I'm currently using the Movi Pro with great success using rate commands (achieving very smooth and precise pointing), but I'm having trouble with the absolute angle commands. I am attempting to build the command messages directly using the on-the-wire definitions in Appendix A of the API. The rate commands work great, but when I attempt to send absolute angle commands, the Movi jerks uncontrollably. So it is clear that I have a misunderstanding on how to generate these messages. I am hoping that answers to a few questions will help me to understand better. First, please confirm my understanding that the Movi will report RZ, RY and RX values based on its IMU, not shaft positions, so there may be some drift between the two (this is okay -- just trying to understand). Second, if the gimbal reports that its Z axis (pan) is at 50 degrees (decimal value = 9102), and I want it to rotate clockwise to 55 degrees, do I send an absolute command (i.e., with GimbalCntl flag = 0b10) using GimbalRZ = +5 (as a signed 16 bit integer representing the value 910) or +55? If the gimbal reports RZ = -178, and I want to rotate counter-clockwise 4 degrees to +178, what command do I issue? I would like to avoid a "near-complete" rotation in the opposite direction. Can I expect smooth results if i issue absolute commands requesting large rotations (greater than 1 degree), or should I issue commands for very small shifts, and just keep issuing small offset commands until i get where I want the gimbal to go? I'm successfully issuing the rate commands using a signed 16-bit integer -- but is this correct for absolute commands? Should I break up the parameter into two separate 8-bit bytes with the MSB of the first byte indicating +/-, or is it proper to use the same signed 16-bit integer format as with the rate commands? Thanks in advance for your answers!