btw, I use fast I2C, (my gimbal seems to perform better) my IMU wires are all shielded, I have no I2C errors. The magnetometer seems to support the high speed I2C. however, I did notice the magnetometer error level would slowly rise when gimbal is sitting still. adding a ferrite ring to magnetometer wire appeared to resolve the issue.
another question, how does Mag trust play in with gyro trust? for example, if im using my gimbal in a context that is beneficial to have magnetometor to prevent drift, (lets say for timelapse movements) and my gimbal is tuned to trust mag=100, what would you anticipate a good setting for gyro trust should be?
"Gyro trust" in fact is the inverse of "accelerometer trust". When you set it higher, attitude vector is corrected by accelrometer slower. But Z axis is not corrected by accelerometer at all, so "Mag trust" does not interfere "gyro trust", and vice versa.