2021-04-09

• An AS5048B encoder is now supported on the ABS port
  • It can be offset, scaled, and used to initialize the primary position
• Maximum velocity can be limited. devkits come with a 10 rev/s limit
• Maximum power can be limited
  • This is intended as a last resort, as it will not interact well with outer control loops
• The DQ integrator is now limited to an achievable voltage
  • If this wound up during operation at maximum speed, it could result in large delays before slowing down
• New control law for measuring motor inductance, see d ind
• Remove the current based feedforward term
  • This was unlikely to be helping any thing with the existing velocity noise profile