Anyone know alexmos' well/ linking to pixhawk

[Adamantium]

Hello!

I';m building my first quad, and having had it 99% finished for months, the last Issue is bugging me like crazy.

I';m using a 3DR pixhawk, with an Alexmos 32Bit gimbal. I got the gimbal all calibrated so it stabilises nicely on its own, and connected the RCPitch/RCRoll/RC Yaw directly to the PWM on my X8R receiver which worked great except the Yaw always wanted to face the same way, which is useless on a quadcopter.

I discovered if I wacked the response speed in "Follow Yaw" in SimpleBCU right up to 80, I could get it to follow much better, but still not keep up with the speed the quad turns at.
I felt it might do better if connected to the flight controller. So after alot of searching and no finding, I worked out (from the storm32 topic on ardupilot) how to connect my alexmos over UART. i changed the control inputs for P/R/Y (or pan they call it) to come from the FC, and removed the RC inputs. (Note I set Mount type to alexmos, rather than mavlink as described in the wiki)
Now I';m back in my original position, with Pitch and Roll stabilising beautifully, but Yaw insisting on facing the same way. I can';t find anyway to change it.

Is anyone familiar with connecting these two? can you recommend a guide I missed, or explain what setup you have that works? Or any suggestions for settings etc.

Many thanks!

Dave