Sony a5100 with heavy rokinon 12mm lens. 32 bit controller with 22 poll 4008 gimbal motors on a 6s battery. Custom gimbal is very rigid and balanced. Pitch is locked in, yaw seems to be ok, but roll is a nightmare. When decelerating from any speed, the gimbal waves as seen in the video. I have set up filters, and tried many different powers and PIDs. My motor powers here are 240 on yaw and roll, and 180 on pitch. PIDs are all around 25 .2 20.

Not really sure what to do. I have spent weeks on this and I cant seem to get rid of it. This is not my first gimbal that I created so I am not new to this.