/modules/mavlink/mavlink_main.cpp
index 645ba92343..e05f83bfdc 100644
--- a/src/modules/mavlink/mavlink_main.cpp
+++ b/src/modules/mavlink/mavlink_main.cpp
@@ -1129,6 +1129,11 @@ Mavlink::handle_message(const mavlink_message_t *msg)
 		/* forward any messages to other mavlink instances */
 		Mavlink::forward_message(msg, this);
 	}
+
+	// Special case for gimbals that need to forward GIMBAL_DEVICE_ATTITUDE_STATUS.
+	else if (msg->msgid == MAVLINK_MSG_ID_GIMBAL_DEVICE_ATTITUDE_STATUS) {
+		Mavlink::forward_message(msg, this);
+	}
 }
 
 void