diff --git a/src/FactSystem/Fact.cc b/src/FactSystem/Fact.cc
index 8e3ec8a7c7e..50dda7858f1 100644
--- a/src/FactSystem/Fact.cc
+++ b/src/FactSystem/Fact.cc
@@ -323,6 +323,14 @@ QString Fact::_variantToString(const QVariant &variant, int decimalPlaces) const
 {
     QString valueString;
 
+    const auto stripNegativeZero = [](QString &candidate) {
+        static const QRegularExpression reNegativeZero(QStringLiteral("^-0\\.0+$"));
+        const auto match = reNegativeZero.match(candidate);
+        if (match.hasMatch() || candidate == QStringLiteral("-0")) {
+            candidate = candidate.mid(1);
+        }
+    };
+
     switch (type()) {
     case FactMetaData::valueTypeFloat:
     {
@@ -331,6 +339,7 @@ QString Fact::_variantToString(const QVariant &variant, int decimalPlaces) const
             valueString = QStringLiteral("--.--");
         } else {
             valueString = QStringLiteral("%1").arg(fValue, 0, 'f', decimalPlaces);
+            stripNegativeZero(valueString);
         }
     }
         break;
@@ -341,6 +350,7 @@ QString Fact::_variantToString(const QVariant &variant, int decimalPlaces) const
             valueString = QStringLiteral("--.--");
         } else {
             valueString = QStringLiteral("%1").arg(dValue, 0, 'f', decimalPlaces);
+            stripNegativeZero(valueString);
         }
         break;
     }
diff --git a/src/Gimbal/GimbalController.cc b/src/Gimbal/GimbalController.cc
index 1405828c5f4..3febf3175e7 100644
--- a/src/Gimbal/GimbalController.cc
+++ b/src/Gimbal/GimbalController.cc
@@ -16,6 +16,8 @@
 #include "SettingsManager.h"
 #include "Vehicle.h"
 
+#include <QtGui/QQuaternion>
+
 QGC_LOGGING_CATEGORY(GimbalControllerLog, "Gimbal.GimbalController")
 
 GimbalController::GimbalController(Vehicle *vehicle)
@@ -234,15 +236,25 @@ void GimbalController::_handleGimbalDeviceAttitudeStatus(const mavlink_message_t
     gimbal->setYawLock((attitude_status.flags & GIMBAL_DEVICE_FLAGS_YAW_LOCK) > 0);
     gimbal->_neutral = (attitude_status.flags & GIMBAL_DEVICE_FLAGS_NEUTRAL) > 0;
 
-    float roll, pitch, yaw;
-    mavlink_quaternion_to_euler(attitude_status.q, &roll, &pitch, &yaw);
-
-    gimbal->setAbsoluteRoll(qRadiansToDegrees(roll));
-    gimbal->setAbsolutePitch(qRadiansToDegrees(pitch));
+    // Convert from QQuaternion to Euler angles. We specifically don't use mavlink_quaternion_to euler
+    // because that seems to spew NaNs for boundary conditions. Whereas QQuaternion seems to handle things
+    // more cleanly.
+    QQuaternion q(
+        attitude_status.q[0],
+        attitude_status.q[1],
+        attitude_status.q[2],
+        attitude_status.q[3]);
+    auto vector3D = q.toEulerAngles();
+    float roll = vector3D.z();
+    float pitch = vector3D.y();
+    float yaw = vector3D.x();
+
+    gimbal->setAbsoluteRoll(roll);
+    gimbal->setAbsolutePitch(pitch);
 
     const bool yaw_in_vehicle_frame = _yawInVehicleFrame(attitude_status.flags);
     if (yaw_in_vehicle_frame) {
-        const float bodyYaw = qRadiansToDegrees(yaw);
+        const float bodyYaw = yaw;
         float absoluteYaw = bodyYaw + _vehicle->heading()->rawValue().toFloat();
         if (absoluteYaw > 180.0f) {
             absoluteYaw -= 360.0f;
@@ -252,7 +264,7 @@ void GimbalController::_handleGimbalDeviceAttitudeStatus(const mavlink_message_t
         gimbal->setAbsoluteYaw(absoluteYaw);
 
     } else {
-        const float absoluteYaw = qRadiansToDegrees(yaw);
+        const float absoluteYaw = yaw;
         float bodyYaw = absoluteYaw - _vehicle->heading()->rawValue().toFloat();
         if (bodyYaw < -180.0f) {
             bodyYaw += 360.0f;
diff --git a/src/UI/toolbar/GimbalIndicator.qml b/src/UI/toolbar/GimbalIndicator.qml
index cba0e086fad..562b121b63d 100644
--- a/src/UI/toolbar/GimbalIndicator.qml
+++ b/src/UI/toolbar/GimbalIndicator.qml
@@ -97,7 +97,7 @@ Item {
             QGCLabel {
                 id:             pitchLabel
                 font.pointSize: ScreenTools.smallFontPointSize
-                text:           activeGimbal ? qsTr("P: ") + activeGimbal.absolutePitch.rawValue.toFixed(1) : ""
+                text:           activeGimbal ? qsTr("P: ") + activeGimbal.absolutePitch.valueString : ""
                 color:          qgcPal.windowTransparentText
             }
             QGCLabel {
@@ -105,8 +105,8 @@ Item {
                 font.pointSize: ScreenTools.smallFontPointSize
                 text:           activeGimbal ?
                                     (showAzimuth ?
-                                        (qsTr("Az: ") + activeGimbal.absoluteYaw.rawValue.toFixed(1)) :
-                                        (qsTr("Y: ") + activeGimbal.bodyYaw.rawValue.toFixed(1))) :
+                                        (qsTr("Az: ") + activeGimbal.absoluteYaw.valueString) :
+                                        (qsTr("Y: ") + activeGimbal.bodyYaw.valueString)) :
                                     ""
                 color:          qgcPal.windowTransparentText
             }