diff --git a/src/modules/gimbal/output_gimbal_manager.cpp b/src/modules/gimbal/output_gimbal_manager.cpp
index 09cbb089ef0..1d93622c28c 100644
--- a/src/modules/gimbal/output_gimbal_manager.cpp
+++ b/src/modules/gimbal/output_gimbal_manager.cpp
@@ -77,6 +77,14 @@ void OutputToGimbalManager::update(const ControlData &control_data, bool new_set
 	} else if (!onboard_intent && _onboard_intent) {
 		// Intent ended: release so another client can take over.
 		_send_configure(false);
+
+	} else if (onboard_intent && _nobody_in_control()
+		   && hrt_elapsed_time(&_last_configure) > CONFIGURE_RETRY_INTERVAL) {
+		// We want control but the manager reports that nobody has it, e.g.
+		// because our request got lost or the manager restarted. Ask again.
+		// This can't take control away from anyone, so it's still up to the
+		// manager to arbitrate between its clients.
+		_send_configure(true);
 	}
 
 	_onboard_intent = onboard_intent;
@@ -110,8 +118,15 @@ void OutputToGimbalManager::_update_manager_status()
 	}
 }
 
+bool OutputToGimbalManager::_nobody_in_control() const
+{
+	return _status.primary_control_sysid == 0 && _status.primary_control_compid == 0;
+}
+
 void OutputToGimbalManager::_send_configure(bool acquire)
 {
+	_last_configure = hrt_absolute_time();
+
 	// Special values per MAV_CMD_DO_GIMBAL_MANAGER_CONFIGURE: -1 leaves a field
 	// unchanged, -3 removes control if the sender is currently in control.
 	// To acquire, we set ourselves as primary.
diff --git a/src/modules/gimbal/output_gimbal_manager.h b/src/modules/gimbal/output_gimbal_manager.h
index f9a3592a8da..3c5495e0365 100644
--- a/src/modules/gimbal/output_gimbal_manager.h
+++ b/src/modules/gimbal/output_gimbal_manager.h
@@ -50,9 +50,10 @@ namespace gimbal
 //
 // The external manager does the deconfliction between its clients, so we don't
 // track or second-guess who is in control. When onboard intent starts we ask
-// for control once, while it lasts we stream GIMBAL_MANAGER_SET_PITCHYAW, and
-// when it ends we release control. If another client has taken control, the
-// manager ignores our setpoints.
+// for control, while it lasts we stream GIMBAL_MANAGER_SET_PITCHYAW, and when
+// it ends we release control. If another client has taken control, the manager
+// ignores our setpoints. We only ask again while the manager reports that nobody
+// is in control (e.g. after it restarted).
 class OutputToGimbalManager : public OutputBase
 {
 public:
@@ -66,6 +67,7 @@ public:
 private:
 	void _update_manager_status();
 	void _send_configure(bool acquire);
+	bool _nobody_in_control() const;
 	void _publish_set_pitchyaw();
 
 	uORB::Subscription _status_sub{ORB_ID(external_gimbal_manager_status)};
@@ -77,10 +79,13 @@ private:
 	uint8_t _manager_compid{0};
 	uint8_t _gimbal_device_id{0};
 
-	// Last status from the manager, for print_status only.
+	// Last status from the manager.
 	external_gimbal_manager_status_s _status{};
 
+	static constexpr hrt_abstime CONFIGURE_RETRY_INTERVAL{2000000}; // [us]
+
 	bool _onboard_intent{false};
+	hrt_abstime _last_configure{0};
 };
 
 } /* namespace gimbal */