From 0aca4911e2703441b1c987c374df99cd44ea4f86 Mon Sep 17 00:00:00 2001
From: Paul Guenette <pfguenette@gmail.com>
Date: Wed, 2 Feb 2022 19:09:46 -0500
Subject: [PATCH] Increase error threshold for SPI encoders

---
 Firmware/MotorControl/encoder.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/Firmware/MotorControl/encoder.cpp b/Firmware/MotorControl/encoder.cpp
index b01b2bef..000e6b64 100644
--- a/Firmware/MotorControl/encoder.cpp
+++ b/Firmware/MotorControl/encoder.cpp
@@ -735,7 +735,7 @@ bool Encoder::update() {
             if (abs_spi_pos_updated_ == false) {
                 // Low pass filter the error
                 spi_error_rate_ += current_meas_period * (1.0f - spi_error_rate_);
-                if (spi_error_rate_ > 0.005f) {
+                if (spi_error_rate_ > 0.05f) {
                     set_error(ERROR_ABS_SPI_COM_FAIL);
                     return false;
                 }