Firmware version 0.4.8

Added

• dump_errors() utility function in odrivetool to dump, decode and optionally clear errors.
• f command to ascii protocol to get encoder position and velocity feedback.
• q command to ascii protocol. It is like the old p command, but velocity and current mean limits, not feed-forward.
• ss, se, sr commands to ascii protocol, for save config, erase config and reboot.
• move_incremental function for relative trajectory moves.
• encoder.config.ignore_illegal_hall_state option.
• encoder.config.enable_phase_interpolation option. Setting to false may reduce jerky pulsations at low speed when using hall sensor feedback.
• Analog input. Used the same way as the PWM input mappings.
• Voltage limit soft clamping instead of ERROR_MODULATION_MAGNITUDE in gimbal motor closed loop.
• Thermal current limit with linear derating.

Fixed

• Added required 1.5 cycle phase shift between ADC and PWM, lack thereof caused unstable current controller at high eRPM.