The brain power could be offloaded to a heavy duty microcontroller outside the gimbal.  That would allow a better motor mixing model.  Lions aren't convinced a better mixing model would improve it.  When the DJI is panning rapidly, it's being held straight up so the yaw motor is just changing yaw instead of roll & pitch.  It would be a big rewrite & manely a science project, based on how much it's used.

Another week at gimbal & broad yielded a much needed feature to allow shooting with the handle above or below the camera.  The easiest way to do it was flipping the pitch & putting sign flipping routines in hundreds of random places, just like a 10 year old.  There might be a grand unifying equation or a lookup table of signs based on flipping, but it was just faster to hack it out.  The handle position can be divided into quadrants with a different set of sign flips for each quadrant.

Some quadrants don't work, but aren't worth supporting because the handle is in front of the camera.  The only need for the handle to go in front of the camera is in right side up mode for selfies.  

Forcing the pitch upside down for 1 second causes the firmware to detect the new orientation.  Instead of flipping the pitch, the roll motor can also be rotated 180 deg to achieve the same effect.  In total, there are many combinations of pitch flips & roll motor flips, each requiring their own batch of sign flipping routines.  Flipping the roll motor requires taking the camera out while flipping the pitch doesn't, so it was deemed enough just to support flipping the pitch.

Anyways, it was impressive to revisit the amount of work which was originally done from March 2016 to July 2016.  It involved reverse engineering the circuits, creating a bootloader, creating new firmware for the STM103 & atmega.  Last month's enhancements were minor compared to the huge past effort.

The test harness for a gimbal must not be underestimated.  A mane problem still remanes of programming it in the enclosure.  It now requires undoing a lot of farsteners.  The easiest next step is routing the programming headers all the way into the battery compartment.  Another way is having umbilicals strapped to the outside.