diff --git a/src/core/Application.cpp b/src/core/Application.cpp
index 2b5b9fa..9712ccb 100644
--- a/src/core/Application.cpp
+++ b/src/core/Application.cpp
@@ -2200,6 +2200,10 @@ struct Application::Impl {
             std::string fw = sub;
             for (char& ch : fw) ch = static_cast<char>(std::toupper((unsigned char)ch));
             for (size_t i = 2; i < tok.size(); ++i) fw += " " + tok[i];
+            // A bare `gimbal stop` means every axis. The firmware wants the axis
+            // named, and answered a bare STOP with "ERR missing argument" - so the
+            // one command that has to work, did nothing.
+            if (sub == "stop" && tok.size() == 2) fw = "STOP ALL";
             motor->sendCommand(fw);
         } else {
             LOG_WARN << "unknown gimbal subcommand: " << sub;
diff --git a/src/core/HelpText.cpp b/src/core/HelpText.cpp
index ee0f8c0..b16f56f 100644
--- a/src/core/HelpText.cpp
+++ b/src/core/HelpText.cpp
@@ -95,8 +95,8 @@ const std::vector<HelpSection>& helpCatalog() {
              "Run the endstop-finding home sequence (both axes, or one).", {
                 "Example:  gimbal home      /      gimbal home y"}},
             {"gimbal stop [y|p|all]",
-             "Stop motion immediately.", {
-                "To cancel a running procedure use 'cancel' (or Esc, or x):",
+             "Stop motion immediately; bare, every axis. The axis holds where it stops.", {
+                "To cancel a running procedure use 'cancel' (or Esc, or m):",
                 "the whole 'gimbal' family is ignored while one is in progress."}},
             {"gimbal speed <y|p> <vel>",
              "Set the max slew speed (counts/s) for an axis.", {}},