Hmmm, don't know how this wasn't needed initially

All tests now indicate that the factor of half is necessary here to
get reasonable results, which also makes sense since the voltage is
only the difference from the virtual center.

fw/bldc_servo.cc

@@ -1685,7 +1685,7 @@ class BldcServo::Impl {
     // This is conservative... we could use std::hypot(d, q), however
     // that would take more CPU cycles, and most of the time we'll
     // only be seeing q != 0.
-    const float max_V = adjusted_max_power_W_ /
+    const float max_V = 0.5f * adjusted_max_power_W_ /
         (std::abs(status_.d_A) + std::abs(status_.q_A));
 
     if (!config_.voltage_mode_control) {