diff --git a/src/lib/parameters/param_translation.cpp b/src/lib/parameters/param_translation.cpp
index 3a8d63bbf6..837a2d68ba 100644
--- a/src/lib/parameters/param_translation.cpp
+++ b/src/lib/parameters/param_translation.cpp
@@ -163,5 +163,19 @@ param_modify_on_import_ret param_modify_on_import(bson_node_t node)
 		}
 	}
 
+	// 2025-11-17: translate MNT_RANGE_PITCH to MNT_MAX_PITCH, MNT_MIN_PITCH
+	{
+		if (strcmp("MNT_RANGE_PITCH", node->name) == 0) {
+			if (node->d > DBL_EPSILON) {
+				float mnt_max_pitch = static_cast<float>(node->d) * 0.5f;
+				float mnt_min_pitch = static_cast<float>(-node->d) * 0.5f;
+				param_set(param_find("MNT_MAX_PITCH"), &mnt_max_pitch);
+				param_set(param_find("MNT_MIN_PITCH"), &mnt_min_pitch);
+				PX4_INFO("migrating %s -> %s, %s", "MNT_RANGE_PITCH", "MNT_MAX_PITCH", "MNT_MIN_PITCH");
+			}
+
+		}
+	}
+
 	return param_modify_on_import_ret::PARAM_NOT_MODIFIED;
 }
diff --git a/src/modules/gimbal/gimbal.cpp b/src/modules/gimbal/gimbal.cpp
index 2aced08800..c32e885736 100644
--- a/src/modules/gimbal/gimbal.cpp
+++ b/src/modules/gimbal/gimbal.cpp
@@ -545,7 +545,8 @@ void update_params(ParameterHandles &param_handles, Parameters &params)
 	param_get(param_handles.mnt_man_roll, &params.mnt_man_roll);
 	param_get(param_handles.mnt_man_yaw, &params.mnt_man_yaw);
 	param_get(param_handles.mnt_do_stab, &params.mnt_do_stab);
-	param_get(param_handles.mnt_range_pitch, &params.mnt_range_pitch);
+	param_get(param_handles.mnt_max_pitch, &params.mnt_max_pitch);
+	param_get(param_handles.mnt_min_pitch, &params.mnt_min_pitch);
 	param_get(param_handles.mnt_range_roll, &params.mnt_range_roll);
 	param_get(param_handles.mnt_range_yaw, &params.mnt_range_yaw);
 	param_get(param_handles.mnt_off_pitch, &params.mnt_off_pitch);
@@ -570,7 +571,8 @@ bool initialize_params(ParameterHandles &param_handles, Parameters &params)
 	param_handles.mnt_man_roll = param_find("MNT_MAN_ROLL");
 	param_handles.mnt_man_yaw = param_find("MNT_MAN_YAW");
 	param_handles.mnt_do_stab = param_find("MNT_DO_STAB");
-	param_handles.mnt_range_pitch = param_find("MNT_RANGE_PITCH");
+	param_handles.mnt_max_pitch = param_find("MNT_MAX_PITCH");
+	param_handles.mnt_min_pitch = param_find("MNT_MIN_PITCH");
 	param_handles.mnt_range_roll = param_find("MNT_RANGE_ROLL");
 	param_handles.mnt_range_yaw = param_find("MNT_RANGE_YAW");
 	param_handles.mnt_off_pitch = param_find("MNT_OFF_PITCH");
@@ -592,7 +594,8 @@ bool initialize_params(ParameterHandles &param_handles, Parameters &params)
 	    param_handles.mnt_man_roll == PARAM_INVALID ||
 	    param_handles.mnt_man_yaw == PARAM_INVALID ||
 	    param_handles.mnt_do_stab == PARAM_INVALID ||
-	    param_handles.mnt_range_pitch == PARAM_INVALID ||
+	    param_handles.mnt_max_pitch == PARAM_INVALID ||
+	    param_handles.mnt_min_pitch == PARAM_INVALID ||
 	    param_handles.mnt_range_roll == PARAM_INVALID ||
 	    param_handles.mnt_range_yaw == PARAM_INVALID ||
 	    param_handles.mnt_off_pitch == PARAM_INVALID ||
diff --git a/src/modules/gimbal/gimbal_params.c b/src/modules/gimbal/gimbal_params.c
index a6b1889e2f..3f889c4273 100644
--- a/src/modules/gimbal/gimbal_params.c
+++ b/src/modules/gimbal/gimbal_params.c
@@ -146,22 +146,28 @@ PARAM_DEFINE_INT32(MNT_MAN_YAW, 0);
 * @value 0 Disable
 * @value 1 Stabilize all axis
 * @value 2 Stabilize yaw for absolute/lock mode.
-* @min 0
-* @max 2
+* @value 3 Stabilize pitch for absolute/lock mode.
 * @group Mount
 */
 PARAM_DEFINE_INT32(MNT_DO_STAB, 0);
 
