message: Reset vel_integrator_current when going into closed loop mode
diff: @@ -302,6 +302,10 @@ bool Axis::run_sensorless_control_loop() {
  bool Axis::run_closed_loop_control_loop() {
  // To avoid any transient on startup, we intialize the setpoint to be the current position
  controller_.pos_setpoint_ = encoder_.pos_estimate_;
  +
  + // Avoid integrator windup issues
  + controller_.vel_integrator_current_ = 0.0f;
  +
  set_step_dir_active(config_.enable_step_dir);
  run_control_loop([this]() {
  // Note that all estimators are updated in the loop prefix in run_control_loop
  