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It should be fine.
There is nothing on the hand controller to indicate the polarity, the vast majority of products using barrel plugs are centre positive, but there are the occasional things that are the opposite with centre negative. The original power supply for the mount may have it marked somewhere.
If the mobile phone charger is regulated(maintains approx. 6v), then yes you are undercharging the battery, in the long run you will end up with sulphated plates. If it is not regulated, there is a chance it may actually be overcharging the battery. Only way to tell is to check the open circuit (no load) voltage of the plugpack. If it is over 7.5v(as marked on the battery for cyclic use) then you are overcharging.
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