message: add check for vel_limt == 0
diff: @@ -201,7 +201,7 @@ bool Controller::update(float pos_estimate, float vel_estimate, float* current_s
  }
  // Velocity limiting in current mode
  - if (config_.control_mode < CTRL_MODE_VELOCITY_CONTROL) {
  + if (config_.control_mode < CTRL_MODE_VELOCITY_CONTROL && config_.vel_limit > 0) {
  float Imax = (config_.vel_limit - fabsf(vel_estimate)) * config_.vel_gain;
  if (Iq > 0 && Iq > Imax) {
  limited = true;
  