2022-05-09

• Re-enable PWM dead-band compensation for all control modes - this significantly improves current control on r4.8 boards
• Change the default value of servo.velocity_threshold to 0.0 - the modern way to achieve similar audible noise reduction is to reduce the encoder bandwidth
• Actually saturate values reported over the register interface as documented!
• Improve accuracy of power limiting
• Attempt automatically recover from CAN bus-off events due to CAN controller errors