1.24 - Improved efficiency in a high-speed rotation mode 1.16 - New encoder supported: Netzer VLX60 (Biss-C) 1.15 - Aksim2 encoder support (SPI & Biss-C) - change method of PWM encoder capture (RLS Orbis PWM fixed errors in reading near zero point) - AMT223/AMT222 encoder support - CAN protocol update - more stable, ready to work in parallel with GPS_IMU 1.11 - bugfix: RL calibration may fail with some hardware - bugfix: instability of current PI-loop at maximum power - bugfix: offline encoder calibration - bugfix: current clipping may occure in some conditions - the RL calibration changed: user is not involved into the calibration process - improved BEMF & voltage drop compensation algorithms - Added extra safety checks and safety limit parameters - Added motor R compensation over the temperature 1.07 - add a support of new encoders: Zettlex IncOder (SPI-over-RS422), iC-Haus iC-MU (SPI), TLE5012B (SPI, PWM), A1335 (SPI, I2C), AM4096 (I2C), AS5048B (PWM), MA730 (SPI, PWM)