diff --git a/CHANGELOG.md b/CHANGELOG.md
index 33e84795..c1098605 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -2,6 +2,7 @@
 Please add a note of your changes below this heading if you make a Pull Request.
 
 ### Added
+* `dump_errors()` utility function in odrivetool to dump, decode and optionally clear errors.
 * Second order setpoint input filter.
 
 ### Changed
diff --git a/Firmware/MotorControl/encoder.cpp b/Firmware/MotorControl/encoder.cpp
index 8c0691f8..9b964f21 100644
--- a/Firmware/MotorControl/encoder.cpp
+++ b/Firmware/MotorControl/encoder.cpp
@@ -271,8 +271,10 @@ bool Encoder::update() {
                 if (delta_enc > 3)
                     delta_enc -= 6;
             } else {
-                set_error(ERROR_ILLEGAL_HALL_STATE);
-                return false;
+                if (!config_.ignore_illegal_hall_state) {
+                    set_error(ERROR_ILLEGAL_HALL_STATE);
+                    return false;
+                }
             }
         } break;
         
diff --git a/Firmware/MotorControl/encoder.hpp b/Firmware/MotorControl/encoder.hpp
index 78f8f4f6..96e1a914 100644
--- a/Firmware/MotorControl/encoder.hpp
+++ b/Firmware/MotorControl/encoder.hpp
@@ -37,6 +37,7 @@ public:
         float offset_float = 0.0f; // Sub-count phase alignment offset
         float calib_range = 0.02f;
         float bandwidth = 1000.0f;
+        bool ignore_illegal_hall_state = false;
     };
 
     Encoder(const EncoderHardwareConfig_t& hw_config,
@@ -106,7 +107,8 @@ public:
                 make_protocol_property("offset_float", &config_.offset_float),
                 make_protocol_property("bandwidth", &config_.bandwidth,
                     [](void* ctx) { static_cast<Encoder*>(ctx)->update_pll_gains(); }, this),
-                make_protocol_property("calib_range", &config_.calib_range)
+                make_protocol_property("calib_range", &config_.calib_range),
+                make_protocol_property("ignore_illegal_hall_state", &config_.ignore_illegal_hall_state)
             )
         );
     }
diff --git a/Firmware/MotorControl/low_level.cpp b/Firmware/MotorControl/low_level.cpp
index b40b3274..e8fe62a4 100644
--- a/Firmware/MotorControl/low_level.cpp
+++ b/Firmware/MotorControl/low_level.cpp
@@ -713,4 +713,33 @@ void pwm_in_cb(int channel, uint32_t timestamp) {
     last_timestamp[gpio_num - 1] = timestamp;
     last_pin_state[gpio_num - 1] = current_pin_state;
     last_sample_valid[gpio_num - 1] = true;
-}
\ No newline at end of file
+}
+
+
+/* Analog speed control input */
+
+static void update_analog_endpoint(const struct PWMMapping_t *map, int gpio)
+{
+    float fraction = get_adc_voltage(get_gpio_port_by_pin(gpio), get_gpio_pin_by_pin(gpio)) / 3.3f;
+    float value = map->min + (fraction * (map->max - map->min));
+    get_endpoint(map->endpoint)->set_from_float(value);
+}
+
+static void analog_polling_thread(void *)
+{
+    while (true) {
+        for (int i = 0; i < GPIO_COUNT; i++) {
+            struct PWMMapping_t *map = &board_config.analog_mappings[i];
+
+            if (is_endpoint_ref_valid(map->endpoint))
+                update_analog_endpoint(map, i + 1);
+        }
+        osDelay(10);
+    }
+}
+
+void start_analog_thread()
+{
+    osThreadDef(thread_def, analog_polling_thread, osPriorityLow, 0, 4*512);
+    osThreadCreate(osThread(thread_def), NULL);
+}
diff --git a/Firmware/MotorControl/low_level.h b/Firmware/MotorControl/low_level.h
index 3a3225de..503b98e1 100644
--- a/Firmware/MotorControl/low_level.h
+++ b/Firmware/MotorControl/low_level.h
@@ -51,6 +51,7 @@ void sync_timers(TIM_HandleTypeDef* htim_a, TIM_HandleTypeDef* htim_b,
 void start_general_purpose_adc();
 float get_adc_voltage(GPIO_TypeDef* GPIO_port, uint16_t GPIO_pin);
 void pwm_in_init();
+void start_analog_thread();
 
 void update_brake_current();
 
diff --git a/Firmware/MotorControl/main.cpp b/Firmware/MotorControl/main.cpp
index 4146850c..b25da149 100644
--- a/Firmware/MotorControl/main.cpp
+++ b/Firmware/MotorControl/main.cpp
@@ -214,6 +214,8 @@ int odrive_main(void) {
         axes[i]->start_thread();
     }
 
