Tune shakey typhoon_h480 gimbal

[Jaeyoung-Lim]

This PR tunes the gain of the gimbal controller so that it is less shakey on the yaw axis. The previous state was not usable to run any survey missions in SITL.

The change is visually observable as the following example where the vehicle is flown in position mode in SITL

After PR:

Before PR:

[bkueng]

Did you test with more aggressive maneuvers and other directions as well?

[Jaeyoung-Lim]

@bkueng More or less yes, I tried flying quite aggressively in position mode and also yawing. The main testing was to reduce the shaking of the camera in mission mode and it looks much better. I have also tested for the case when the gimbal is looking down

I tried to find a way to log the vmount orientation in to the flight log but couldn't find any. Would you have any pointers?

[bkueng]

@bkueng More or less yes, I tried flying quite aggressively in position mode and also yawing. The main testing was to reduce the shaking of the camera in mission mode and it looks much better. I have also tested for the case when the gimbal is looking down

You can test in Altitude/Manual.

I tried to find a way to log the vmount orientation in to the flight log but couldn't find any. Would you have any pointers?

We don't get that feedback if I remember correctly.

[julianoes]

Nice!