diff --git a/src/modules/vmount/output_mavlink.cpp b/src/modules/vmount/output_mavlink.cpp
index c8ea6555de..38732cab9f 100644
--- a/src/modules/vmount/output_mavlink.cpp
+++ b/src/modules/vmount/output_mavlink.cpp
@@ -108,11 +108,34 @@ int OutputMavlinkV1::update(const ControlData *control_data)
 
 	_vehicle_command_pub.publish(vehicle_command);
 
+	_stream_device_attitude_status();
+
 	_last_update = t;
 
 	return 0;
 }
 
+void OutputMavlinkV1::_stream_device_attitude_status()
+{
+	// This enables the use case where the gimbal v2 protocol is used
+	// between the ground station and the drone, and the gimbal v1 protocol is
+	// used between the drone and the gimbal.
+	gimbal_device_attitude_status_s attitude_status{};
+	attitude_status.timestamp = hrt_absolute_time();
+	attitude_status.target_system = 0;
+	attitude_status.target_component = 0;
+	attitude_status.device_flags = gimbal_device_attitude_status_s::DEVICE_FLAGS_NEUTRAL |
+				       gimbal_device_attitude_status_s::DEVICE_FLAGS_ROLL_LOCK |
+				       gimbal_device_attitude_status_s::DEVICE_FLAGS_PITCH_LOCK;
+
+	matrix::Eulerf euler(_angle_outputs[0], _angle_outputs[1], _angle_outputs[2]);
+	matrix::Quatf q(euler);
+	q.copyTo(attitude_status.q);
+
+	attitude_status.failure_flags = 0;
+	_attitude_status_pub.publish(attitude_status);
+}
+
 void OutputMavlinkV1::print_status()
 {
 	PX4_INFO("Output: MAVLink gimbal protocol v1");
diff --git a/src/modules/vmount/output_mavlink.h b/src/modules/vmount/output_mavlink.h
index 89eb4a67c4..d44f48b3e9 100644
--- a/src/modules/vmount/output_mavlink.h
+++ b/src/modules/vmount/output_mavlink.h
@@ -45,6 +45,7 @@
 #include <uORB/topics/vehicle_command.h>
 #include <uORB/topics/gimbal_device_set_attitude.h>
 #include <uORB/topics/gimbal_device_information.h>
+#include <uORB/topics/gimbal_device_attitude_status.h>
 
 
 namespace vmount
@@ -64,7 +65,9 @@ public:
 	virtual void print_status();
 
 private:
+	void _stream_device_attitude_status();
 	uORB::Publication<vehicle_command_s> _vehicle_command_pub{ORB_ID(vehicle_command)};
+	uORB::Publication <gimbal_device_attitude_status_s>	_attitude_status_pub{ORB_ID(gimbal_device_attitude_status)};
 };
 
 class OutputMavlinkV2 : public OutputBase