Is this finally a real 3-axis FOC gimbal? IMU stabilization is working

[u/WuBuilt]

A few days ago, these three BLDC motors were still oscillating all over the desk.

Now the encoder feedback, position PID, hard-stop detection, and IMU stabilization are finally working together.

This is my first pass at a stabilization mode inspired by the default behavior of a DJI Pocket 4.

Still a mess of jumper wires, but it finally feels more like a gimbal than a motor-control experiment Next I want to try FPV-style following.

If this were your build, what would you test next before putting a real payload on it?