diff --git a/README.md b/README.md
index cedda89..b89ca07 100644
--- a/README.md
+++ b/README.md
@@ -232,6 +232,44 @@ Display the streamed video:
 gst-launch-1.0 -v udpsrc port=5600 caps='application/x-rtp, media=(string)video, clock-rate=(int)90000, encoding-name=(string)H264' ! rtph264depay ! avdec_h264 ! videoconvert ! autovideosink sync=false
 ```
 
+View the streamed camera frames in OGC:
+
+`Open QGC > Application Settings > Video Settings > Select UDP h.264 Video Stream & use port 5600`
+
+### 4. Using Gimbal
+
+To control gimbal using RC channels,
+
+#### Run Gazebo
+
+```bash
+gz sim -v4 -r iris_runway.sdf
+```
+
+#### Run ArduPilot SITL with a specified parameter file
+
+```bash
+cd ardupilot
+
+sim_vehicle.py -D -v ArduCopter -f JSON --add-param-file=$HOME/ardupilot_gazebo/config/gazebo-iris-gimbal.parm --console --map
+```
+
+Control action for gimbal over RC channel:
+
+| Action | Channel | RC Low | RC High |
+| ------------- | ------------- | ------------- | ------------- |
+| Roll | RC6 | Roll Left | Roll Right |
+| Pitch | RC7 | Pitch Down | Pitch Up |
+| Yaw | RC8 | Yaw Left | Yaw Right |
+
+Example usage:
+
+`rc 6 1000` - Gimbal rolls left
+
+`rc 7 2000` - Gimbal pitch upwards
+
+`rc 8 1500` - Gimbal yaw neutral
+
 ## Models
 
 In addition to the Iris and Zephyr models included here, a selection
diff --git a/config/gazebo-iris-gimbal.parm b/config/gazebo-iris-gimbal.parm
index 3cf5d18..f8b5c3d 100644
--- a/config/gazebo-iris-gimbal.parm
+++ b/config/gazebo-iris-gimbal.parm
@@ -14,17 +14,21 @@ RNGFND1_SCALING  10
 RNGFND1_PIN      0
 RNGFND1_MAX_CM   5000
 
-# Gimbal on mount 1 has 2 DOF
+# Gimbal on mount 1 has 3 DOF
 MNT1_PITCH_MAX   90
 MNT1_PITCH_MIN   -90
 MNT1_ROLL_MAX    90
 MNT1_ROLL_MIN    -90
+MNT1_YAW_MAX    90
+MNT1_YAW_MIN    -90
 MNT1_TYPE        1
 
-# Gimbal roll and pitch RC
-RC9_OPTION       212
-RC10_OPTION      213
+# Gimbal roll, pitch and yaw RC
+RC6_OPTION      212
+RC7_OPTION      213
+RC8_OPTION      214
 
-# Gimbal roll and pitch servos
-SERVO5_FUNCTION  8
-SERVO6_FUNCTION  7
+# Gimbal roll, pitch and yaw servos
+SERVO9_FUNCTION  8
+SERVO10_FUNCTION  7
+SERVO11_FUNCTION  6
\ No newline at end of file