2 axis handheld brushless gimbal

This is a 2 axis brushless gimbal mount for a small HD camera. I wanted something small and self contained to mess around with.

Some sample video can be found here:
http://youtu.be/E7JgD8KLPkc

I should probably rubber mount the camera next time. It was just clamped directly onto the tank. As you can see, when the motorcycle leans, the image stays reasonably level.

Performance can be improved with better PID tweaking I am sure.

equipment used:
Gimbal controller and sensor: http://www.foxtechfpv.com/aio-brushless-gimbal-controller-p-1095.html

motors:
http://www.foxtechfpv.com/foxtech-bgm220870-brushless-gimbal-motor-p-1074.html

camera: Boscam HD19 ExplorerHD

http://www.hobbyking.com/hobbyking/store/__32024__Boscam_HD19_ExplorerHD_Full_HD_1080p_FPV_Video_Camera_with_Integral_Recorder.html

the battery is just an old 3s 1600 lipo pack I had laying around... the current requirements are pretty low and I can power the controller and camera directly from th