diff --git a/src/modules/gimbal/output_mavlink.cpp b/src/modules/gimbal/output_mavlink.cpp
index ca562ec870..ae5222c674 100644
--- a/src/modules/gimbal/output_mavlink.cpp
+++ b/src/modules/gimbal/output_mavlink.cpp
@@ -109,6 +109,9 @@ void OutputMavlinkV1::update(const ControlData &control_data, bool new_setpoints
 
 	_stream_device_attitude_status();
 
+	// If the output is MAVLink v1, then we signal this by referring to compid 1.
+	gimbal_device_id = 1;
+
 	_last_update = now;
 }
 
diff --git a/src/modules/mavlink/mavlink_receiver.cpp b/src/modules/mavlink/mavlink_receiver.cpp
index 37328503b9..aa8b50d01a 100644
--- a/src/modules/mavlink/mavlink_receiver.cpp
+++ b/src/modules/mavlink/mavlink_receiver.cpp
@@ -3075,12 +3075,7 @@ MavlinkReceiver::handle_message_gimbal_device_information(mavlink_message_t *msg
 	gimbal_information.yaw_max = gimbal_device_info_msg.yaw_max;
 	gimbal_information.yaw_min = gimbal_device_info_msg.yaw_min;
 
-	if (gimbal_device_info_msg.gimbal_device_id == 0) {
-		gimbal_information.gimbal_device_id = msg->compid;
-
-	} else {
-		gimbal_information.gimbal_device_id = gimbal_device_info_msg.gimbal_device_id;
-	}
+	gimbal_information.gimbal_device_id = msg->compid;
 
 	_gimbal_device_information_pub.publish(gimbal_information);
 }
diff --git a/src/modules/mavlink/streams/GIMBAL_DEVICE_ATTITUDE_STATUS.hpp b/src/modules/mavlink/streams/GIMBAL_DEVICE_ATTITUDE_STATUS.hpp
index c8338996ae..ae7f3cbad1 100644
--- a/src/modules/mavlink/streams/GIMBAL_DEVICE_ATTITUDE_STATUS.hpp
+++ b/src/modules/mavlink/streams/GIMBAL_DEVICE_ATTITUDE_STATUS.hpp
@@ -74,48 +74,31 @@ private:
 				return false;
 			}
 
-			if (gimbal_device_attitude_status.gimbal_device_id >= 1 && gimbal_device_attitude_status.gimbal_device_id <= 6) {
-				// A non-MAVLink gimbal is signalled and addressed using 1 to 6 as the gimbal_device_id
-				mavlink_gimbal_device_attitude_status_t msg{};
+			mavlink_gimbal_device_attitude_status_t msg{};
 
-				msg.target_system = gimbal_device_attitude_status.target_system;
-				msg.target_component = gimbal_device_attitude_status.target_component;
+			msg.target_system = gimbal_device_attitude_status.target_system;
+			msg.target_component = gimbal_device_attitude_status.target_component;
 
-				msg.time_boot_ms = gimbal_device_attitude_status.timestamp / 1000;
+			msg.time_boot_ms = gimbal_device_attitude_status.timestamp / 1000;
 
-				msg.flags = gimbal_device_attitude_status.device_flags;
+			msg.flags = gimbal_device_attitude_status.device_flags;
 
-				msg.q[0] = gimbal_device_attitude_status.q[0];
-				msg.q[1] = gimbal_device_attitude_status.q[1];
-				msg.q[2] = gimbal_device_attitude_status.q[2];
-				msg.q[3] = gimbal_device_attitude_status.q[3];
+			msg.q[0] = gimbal_device_attitude_status.q[0];
+			msg.q[1] = gimbal_device_attitude_status.q[1];
+			msg.q[2] = gimbal_device_attitude_status.q[2];
+			msg.q[3] = gimbal_device_attitude_status.q[3];
 
-				msg.angular_velocity_x = gimbal_device_attitude_status.angular_velocity_x;
-				msg.angular_velocity_y = gimbal_device_attitude_status.angular_velocity_y;
-				msg.angular_velocity_z = gimbal_device_attitude_status.angular_velocity_z;
+			msg.angular_velocity_x = gimbal_device_attitude_status.angular_velocity_x;
+			msg.angular_velocity_y = gimbal_device_attitude_status.angular_velocity_y;
+			msg.angular_velocity_z = gimbal_device_attitude_status.angular_velocity_z;
 
-				msg.failure_flags = gimbal_device_attitude_status.failure_flags;
-				msg.gimbal_device_id = gimbal_device_attitude_status.gimbal_device_id;
+			msg.failure_flags = gimbal_device_attitude_status.failure_flags;
+			msg.gimbal_device_id = gimbal_device_attitude_status.gimbal_device_id;
 
-				msg.delta_yaw = gimbal_device_attitude_status.delta_yaw;
-				msg.delta_yaw_velocity = gimbal_device_attitude_status.delta_yaw_velocity;
+			msg.delta_yaw = gimbal_device_attitude_status.delta_yaw;
+			msg.delta_yaw_velocity = gimbal_device_attitude_status.delta_yaw_velocity;
 
-				mavlink_msg_gimbal_device_attitude_status_send_struct(_mavlink->get_channel(), &msg);
-
-			} else {
-				// We have a Mavlink gimbal. We simulate its mavlink instance by spoofing the component ID
-				mavlink_message_t message;
-				mavlink_msg_gimbal_device_attitude_status_pack_chan(_mavlink->get_system_id(), MAV_COMP_ID_GIMBAL,
-						_mavlink->get_channel(), &message,
-						gimbal_device_attitude_status.target_system, gimbal_device_attitude_status.target_component,
-						gimbal_device_attitude_status.timestamp / 1000,
-						gimbal_device_attitude_status.device_flags, gimbal_device_attitude_status.q,
-						gimbal_device_attitude_status.angular_velocity_x,
-						gimbal_device_attitude_status.angular_velocity_y, gimbal_device_attitude_status.angular_velocity_z,
-						gimbal_device_attitude_status.failure_flags,
-						0, 0, 0);
-				_mavlink->forward_message(&message, _mavlink);
-			}
+			mavlink_msg_gimbal_device_attitude_status_send_struct(_mavlink->get_channel(), &msg);
 
 			return true;
 		}
diff --git a/src/modules/simulation/gz_bridge/GZGimbal.hpp b/src/modules/simulation/gz_bridge/GZGimbal.hpp
index 00b46becc4..662268abd2 100644
--- a/src/modules/simulation/gz_bridge/GZGimbal.hpp
+++ b/src/modules/simulation/gz_bridge/GZGimbal.hpp
@@ -115,7 +115,7 @@ private:
 	const float _yaw_min = NAN; 		// infinite yaw
 	const float _yaw_max = NAN;		// infinite yaw
 
-	const uint8_t _gimbal_device_id = 154;	// TODO the implementation differs from the protocol
+	const uint8_t _gimbal_device_id = 1;	// Gimbal is implemented by the same component: options are 1..6
 	uint16_t _gimbal_device_flags = 0;  // GIMBAL_DEVICE_FLAGS
 
 	bool init(const std::string &world_name, const std::string &model_name);