New gains and error_threshold.
New gains and error_threshold.

shehzi001/oru_walk_module,nianxing/oru_walk_module,shehzi001/oru_walk_module,asherikov/oru_walk_module,nianxing/oru_walk_module,shehzi001/oru_walk_module,nianxing/oru_walk_module,asherikov/oru_walk_module,nianxing/oru_walk_module,asherikov/oru_walk_module,asherikov/oru_walk_module,shehzi001/oru_walk_module