diff --git a/src/modules/gimbal/gimbal.cpp b/src/modules/gimbal/gimbal.cpp
index 5893d29738..804f792fc6 100644
--- a/src/modules/gimbal/gimbal.cpp
+++ b/src/modules/gimbal/gimbal.cpp
@@ -207,16 +207,6 @@ static int gimbal_thread_main(int argc, char *argv[])
 			update_params(param_handles, params);
 		}
 
-		if (thread_data.last_input_active == -1) {
-			// Reset control as no one is active anymore, or yet.
-			thread_data.control_data.sysid_primary_control = 0;
-			thread_data.control_data.compid_primary_control = 0;
-			// If the output is set to AUX we still want the input to be able to control the gimbal
-			// via mavlink, so we set the device_compid to 1. This follows the mavlink spec which states
-			// that the gimbal_device_id should be between 1 and 6.
-			thread_data.control_data.device_compid = params.mnt_mode_out == 0 ? 1 : 0;
-		}
-
 		InputBase::UpdateResult update_result = InputBase::UpdateResult::NoUpdate;
 
 		if (thread_data.input_objs_len > 0) {
diff --git a/src/modules/gimbal/input_mavlink.cpp b/src/modules/gimbal/input_mavlink.cpp
index ac7cbc4e7f..101ebf1e27 100644
--- a/src/modules/gimbal/input_mavlink.cpp
+++ b/src/modules/gimbal/input_mavlink.cpp
@@ -856,7 +856,9 @@ InputMavlinkGimbalV2::_process_command(ControlData &control_data, const vehicle_
 			control_data.compid_primary_control = new_compid_primary_control;
 		}
 
-		return UpdateResult::UpdatedActive;
+		// Just doing the configuration doesn't mean there is actually an update to use yet.
+		// After that we still need to have an actual setpoint.
+		return UpdateResult::NoUpdate;
 
 		// TODO: support secondary control
 		// TODO: support gimbal device id for multiple gimbals
@@ -880,7 +882,7 @@ InputMavlinkGimbalV2::_process_command(ControlData &control_data, const vehicle_
 			_ack_vehicle_command(vehicle_command,
 					     vehicle_command_ack_s::VEHICLE_CMD_RESULT_ACCEPTED);
 
-			return UpdateResult::UpdatedActive;
+			return UpdateResult::UpdatedActiveOnce;
 
 		} else {
 			PX4_INFO("GIMBAL_MANAGER_PITCHYAW from %d/%d denied, in control: %d/%d",
diff --git a/src/modules/gimbal/input_rc.cpp b/src/modules/gimbal/input_rc.cpp
index c512cda254..c15f916ab9 100644
--- a/src/modules/gimbal/input_rc.cpp
+++ b/src/modules/gimbal/input_rc.cpp
@@ -120,9 +120,12 @@ InputRC::UpdateResult InputRC::_read_control_data_from_subscription(ControlData
 		return false;
 	}();
 
-	if (already_active || major_movement) {
+	if (major_movement) {
 		control_data.sysid_primary_control = _parameters.mav_sysid;
 		control_data.compid_primary_control = _parameters.mav_compid;
+	}
+
+	if (already_active || major_movement) {
 
 		if (_parameters.mnt_rc_in_mode == 0) {
 			// We scale manual input from roll -180..180, pitch -90..90, yaw, -180..180 degrees.
diff --git a/src/modules/gimbal/output_rc.cpp b/src/modules/gimbal/output_rc.cpp
index a5878b3801..4b48349a4d 100644
--- a/src/modules/gimbal/output_rc.cpp
+++ b/src/modules/gimbal/output_rc.cpp
@@ -61,7 +61,8 @@ void OutputRC::update(const ControlData &control_data, bool new_setpoints, uint8
 
 	_stream_device_attitude_status();
 
-	// If the output is RC, then it means we are also the gimbal device. gimbal_device_id = (uint8_t)_parameters.mnt_mav_compid_v1;
+	// If the output is RC, then we signal this by referring to compid 1.
+	gimbal_device_id = 1;
 
 	// _angle_outputs are in radians, gimbal_controls are in [-1, 1]
 	gimbal_controls_s gimbal_controls{};