So fired up the video editor & made a spat of brushless gimbal timelapses for the 1st time in 3 years.
Really should invest in slowing down salient features. There was good stuff in the redwood timelapse.
It quickly became clear why gimbal movies were abandoned for 3 years. It was only partly because the old one didn't hold its position with new firmware. If there's any offset in the IMU roll/pitch, merely subtracting it from the accelerometer output is the intuitive solution. The problem is the gyros still detect the offset angular rates. Turning the camera causes the roll/pitch to go out by the amount the gyro alignment is off. Increasing the accelerometer weighting causes it to shake more.
What you need is full translation of the detected roll/pitch to the motor's coordinate plane, the same as manual control of roll/pitch would do. Old age made the lion kingdom forget this nugget of information.
