Actually, everything on this gimbal, with encoders, is working really well, exvept the Home Position switch. I'm learning now that the behavior I'm seeing is actually exactly what that function is supposed to do. But, I've also learned that the latest version of the firmware added a function that resets the gimbal position when the motors are turned on. So, I made a new switch that very quickly turns the motors off and then back on, and it works. The gimbal now resets its position on all the axis', according to copter orientation. Of course, this is only working, thus far, on my bench at home. I'll be testing it later today, in the air. And I worry a little that turning the motors on and off like that, in flight, might damage the motors?
