message: Use brake_current as a true FF
diff: @@ -594,7 +594,7 @@ void update_brake_current() {
  // Don't start braking until -Ibus > regen_current_allowed
  float brake_current = -Ibus_sum - board_config.max_regen_current;
  float brake_duty = brake_current * std::abs(board_config.brake_resistance) / vbus_voltage;
  - brake_duty = std::max((vbus_voltage - board_config.nominal_voltage) / (VBUS_OVERVOLTAGE_LEVEL / 0.9f - board_config.nominal_voltage), brake_duty);
  + brake_duty += std::max((vbus_voltage - board_config.nominal_voltage) / (VBUS_OVERVOLTAGE_LEVEL / 0.9f - board_config.nominal_voltage), 0.0f);
  // Clamp the duty cycle
  brake_duty = std::clamp(brake_duty, 0.0f, 0.9f);
  