v0.5.1-instant-start.1

First release of the instant-start firmware for the XDrive MINI (ODrive v3.6 compatible, MKS) with the onboard AS5047P encoder.

What it does

• Skips encoder offset calibration at power-on and uses the saved offset (encoder.config.pre_calibrated = True).
• Starts from any rotor position: the position estimator is seeded with the absolute encoder angle, so there is no jump or velocity spike when entering closed-loop control.

Based on MKS ODrive_S firmware v0.5.1. See the README for setup and xdrive_config.txt for the odrivetool configuration.

Files

• .hex: flash with an ST-Link or odrivetool dfu <file>.hex
• .elf: same firmware with debug symbols (for debugging / ST-Link)

Built for board version v3.6-56V. Reports firmware version 0.5.1 to odrivetool.