diff --git a/src/Vehicle/Vehicle.cc b/src/Vehicle/Vehicle.cc
index d34e082..1dc24ef 100644
--- a/src/Vehicle/Vehicle.cc
+++ b/src/Vehicle/Vehicle.cc
@@ -3907,6 +3907,12 @@ void Vehicle::flashBootloader()
 
 void Vehicle::gimbalControlValue(double pitch, double yaw)
 {
+    if (apmFirmware()) {
+        // ArduPilot firmware treats this values as centi-degrees
+        pitch *= 100;
+        yaw *= 100;
+    }
+
     //qDebug() << "Gimbal:" << pitch << yaw;
     sendMavCommand(
                 _defaultComponentId,