Hello, I'm leaving this question as a very beginner :)

I'm planning to purchase a commercial gimbal HW controlled by SimpleBGC 32-bit board
and want to use it like a Pan-tilt device.
Which means, I want to control the Yaw and Pitch angle by sending real-time serial commands from PC.

The angular resolution and accuracy of rotation are very critical in my application.
I checked the manual briefly, and found "MODE_ANGLE" in "CMD_CONTROL" command and have some questions about it.
(The unit of the rotation angle : 0,0219~~ degree,
and the gimbal manufacturer says they used 14-bit encoders for their motors.)

1. Is the rotation angle controlled and measured by IMUs?
Or if the motor has an encoder, is the angle measured by the encoder of the motor?
(As the IMUs are quite noisy, I think using the encoders will be better in my case.)

2. (if the angle is controlled & measured by IMU)
Is there any commands to measure and control the angular position of the gimbal by using encoders?

3. (if it is possible to control gimbals by encoders)
Is there any Firmware or Controller board version limitations to control the gimbal by using encoders?
(like "controlling by encoders is only supported with SimpleBGC ver. x.x and above")

4. Lastly, is there any way to serial control the gimbal with higher resolution than 0.0219~ degree?

I thank everyone who reads this in advance :)