Wanted to check before starting to reinvent the wheel. Is there already a component in Px4 implementing MavLink Gimbal Protocol (v2). I’m looking to implement a MAVLink only solution to work with Storm32 based gimbal.
thx, auturgy, for your confidence in my capabilities to best answer here, but that’s unfortunately not the case 
@j_p: I cannot speak for PX4, my competence with it is unfortunately almost zero. Even though it wasn’t your question, I can give some info about the STorM32:
The released STorM32 firmwares do not yet support gimbal protocol v2. I am however currently working very actively on this, and it will go into the next beta release. I have no particular schedule for release, but it’s working as much as I can see, that is, If there should be urgent need I could provide a test-version anytime. The STorM32’s gimbal protocol v2 support will initially only include the gimbal device functionalities, not gimbal manger ones.
The gimbal protocol v2 is really a huge step forward in my opinion, but I’d like to mention that - IMHO - it still could need some polishing touches here and there to bring it to it’s full potential. I’ve raised some issues in the mavlink github repro. I mention this because of the implication that any implementation might need to adapt a bit until the protocol is matured.
Anyway, it would be certainly great if PX4 would get gimbal protocol v2 support 
Hi Julian. Any update on the gimball manager in Px4?
Sorry for the late note. This is done: https://github.com/PX4/PX4-Autopilot/pull/16734
And there is a tester for gimbal devices here: