diff --git a/ROMFS/px4fmu_common/init.d/airframes/4061_atl_mantis_edu b/ROMFS/px4fmu_common/init.d/airframes/4061_atl_mantis_edu
index 9751c13f86..257f3bf85e 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/4061_atl_mantis_edu
+++ b/ROMFS/px4fmu_common/init.d/airframes/4061_atl_mantis_edu
@@ -147,7 +147,7 @@ param set-default MPC_Z_VEL_P 0.27
 
 
 # gimbal configuration
-param set-default MNT_MODE_IN 1
+param set-default MNT_MODE_IN 0
 param set-default MNT_MODE_OUT 1
 param set-default MNT_MAN_PITCH 2
 param set-default MNT_RC_IN_MODE 1
diff --git a/src/modules/vmount/output_mavlink.cpp b/src/modules/vmount/output_mavlink.cpp
index 73a303759f..7bdbcae4e0 100644
--- a/src/modules/vmount/output_mavlink.cpp
+++ b/src/modules/vmount/output_mavlink.cpp
@@ -168,7 +168,6 @@ void OutputMavlinkV2::update(const ControlData &control_data, bool new_setpoints
 
 void OutputMavlinkV2::_request_gimbal_device_information()
 {
-	printf("request gimbal device\n");
 	vehicle_command_s vehicle_cmd{};
 	vehicle_cmd.timestamp = hrt_absolute_time();
 	vehicle_cmd.command = vehicle_command_s::VEHICLE_CMD_REQUEST_MESSAGE;
diff --git a/src/modules/vmount/vmount.cpp b/src/modules/vmount/vmount.cpp
index b51ef6de93..ef92fd6b76 100644
--- a/src/modules/vmount/vmount.cpp
+++ b/src/modules/vmount/vmount.cpp
@@ -222,7 +222,9 @@ static int vmount_thread_main(int argc, char *argv[])
 			for (int i = 0; i < thread_data.input_objs_len; ++i) {
 
 				const bool already_active = (thread_data.last_input_active == i);
-				const unsigned int poll_timeout = already_active ? 20 : 0; // poll only on active input to reduce latency
+				// poll only on active input to reduce latency, or on all if none is active
+				const unsigned int poll_timeout =
+					(already_active || thread_data.last_input_active == -1) ? 20 : 0;
 
 				update_result = thread_data.input_objs[i]->update(poll_timeout, control_data, already_active);
 
@@ -282,9 +284,6 @@ static int vmount_thread_main(int argc, char *argv[])
 
 	g_thread_data = nullptr;
 
-	delete thread_data.test_input;
-	thread_data.test_input = nullptr;
-
 	for (int i = 0; i < input_objs_len_max; ++i) {
 		if (thread_data.input_objs[i]) {
 			delete (thread_data.input_objs[i]);
@@ -318,6 +317,8 @@ int vmount_main(int argc, char *argv[])
 			return 1;
 		}
 
+		thread_should_exit.store(false);
+
 		int vmount_task = px4_task_spawn_cmd("vmount",
 						     SCHED_DEFAULT,
 						     SCHED_PRIORITY_DEFAULT,