This system cost us a total of $131 and came in at 155g, coming in under our target goals of $200 and 350g. The gimbal was also able to stabilize footage quite effectively (jitter is inevitable as a result of the servos).
POV video from Pi Camera as the gimbal is rocked back and forth in the pitch and roll axes.
These two graphs display the disturbance of the camera (in pitch and roll angles using a 2nd IMU) and show the efficacy of the gimbal (when the arms are locked it mimics not having a gimbal). The amplitude of the disturbances was minimized and so was the standard deviation of both the pitch and roll. In this test the gimbal was rocked back and forth in the pitch and then roll directions quickly and then slowly.