diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/4019_gz_x500_gimbal b/ROMFS/px4fmu_common/init.d-posix/airframes/4019_gz_x500_gimbal
index 80719ae3d3..9dcd642c2c 100644
--- a/ROMFS/px4fmu_common/init.d-posix/airframes/4019_gz_x500_gimbal
+++ b/ROMFS/px4fmu_common/init.d-posix/airframes/4019_gz_x500_gimbal
@@ -19,5 +19,6 @@ param set-default MNT_MAN_PITCH 2
 param set-default MNT_MAN_YAW 3
 
 param set-default MNT_RANGE_ROLL 180
-param set-default MNT_RANGE_PITCH 180
+param set-default MNT_MAX_PITCH 45
+param set-default MNT_MIN_PITCH -135
 param set-default MNT_RANGE_YAW 720
diff --git a/src/modules/simulation/gz_bridge/GZGimbal.cpp b/src/modules/simulation/gz_bridge/GZGimbal.cpp
index 36134bb386..f5bc4881b7 100644
--- a/src/modules/simulation/gz_bridge/GZGimbal.cpp
+++ b/src/modules/simulation/gz_bridge/GZGimbal.cpp
@@ -38,12 +38,14 @@ bool GZGimbal::init(const std::string &world_name, const std::string &model_name
 
 	// Mount parameters
 	_mnt_range_roll_handle = param_find("MNT_RANGE_ROLL");
-	_mnt_range_pitch_handle = param_find("MNT_RANGE_PITCH");
+	_mnt_max_pitch_handle = param_find("MNT_MAX_PITCH");
+	_mnt_min_pitch_handle = param_find("MNT_MIN_PITCH");
 	_mnt_range_yaw_handle = param_find("MNT_RANGE_YAW");
 	_mnt_mode_out_handle = param_find("MNT_MODE_OUT");
 
 	if (_mnt_range_roll_handle == PARAM_INVALID ||
-	    _mnt_range_pitch_handle == PARAM_INVALID ||
+	    _mnt_max_pitch_handle == PARAM_INVALID ||
+	    _mnt_min_pitch_handle == PARAM_INVALID ||
 	    _mnt_range_yaw_handle == PARAM_INVALID ||
 	    _mnt_mode_out_handle == PARAM_INVALID) {
 		return false;
@@ -76,7 +78,8 @@ void GZGimbal::Run()
 	if (pollSetpoint()) {
 		//TODO handle device flags
 		publishJointCommand(_gimbal_roll_cmd_publisher, _roll_stp, _roll_rate_stp, _last_roll_stp, _roll_min, _roll_max, dt);
-		publishJointCommand(_gimbal_pitch_cmd_publisher, _pitch_stp, _pitch_rate_stp, _last_pitch_stp, _pitch_min, _pitch_max,
+		publishJointCommand(_gimbal_pitch_cmd_publisher, _pitch_stp, _pitch_rate_stp, _last_pitch_stp, _mnt_min_pitch,
+				    _mnt_max_pitch,
 				    dt);
 		publishJointCommand(_gimbal_yaw_cmd_publisher, _yaw_stp, _yaw_rate_stp, _last_yaw_stp, _yaw_min, _yaw_max, dt);
 	}
@@ -123,8 +126,10 @@ void GZGimbal::gimbalIMUCallback(const gz::msgs::IMU &IMU_data)
 
 void GZGimbal::updateParameters()
 {
+
 	param_get(_mnt_range_roll_handle, &_mnt_range_roll);
-	param_get(_mnt_range_pitch_handle, &_mnt_range_pitch);
+	param_get(_mnt_max_pitch_handle, &_mnt_max_pitch);
+	param_get(_mnt_min_pitch_handle, &_mnt_min_pitch);
 	param_get(_mnt_range_yaw_handle, &_mnt_range_yaw);
 	param_get(_mnt_mode_out_handle, &_mnt_mode_out);
 }
@@ -151,10 +156,12 @@ bool GZGimbal::pollSetpoint()
 		gimbal_controls_s msg;
 
 		if (_gimbal_controls_sub.copy(&msg)) {
-			// map control inputs from [-1;1] to [min_angle; max_angle] using the range parameters
+			// map control inputs from [-1;1] to [min_angle; max_angle]
 			_roll_stp = math::constrain(math::radians(msg.control[msg.INDEX_ROLL] * _mnt_range_roll / 2), _roll_min, _roll_max);
-			_pitch_stp = math::constrain(math::radians(msg.control[msg.INDEX_PITCH] * _mnt_range_pitch / 2), _pitch_min,
-						     _pitch_max);
+			_pitch_stp = math::radians(math::constrain(_mnt_min_pitch + 0.5f * (msg.control[msg.INDEX_PITCH] + 1.f) *
+						   (_mnt_max_pitch - _mnt_min_pitch),
+						   _mnt_min_pitch,
+						   _mnt_max_pitch));
 			_yaw_stp = math::constrain(math::radians(msg.control[msg.INDEX_YAW] * _mnt_range_yaw / 2), _yaw_min, _yaw_max);
 
 			return true;
@@ -196,8 +203,8 @@ void GZGimbal::publishDeviceInfo()
 			device_info.custom_cap_flags = _custom_cap_flags;
 			device_info.roll_min = _roll_min;
 			device_info.roll_max = _roll_max;
-			device_info.pitch_min = _pitch_min;
-			device_info.pitch_max = _pitch_max;
+			device_info.pitch_min = _mnt_min_pitch;
+			device_info.pitch_max = _mnt_max_pitch;
 			device_info.yaw_min = _yaw_min;
 			device_info.yaw_max = _yaw_max;
 			device_info.gimbal_device_id = _gimbal_device_id;
diff --git a/src/modules/simulation/gz_bridge/GZGimbal.hpp b/src/modules/simulation/gz_bridge/GZGimbal.hpp
index 897c43150f..a2a7965094 100644
--- a/src/modules/simulation/gz_bridge/GZGimbal.hpp
+++ b/src/modules/simulation/gz_bridge/GZGimbal.hpp
@@ -66,11 +66,13 @@ private:
 	hrt_abstime _last_time_update;
 
 	// Mount parameters
-	param_t _mnt_range_pitch_handle = PARAM_INVALID;
+	param_t _mnt_max_pitch_handle = PARAM_INVALID;
+	param_t _mnt_min_pitch_handle = PARAM_INVALID;
 	param_t _mnt_range_roll_handle = PARAM_INVALID;
 	param_t _mnt_range_yaw_handle = PARAM_INVALID;
 	param_t _mnt_mode_out_handle = PARAM_INVALID;
-	float _mnt_range_pitch = 0.0f;
+	float _mnt_max_pitch = 0.0f;
+	float _mnt_min_pitch = 0.0f;
 	float _mnt_range_roll = 0.0f;
 	float _mnt_range_yaw = 0.0f;
 	int32_t _mnt_mode_out = 0;
@@ -109,8 +111,6 @@ private:
 	// its mechanical limits. So the values below have to match the characteristics of the simulated gimbal
 	const float _roll_min = -0.785398f;
 	const float _roll_max = 0.785398f;
-	const float _pitch_min = -2.35619f;
-	const float _pitch_max = 0.785398f;
 	const float _yaw_min = NAN; 		// infinite yaw
 	const float _yaw_max = NAN;		// infinite yaw