I haven't been able to find a descent standalone camera gimbal stabilizer so I am offering a bounty/reward for the FIRST person who is able to provide me with working source code for a ArduIMU+ v3 camera gimbal stabilizer.  I know that arducopter and arduplane code includes camera stabilization code, so hopefully it won't be too hard of an ask.

One condition is that the code will be made open source for everyone to use.

I will pay $100 USD for code that meets all the mandatory requirements, and bonus $ for desirables.  This offer/bounty/reward is open until 30 March or until someone claims it.

[EDIT: extended to 11 May or until the bounty is successfully claimed]

Mandatory requirements:

2 x channel PWM in and out to control the camera gimbals roll and pitch using a standard R/C RX and servos

Stabilize the camera gimbal to maintain a level attitude/bank angle

Real time R/C channel or serial CLI configuration of servo endpoint and gain/PID

Settings stored in NVRAM

Desirable requirements

Pan/Yaw stabilization and control on a 3rd PWM channel +$25

PPM R/C input option +$10

"3D" mode, where the attitude/bank/yaw angle is held when the R/C stick is at neutral +$50

Working source code by 10 March 2012 +$50

Ability to tell the unit to keep pointing at point/region of interest such as a GPS coodinate/altitude $50