diff --git a/libraries/AP_Mount/AP_Mount.cpp b/libraries/AP_Mount/AP_Mount.cpp
index f5802d65725f01..6170ce0096e723 100644
--- a/libraries/AP_Mount/AP_Mount.cpp
+++ b/libraries/AP_Mount/AP_Mount.cpp
@@ -358,6 +358,12 @@ MAV_RESULT AP_Mount::handle_command_do_gimbal_manager_pitchyaw(const mavlink_com
         return MAV_RESULT_ACCEPTED;
     }
 
+    // if neither angles nor rates were provided set the RC_TARGETING yaw lock state
+    if (isnan(pitch_angle_deg) && isnan(yaw_angle_deg) && isnan(pitch_rate_degs) && isnan(yaw_rate_degs)) {
+        backend->set_yaw_lock(flags & GIMBAL_MANAGER_FLAGS_YAW_LOCK);
+        return MAV_RESULT_ACCEPTED;
+    }
+
     return MAV_RESULT_FAILED;
 }
 
@@ -498,6 +504,12 @@ void AP_Mount::handle_gimbal_manager_set_pitchyaw(const mavlink_message_t &msg)
         backend->set_rate_target(0, pitch_rate_degs, yaw_rate_degs, flags & GIMBAL_MANAGER_FLAGS_YAW_LOCK);
         return;
     }
+
+    // if neither angles nor rates were provided set the RC_TARGETING yaw lock state
+    if (isnan(packet.pitch) && isnan(packet.yaw) && isnan(packet.pitch_rate) && isnan(packet.yaw_rate)) {
+        backend->set_yaw_lock(flags & GIMBAL_MANAGER_FLAGS_YAW_LOCK);
+        return;
+    }
 }
 
 MAV_RESULT AP_Mount::handle_command_do_set_roi_sysid(const mavlink_command_int_t &packet)