message: Expecting all current sense errors fixed, increasing max mod
diff: @@ -1114,8 +1114,8 @@ static bool 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 40%)
  - float mod_scalefactor = 0.20f * sqrt3_by_2 * 1.0f/sqrtf(mod_d*mod_d + mod_q*mod_q);
  + // TODO make maximum modulation configurable
  + float mod_scalefactor = 0.80f * sqrt3_by_2 * 1.0f/sqrtf(mod_d*mod_d + mod_q*mod_q);
  if (mod_scalefactor < 1.0f)
  {
  mod_d *= mod_scalefactor;
  