 /**
-* Range of pitch channel output in degrees (only in AUX output mode).
+* Max angle of pitch channel output in degrees (only in AUX output mode).
 *
-* @min 1.0
-* @max 720.0
 * @unit deg
 * @decimal 1
 * @group Mount
 */
-PARAM_DEFINE_FLOAT(MNT_RANGE_PITCH, 90.0f);
+PARAM_DEFINE_FLOAT(MNT_MAX_PITCH, 45.0f);
+
+/**
+* Min angle of pitch channel output in degrees (only in AUX output mode).
+*
+* @unit deg
+* @decimal 1
+* @group Mount
+*/
+PARAM_DEFINE_FLOAT(MNT_MIN_PITCH, -45.0f);
 
 /**
 * Range of roll channel output in degrees (only in AUX output mode).
diff --git a/src/modules/gimbal/gimbal_params.h b/src/modules/gimbal/gimbal_params.h
index 5a265d0237..bfe7c7f557 100644
--- a/src/modules/gimbal/gimbal_params.h
+++ b/src/modules/gimbal/gimbal_params.h
@@ -64,7 +64,8 @@ struct Parameters {
 	int32_t mnt_man_roll;
 	int32_t mnt_man_yaw;
 	int32_t mnt_do_stab;
-	float mnt_range_pitch;
+	float mnt_max_pitch;
+	float mnt_min_pitch;
 	float mnt_range_roll;
 	float mnt_range_yaw;
 	float mnt_off_pitch;
@@ -88,7 +89,8 @@ struct ParameterHandles {
 	param_t mnt_man_roll;
 	param_t mnt_man_yaw;
 	param_t mnt_do_stab;
-	param_t mnt_range_pitch;
+	param_t mnt_max_pitch;
+	param_t mnt_min_pitch;
 	param_t mnt_range_roll;
 	param_t mnt_range_yaw;
 	param_t mnt_off_pitch;
diff --git a/src/modules/gimbal/output.cpp b/src/modules/gimbal/output.cpp
index ea474bf33e..88c15dc147 100644
--- a/src/modules/gimbal/output.cpp
+++ b/src/modules/gimbal/output.cpp
@@ -267,8 +267,12 @@ void OutputBase::_calculate_angle_output(const hrt_abstime &t)
 	// constrain angle outputs to [-range/2, range/2]
 	_angle_outputs[0] = math::constrain(_angle_outputs[0], math::radians(-_parameters.mnt_range_roll / 2),
 					    math::radians(_parameters.mnt_range_roll / 2));
-	_angle_outputs[1] = math::constrain(_angle_outputs[1], math::radians(-_parameters.mnt_range_pitch / 2),
-					    math::radians(_parameters.mnt_range_pitch / 2));
+
+	// constrain angle outputs to [min, max] to allow for asymmetrical angular ranges
+	_angle_outputs[1] = math::constrain(_angle_outputs[1],
+					    math::radians(_parameters.mnt_min_pitch),
+					    math::radians(_parameters.mnt_max_pitch));
+	// constrain angle outputs to [-range/2, range/2]
 	_angle_outputs[2] = math::constrain(_angle_outputs[2], math::radians(-_parameters.mnt_range_yaw / 2),
 					    math::radians(_parameters.mnt_range_yaw / 2));
 
diff --git a/src/modules/gimbal/output_rc.cpp b/src/modules/gimbal/output_rc.cpp
index dba7b02b1a..e89d8f1741 100644
--- a/src/modules/gimbal/output_rc.cpp
+++ b/src/modules/gimbal/output_rc.cpp
@@ -67,24 +67,62 @@ void OutputRC::update(const ControlData &control_data, bool new_setpoints, uint8
 
