STS32XX Firmware - Extension v9 Research Preview

Firmware for compatible GD32F130-based STS TTL servos.

Includes standard STS control, smooth S-curve motion, configurable PID control, local velocity feedforward and support for externally calculated gravity compensation.

Download firmware.enc and release.json into the same folder, then follow the flashing guide.

Known issues: temperature readings and temperature protection can be unreliable during motion; changing the position offset can interrupt an active motion profile; some tightly spaced commands behave differently from factory firmware.

Warning: experimental firmware intended for research. Flashing can damage the servo, erase calibration or leave it unusable. Back up settings and test on a secured mechanism.