message: Reduce kI in motor calibration
  This prevents current overshoot if the motor snaps to align with
  I_alpha. Consequently we can reenable current limit checks during
  motor calibration.
diff: @@ -63,7 +63,7 @@ struct ResistanceMeasurementControlLaw : AlphaBetaFrameController {
  return test_voltage_ / target_current_;
  }
  - const float kI = 10.0f; // [(V/s)/A]
  + const float kI = 1.0f; // [(V/s)/A]
  float max_voltage_ = 0.0f;
  float actual_current_ = 0.0f;
  float target_current_ = 0.0f;
  @@ -614,7 +614,7 @@ void Motor::current_meas_cb(uint32_t timestamp, std::optional<Iph_ABC_t> current
  // Hack: we disable the current check during motor calibration because
  // it tends to briefly overshoot when the motor moves to align flux with I_alpha
  - if (Inorm_sq > SQ(Itrip) && (axis_->current_state_ != Axis::AXIS_STATE_MOTOR_CALIBRATION)) {
  + if (Inorm_sq > SQ(Itrip)) {
  disarm_with_error(ERROR_CURRENT_LIMIT_VIOLATION);
  }
  } else if (is_armed_) {
  