From 74dae1bc460ab3a3b4d857c34b484080cf83fec7 Mon Sep 17 00:00:00 2001
From: Josh Pieper <jjp@pobox.com>
Date: Tue, 5 Jul 2022 07:18:20 -0400
Subject: [PATCH] Make the high-rate debug port output the onboard encoder
 value once again

---
 fw/bldc_servo.cc | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/fw/bldc_servo.cc b/fw/bldc_servo.cc
index 24ec073a..174ebb71 100644
--- a/fw/bldc_servo.cc
+++ b/fw/bldc_servo.cc
@@ -2050,7 +2050,7 @@ class BldcServo::Impl {
         };
 
     if (config_.emit_debug & (1 << 0)) {
-      write_scalar(static_cast<uint16_t>(position_.position));
+      write_scalar(static_cast<uint16_t>(aux1_port_->status()->spi.value * 4));
     }
 
     if (config_.emit_debug & (1 << 2)) {