Active control of payload direction

By changing the set-point of the payload stabilizer the direction of the payload can be actively controlled. This could be useful for panning on-board cameras etc.
In this experiment set point was commanded to sweep between +90 and - 90 degrees with the following profile:

Red=yaw(roll), green=command, 20mS/div.

In the video the payload section vibrates a bit. This is a result of the loop-filter not being properly re-tuned after the motor driver was changed.