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Hello,Great article! Thanks for that, without this iI would never have been able to get where I'm now. I've got my brushless gimbal working almost perfectly (just very small bumps in the image). I wrote my code myself (other sensors, other motors....), and I was wondering how you made optimal use of the second gyro. I'm just not getting the improvement you're getting, and I'm not able to read it out of the code. I would really appreciate it if you could explain how you did this.Thanks in advance,Jasper