diff --git a/dsdl/uavcan/equipment/camera_gimbal/390.Command.uavcan b/dsdl/uavcan/equipment/camera_gimbal/390.Command.uavcan
new file mode 100644
index 0000000000..36205851ec
--- /dev/null
+++ b/dsdl/uavcan/equipment/camera_gimbal/390.Command.uavcan
@@ -0,0 +1,31 @@
+#
+# Generic camera gimbal control.
+#
+
+#
+# Target operation mode - how to handle this message.
+#
+Mode mode
+
+#
+# This field is only used in the following modes:
+#  - COMMAND_MODE_ANGULAR_VELOCITY
+#  - COMMAND_MODE_ORIENTATION_FIXED_FRAME
+#  - COMMAND_MODE_ORIENTATION_BODY_FRAME
+#
+# In the angular velocity mode, this field contains a rate quaternion.
+# In the orientation mode, this field contains orientation either in fixed frame or in body frame.
+#
+float16[4] quaternion_xyzw
+
+#
+# These fields are only used in the following modes:
+#  - COMMAND_MODE_GEO_POI
+#
+int32 longitude_deg_1e7    # 1 LSB = 1e-7 deg
+int32 latitude_deg_1e7
+int22 height_cm            # 1 LSB = 10 mm
+
+uint2 HEIGHT_REFERENCE_ELLIPSOID = 0
+uint2 HEIGHT_REFERENCE_MEAN_SEA_LEVEL = 1
+uint2 height_reference
diff --git a/dsdl/uavcan/equipment/camera_gimbal/391.Status.uavcan b/dsdl/uavcan/equipment/camera_gimbal/391.Status.uavcan
new file mode 100644
index 0000000000..c7535f097f
--- /dev/null
+++ b/dsdl/uavcan/equipment/camera_gimbal/391.Status.uavcan
@@ -0,0 +1,12 @@
+#
+# Generic gimbal status.
+#
+
+Mode mode
+
+#
+# Camera axis orientation in body frame (not in fixed frame).
+# Please refer to the UAVCAN coordinate frame conventions.
+#
+float16[4] camera_orientation_in_body_frame_xyzw
+float16[<=9] camera_orientation_in_body_frame_covariance   # +inf for non-existent axes
diff --git a/dsdl/uavcan/equipment/camera_gimbal/Mode.uavcan b/dsdl/uavcan/equipment/camera_gimbal/Mode.uavcan
new file mode 100644
index 0000000000..383194cb16
--- /dev/null
+++ b/dsdl/uavcan/equipment/camera_gimbal/Mode.uavcan
@@ -0,0 +1,9 @@
+#
+# Gimbal operating mode
+#
+
+uint4 COMMAND_MODE_ANGULAR_VELOCITY        = 0
+uint4 COMMAND_MODE_ORIENTATION_FIXED_FRAME = 1
+uint4 COMMAND_MODE_ORIENTATION_BODY_FRAME  = 2
+uint4 COMMAND_MODE_GEO_POI                 = 3
+uint4 command_mode
diff --git a/dsdl/uavcan/equipment/gimbal/390.AngularVelocityCommand.uavcan b/dsdl/uavcan/equipment/gimbal/390.AngularVelocityCommand.uavcan
deleted file mode 100644
index 72d48fdb7e..0000000000
--- a/dsdl/uavcan/equipment/gimbal/390.AngularVelocityCommand.uavcan
+++ /dev/null
@@ -1,5 +0,0 @@
-#
-# Generic gimbal control.
-#
-
-float16[3] angular_velocity  # rad/s, camera frame
diff --git a/dsdl/uavcan/equipment/gimbal/391.GeoPOICommand.uavcan b/dsdl/uavcan/equipment/gimbal/391.GeoPOICommand.uavcan
deleted file mode 100644
index 430af81cb4..0000000000
--- a/dsdl/uavcan/equipment/gimbal/391.GeoPOICommand.uavcan
+++ /dev/null
@@ -1,11 +0,0 @@
-#
-# Generic gimbal control.
-#
-
-int32 longitude_deg_1e7    # 1 LSB = 1e-7 deg
-int32 latitude_deg_1e7
-int22 height_cm            # 1 LSB = 10 mm
-
-uint2 HEIGHT_REFERENCE_ELLIPSOID = 0
-uint2 HEIGHT_REFERENCE_MEAN_SEA_LEVEL = 1
-uint2 height_reference
diff --git a/dsdl/uavcan/equipment/gimbal/392.OrientationCommand.uavcan b/dsdl/uavcan/equipment/gimbal/392.OrientationCommand.uavcan
deleted file mode 100644
index 0ad1b9a2db..0000000000
--- a/dsdl/uavcan/equipment/gimbal/392.OrientationCommand.uavcan
+++ /dev/null
@@ -1,9 +0,0 @@
-#
-# Generic gimbal control.
-#
-
-float16[4] orientation_xyzw
-
-uint2 REFERENCE_FRAME_FIXED = 0
-uint2 REFERENCE_FRAME_BODY  = 1
-uint2 reference_frame
diff --git a/dsdl/uavcan/equipment/gimbal/393.Status.uavcan b/dsdl/uavcan/equipment/gimbal/393.Status.uavcan
deleted file mode 100644
index a0c0dd0bee..0000000000
--- a/dsdl/uavcan/equipment/gimbal/393.Status.uavcan
+++ /dev/null
@@ -1,15 +0,0 @@
-#
-# Generic gimbal status.
-#
-
-uint4 MODE_ANGULAR_VELOCITY        = 0
-uint4 MODE_ORIENTATION_FIXED_FRAME = 1
-uint4 MODE_ORIENTATION_BODY_FRAME  = 2
-uint4 MODE_GEO_POI                 = 3
-uint4 mode
-
-#
-# Camera axis orientation in body frame (not in fixed frame).
-#
-float16[4] body_frame_orientation_xyzw
-float16[<=9] body_frame_orientation_covariance   # +inf for non-existent axes