message: Reduce modulation index due to slow current filters
diff: @@ -211,7 +211,7 @@ static void start_adc_pwm(){
  start_pwm(&htim1);
  start_pwm(&htim8);
  //TODO: explain why this offset
  - sync_timers(&htim1, &htim8, TIM_CLOCKSOURCE_ITR0, TIM_PERIOD_CLOCKS/2 - 128);
  + sync_timers(&htim1, &htim8, TIM_CLOCKSOURCE_ITR0, TIM_PERIOD_CLOCKS/2 - 1*128);
  }
  static void start_pwm(TIM_HandleTypeDef* htim){
  @@ -661,8 +661,8 @@ static void FOC_current(Motor_t* motor, float Id_des, float Iq_des) {
  float mod_q = vfactor * Vq;
  //Vector modulation saturation, lock integrator if saturated
  - //@TODO make maximum modulation configurable (currently 90%)
  - float mod_scalefactor = 0.90f * sqrt3_by_2 * 1.0f/sqrtf(mod_d*mod_d + mod_q*mod_q);
  + //@TODO make maximum modulation configurable (currently 40%)
  + float mod_scalefactor = 0.40f * sqrt3_by_2 * 1.0f/sqrtf(mod_d*mod_d + mod_q*mod_q);
  if (mod_scalefactor < 1.0f)
  {
  mod_d *= mod_scalefactor;
  