* An AS5048B encoder is now supported on the ABS port
* It can be offset, scaled, and used to initialize the primary position
* Maximum velocity can be limited. devkits come with a 10 rev/s limit
* Maximum power can be limited
* This is intended as a last resort, as it will not interact well with outer control loops
* The DQ integrator is now limited to an achievable voltage
* If this wound up during operation at maximum speed, it could result in large delays before slowing down
* New control law for measuring motor inductance, see `d ind`
* Remove the current based feedforward term
* This was unlikely to be helping any thing with the existing velocity noise profile