 	// _angle_outputs are in radians, gimbal_controls are in [-1, 1]
 	gimbal_controls_s gimbal_controls{};
-	gimbal_controls.control[gimbal_controls_s::INDEX_ROLL] = constrain(
-				(_angle_outputs[0] + math::radians(_parameters.mnt_off_roll)) *
-				(1.0f / (math::radians(_parameters.mnt_range_roll / 2.0f))),
-				-1.f, 1.f);
-	gimbal_controls.control[gimbal_controls_s::INDEX_PITCH] = constrain(
-				(_angle_outputs[1] + math::radians(_parameters.mnt_off_pitch)) *
-				(1.0f / (math::radians(_parameters.mnt_range_pitch / 2.0f))),
-				-1.f, 1.f);
-	gimbal_controls.control[gimbal_controls_s::INDEX_YAW] = constrain(
-				(_angle_outputs[2] + math::radians(_parameters.mnt_off_yaw)) *
-				(1.0f / (math::radians(_parameters.mnt_range_yaw / 2.0f))),
-				-1.f, 1.f);
+	gimbal_controls.control[gimbal_controls_s::INDEX_ROLL] = anglesMappedToOutput(gimbal_controls_s::INDEX_ROLL);
+	gimbal_controls.control[gimbal_controls_s::INDEX_PITCH] = anglesMappedToOutput(gimbal_controls_s::INDEX_PITCH);
+	gimbal_controls.control[gimbal_controls_s::INDEX_YAW] = anglesMappedToOutput(gimbal_controls_s::INDEX_YAW);
 	gimbal_controls.timestamp = hrt_absolute_time();
 	_gimbal_controls_pub.publish(gimbal_controls);
 
 	_last_update = now;
 }
 
+float OutputRC::anglesMappedToOutput(const uint8_t index)
+{
+
+	float value = 0.f;
+	float min_value = 0.f;
+	float max_value = 0.f;
+	float offset = 0.f;
+
+	switch (index) {
+	case gimbal_controls_s::INDEX_ROLL: {
+			offset = math::radians(_parameters.mnt_off_roll);
+			value = _angle_outputs[0];
+			max_value = math::radians(_parameters.mnt_range_roll) * 0.5f;
+			min_value = -math::radians(_parameters.mnt_range_roll) * 0.5f;
+			break;
+		}
+
+	case gimbal_controls_s::INDEX_PITCH: {
+			value = _angle_outputs[1];
+			offset = math::radians(_parameters.mnt_off_pitch);
+			max_value = math::radians(_parameters.mnt_max_pitch);
+			min_value = math::radians(_parameters.mnt_min_pitch);
+			break;
+		}
+
+	case gimbal_controls_s::INDEX_YAW: {
+			value = _angle_outputs[2];
+			offset = math::radians(_parameters.mnt_off_yaw);
+			max_value = math::radians(_parameters.mnt_range_yaw) * 0.5f;
+			min_value = -math::radians(_parameters.mnt_range_yaw) * 0.5f;
+			break;
+		}
+
+	default: {
+			PX4_WARN("INDEX does not exist");
+			break;
+		}
+	}
+
+	if (value + offset >= FLT_EPSILON) {
+		return math::interpolate(value + offset, 0.f, max_value + offset, 0.f, 1.f);
+
+	} else {
+		return math::interpolate(value + offset, min_value + offset, 0.f, -1.f, 0.f);
+	}
+}
+
 void OutputRC::print_status() const
 {
 	PX4_INFO("Output: AUX");
diff --git a/src/modules/gimbal/output_rc.h b/src/modules/gimbal/output_rc.h
index de497c194f..616bfe86f6 100644
--- a/src/modules/gimbal/output_rc.h
+++ b/src/modules/gimbal/output_rc.h
@@ -55,6 +55,7 @@ public:
 
 private:
 	void _stream_device_attitude_status();
+	float anglesMappedToOutput(const uint8_t index);
 
 	uORB::Publication <gimbal_controls_s>	_gimbal_controls_pub{ORB_ID(gimbal_controls)};
 	uORB::Publication <gimbal_device_attitude_status_s>	_attitude_status_pub{ORB_ID(gimbal_device_attitude_status)};