RC Timer legacy hand held gimbal
Canon 5D MkII 35mm manual lens
4S 1300mAh battery
All up weight 2.5kg
RC Timer 32 bit running 2.41b5 dual IMU
Joystick connected
Follow yaw

PID's
Roll 10 .07 12
Pitch 10 .09 15
Yaw 15 .07 26

Power
R 150
P 100
Y 150

Gyro trust 70
Gyro high sens ON

No serious problems, need to keep tweaking to perfect.
No roll on yaw (previous problem, nothing specific that I can pinpoint solved this).
This result after a very meticulous mechanical balancing period, it is now perfectly balanced, I can't emphasize how important this is, when you turn off the motors it must not move more than a few mm's!