Required moteus_tool: >= 0.3.65 (python -m pip install --upgrade moteus)

Major Changes

Resolve robustness issues that prevented I2C encoders from being used as the commutation or output encoder. Their use for output disambiguation worked reliably before and still does.
Switch I2C encoder polling rate configuration to be measured in microseconds rather than milliseconds. An up-to-date moteus_tool is required to flash this firmware as a result. It will properly migrate configuration on upgrade.
When in position-timeout mode, ignore user commands completely. This was always the intended behavior, but became broken with the addition of acceleration and velocity limits. As a result of the defect, commands that resulted in non-zero control velocities could result in user initiated torque.

Minor Changes

Configure AS5600 encoders to disable their internal filters.
Improve robustness of the encoder filter by preventing velocities from becoming too large.
If a hard-fault is triggered, perform a 2-flash pattern on the red LED
If firmware errors cause data to be written to the 0 page, report the fault as an incrementing counter system_info.mem_fault rather than as a error when attempting to perform conf write.
Ensure that motor_position configuration is updated to match auxiliary port configuration changes. This mostly means that encoder filter bandwidth limits are properly lowered if the polling rate of auxiliary sensors is decreased.