Rc for gimbal#13

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BenYKB wants to merge 7 commits intomasterfrom

Commits on Feb 16, 2020

refactored
BenYKB
committed

Commits on Feb 22, 2020

Commits on Feb 23, 2020

fixed bugs on master lolololol
BenYKB
committed
fixed chassis task pointers for consistency, added soft limits on gimbal motion
BenYKB
committed
get vectored
jirm2019
committed
resolved changes
jirm2019
committed