Hi @nacy,
Re the gimbal switching between Lock and Follow during point-to-here and the 200ms timeout, I guess you’re referring to this line in AP’s Siyi driver?
If this is triggering then it means that ArduPilot is not getting regular updates from the camera gimbal. We’ve actually just discovered a bug in AP’s Siyi driver that could lead to a loss of packets so could you try again with 4.4.3-beta1 or latest from within the past few days?