diff --git a/src/modules/gimbal/input_mavlink.cpp b/src/modules/gimbal/input_mavlink.cpp
index f9f5f4c526..d78e069ba7 100644
--- a/src/modules/gimbal/input_mavlink.cpp
+++ b/src/modules/gimbal/input_mavlink.cpp
@@ -882,8 +882,8 @@ InputMavlinkGimbalV2::_process_command(ControlData &control_data, const vehicle_
 			const matrix::Eulerf euler(0.0f, math::radians(vehicle_command.param1),
 						   math::radians(vehicle_command.param2));
 			const matrix::Quatf q(euler);
-			const matrix::Vector3f angular_velocity(0.0f, vehicle_command.param3,
-								vehicle_command.param4);
+			const matrix::Vector3f angular_velocity(NAN, math::radians(vehicle_command.param3),
+								math::radians(vehicle_command.param4));
 			const uint32_t flags = vehicle_command.param5;
 
 			// TODO: support gimbal device id for multiple gimbals