Some things to make clear:
1. Of course the firmware has sth to do with the gimbal initialization fail (lets call this GIF) with most filters or the lens cap: the gimbal movements during it's initialization are done by firmware.
2. Main problem of GIF is a touch of most filter frames at the gimbal frame during this initialization. The distance between filter and gimbal frame are only parts of a mm, so some Anafis have problems, others not.
3. Getting the GIF problem also depends on how the filter is mounted: if Freewell filters are not completely pushed on the gimbal, the GIF will be there.
4. If you mount filters after gimbal initialization (as Parrot told us), then you don't have to fear a problem like GIF during your flight:
The certain gimbal movement that causes GIF during the initialization (gimbal pointing max. rear-down and to the right side) NEVER occurs during normal flight. So a GIF-similar problem will not happen while flying.
