diff --git a/src/modules/flight_mode_manager/tasks/Auto/FlightTaskAuto.cpp b/src/modules/flight_mode_manager/tasks/Auto/FlightTaskAuto.cpp
index f23ec7dc02..6c28e05854 100644
--- a/src/modules/flight_mode_manager/tasks/Auto/FlightTaskAuto.cpp
+++ b/src/modules/flight_mode_manager/tasks/Auto/FlightTaskAuto.cpp
@@ -37,6 +37,7 @@
 #include "FlightTaskAuto.hpp"
 #include <mathlib/mathlib.h>
 #include <float.h>
+#include <uORB/topics/gimbal_manager_set_attitude.h>
 
 using namespace matrix;
 
@@ -235,7 +236,12 @@ void FlightTaskAuto::_prepareLandSetpoints()
 	bool range_dist_available = PX4_ISFINITE(_dist_to_bottom);
 
 	if (range_dist_available && _dist_to_bottom <= _param_mpc_land_alt3.get()) {
+		commandGimbalNeutral();
+		_was_gimbal_commanded_neutral = true;
 		vertical_speed = _param_mpc_land_crwl.get();
+
+	} else {
+		_was_gimbal_commanded_neutral = false;
 	}
 
 	if (_type_previous != WaypointType::land) {
@@ -850,3 +856,44 @@ void FlightTaskAuto::updateParams()
 	// make sure that alt1 is above alt2
 	_param_mpc_land_alt1.set(math::max(_param_mpc_land_alt1.get(), _param_mpc_land_alt2.get()));
 }
+
+void FlightTaskAuto::commandGimbalNeutral()
+{
+	vehicle_command_s vehicle_command{};
+	vehicle_command.source_system = _sub_vehicle_status.get().system_id;
+	vehicle_command.source_component = _sub_vehicle_status.get().component_id;
+	vehicle_command.target_system = _sub_vehicle_status.get().system_id;
+	vehicle_command.target_component = 0;
+	vehicle_command.confirmation = false;
+	vehicle_command.from_external = false;
+
+	// Take control
+	vehicle_command.command = vehicle_command_s::VEHICLE_CMD_DO_GIMBAL_MANAGER_CONFIGURE;
+	vehicle_command.param1 = _sub_vehicle_status.get().system_id; // Take primary control
+	vehicle_command.param2 = _sub_vehicle_status.get().component_id;
+	vehicle_command.param3 = -1.f; // Leave secondary control unchanged
+	vehicle_command.param4 = -1.f;
+	vehicle_command.timestamp = hrt_absolute_time();
+	_vehicle_command_pub.publish(vehicle_command);
+
+	// Command neutral position
+	vehicle_command = {};
+	vehicle_command.command = vehicle_command_s::VEHICLE_CMD_DO_GIMBAL_MANAGER_PITCHYAW;
+	vehicle_command.param1 = NAN; // Don't set any angles
+	vehicle_command.param2 = NAN;
+	vehicle_command.param3 = NAN; // Don't set any angular velocities
+	vehicle_command.param4 = NAN;
+	vehicle_command.param5 = gimbal_manager_set_attitude_s::GIMBAL_MANAGER_FLAGS_NEUTRAL;
+	vehicle_command.timestamp = hrt_absolute_time();
+	_vehicle_command_pub.publish(vehicle_command);
+
+	// Release control
+	vehicle_command = {};
+	vehicle_command.command = vehicle_command_s::VEHICLE_CMD_DO_GIMBAL_MANAGER_CONFIGURE;
+	vehicle_command.param1 = -3.f; // Remove primary control if it was taken
+	vehicle_command.param2 = -3.f;
+	vehicle_command.param3 = -1.f; // Leave secondary control unchanged
+	vehicle_command.param4 = -1.f;
+	vehicle_command.timestamp = hrt_absolute_time();
+	_vehicle_command_pub.publish(vehicle_command);
+}
diff --git a/src/modules/flight_mode_manager/tasks/Auto/FlightTaskAuto.hpp b/src/modules/flight_mode_manager/tasks/Auto/FlightTaskAuto.hpp
index c177a74d5f..9346354fdb 100644
--- a/src/modules/flight_mode_manager/tasks/Auto/FlightTaskAuto.hpp
+++ b/src/modules/flight_mode_manager/tasks/Auto/FlightTaskAuto.hpp
@@ -132,6 +132,7 @@ protected:
 
 	uORB::SubscriptionData<home_position_s>			_sub_home_position{ORB_ID(home_position)};
 	uORB::SubscriptionData<vehicle_status_s>		_sub_vehicle_status{ORB_ID(vehicle_status)};
+	uORB::Publication<vehicle_command_s> _vehicle_command_pub{ORB_ID(vehicle_command)};
 
 	State _current_state{State::none};
 	float _target_acceptance_radius{0.0f}; /**< Acceptances radius of the target */
@@ -207,4 +208,7 @@ private:
 	bool _evaluateGlobalReference(); /**< Check is global reference is available. */
 	State _getCurrentState(); /**< Computes the current vehicle state based on the vehicle position and navigator triplets. */
 	void _set_heading_from_mode(); /**< @see  MPC_YAW_MODE */
+
+	void commandGimbalNeutral();
+	bool _was_gimbal_commanded_neutral{false};
 };