STorM32 - MAVLink V2 - does ArduPilot use "attitude" messages?

This is a follow up to my previous post on STorM32 Setup and Configuration.

I found information about STorM32 use of MAVLink V2 here: MAVLink Communication - STorM32-BGC Wiki

The question is how ArduPilot uses this capability.

I got feedback on FaceBook about my question about the Gremsey Pixy-U using STorM32 and MAVLink V2. I was told both these things are true.

As ArduPilot is undoubtedly a common platform for integrating a STorM32 gimbal, I suspect ArduPilot does support the subset of MAVLink V2 messages the STorM32 controllers use - and I suspect also does something with attitude messages sent from the gimbal controller.

Can someone please shed some light on this? I didn’t see anything about it in the ArduPilot docs - but certainly may have missed it.