+    start_analog_thread();
+
     system_stats_.fully_booted = true;
     return 0;
 }
diff --git a/Firmware/MotorControl/odrive_main.h b/Firmware/MotorControl/odrive_main.h
index 776f1590..df1bc14b 100644
--- a/Firmware/MotorControl/odrive_main.h
+++ b/Firmware/MotorControl/odrive_main.h
@@ -82,6 +82,7 @@ struct BoardConfig_t {
                                                                         //<! the brake power if the brake resistor is disabled.
                                                                         //<! The default is 26V for the 24V board version and 52V for the 48V board version.
     PWMMapping_t pwm_mappings[GPIO_COUNT];
+    PWMMapping_t analog_mappings[GPIO_COUNT];
 };
 extern BoardConfig_t board_config;
 extern bool user_config_loaded_;
diff --git a/Firmware/communication/communication.cpp b/Firmware/communication/communication.cpp
index 625a3cf7..7c08654a 100644
--- a/Firmware/communication/communication.cpp
+++ b/Firmware/communication/communication.cpp
@@ -163,8 +163,11 @@ static inline auto make_obj_tree() {
             make_protocol_object("gpio2_pwm_mapping", make_protocol_definitions(board_config.pwm_mappings[1])),
             make_protocol_object("gpio3_pwm_mapping", make_protocol_definitions(board_config.pwm_mappings[2])),
 #endif
-            make_protocol_object("gpio4_pwm_mapping", make_protocol_definitions(board_config.pwm_mappings[3]))
-        ),
+            make_protocol_object("gpio4_pwm_mapping", make_protocol_definitions(board_config.pwm_mappings[3])),
+
+            make_protocol_object("gpio3_analog_mapping", make_protocol_definitions(board_config.analog_mappings[2])),
+            make_protocol_object("gpio4_analog_mapping", make_protocol_definitions(board_config.analog_mappings[3]))
+            ),
         make_protocol_object("axis0", axes[0]->make_protocol_definitions()),
         make_protocol_object("axis1", axes[1]->make_protocol_definitions()),
         make_protocol_object("can", can1_ctx.make_protocol_definitions()),
diff --git a/docs/troubleshooting.md b/docs/troubleshooting.md
index c05c7f92..c5556d02 100644
--- a/docs/troubleshooting.md
+++ b/docs/troubleshooting.md
@@ -14,21 +14,9 @@ Table of Contents:
 <!-- /TOC -->
 
 ## Error codes
-If your ODrive is not working as expected, run `odrivetool` and type `hex(<axis>.error)` <kbd>Enter</kbd> where `<axis>` is the axis that isn't working. This will display a [hexadecimal](https://en.wikipedia.org/wiki/Hexadecimal) representation of the error code. Each bit represents one error flag.
-
-<details><summary markdown="span">Example</summary><div markdown="block">
-Say you got this error output:
-```python
-In [1]: hex(odrv0.axis0.error)
-Out[1]: '0x6'
-```
-
-Written in binary, the number `0x6` corresponds to `110`, that means bits 1 and 2 are set (counting starts at 0).
-Looking at the reference below, this means that both `ERROR_DC_BUS_UNDER_VOLTAGE` and `ERROR_DC_BUS_OVER_VOLTAGE` occurred.
-</div></details>
-
-The axis error may say that some other component has failed. Say it reports `ERROR_ENCODER_FAILED`, then you need to go check the encoder error: `hex(<axis>.encoder.error)`.
+If your ODrive is not working as expected, run `odrivetool` and type `dump_errors(odrv0)` <kbd>Enter</kbd>. This will dump a list of all the errors that are present. To also clear all the errors, you can run `dump_errors(odrv0, True)`.
 
+The following sections will give some guidance on the most common errors. You may also check the code for the full list of errors:
 * Axis error flags defined [here](../Firmware/MotorControl/axis.hpp).
 * Motor error flags defined [here](../Firmware/MotorControl/motor.hpp).
 * Encoder error flags defined [here](../Firmware/MotorControl/encoder.hpp).
diff --git a/tools/odrive/enums.py b/tools/odrive/enums.py
index 038b77cc..b82d180c 100644
--- a/tools/odrive/enums.py
+++ b/tools/odrive/enums.py
@@ -11,17 +11,47 @@ AXIS_STATE_ENCODER_INDEX_SEARCH = 6
 AXIS_STATE_ENCODER_OFFSET_CALIBRATION = 7
 AXIS_STATE_CLOSED_LOOP_CONTROL = 8
 
-AXIS_ERROR_NONE = 0
-AXIS_ERROR_INVALID_STATE = 1
-#AXIS_ERROR_DC_BUS_UNDER_VOLTAGE = 2
-#AXIS_ERROR_DC_BUS_OVER_VOLTAGE = 3
-#AXIS_ERROR_CURRENT_MEASUREMENT_TIMEOUT = 4
-#AXIS_ERROR_CONTROL_LOOP_TIMEOUT = 5
-#AXIS_ERROR_MOTOR_FAILED = 6
-#AXIS_ERROR_SENSORLESS_ESTIMATOR_FAILED = 7
-#AXIS_ERROR_ENCODER_FAILED = 8
-#AXIS_ERROR_CONTROLLER_FAILED = 9
-#AXIS_ERROR_POS_CTRL_DURING_SENSORLESS = 10
+class errors:
+    class axis:
+        ERROR_NONE = 0x00
+        ERROR_INVALID_STATE = 0x01 #<! an invalid state was requested
+        ERROR_DC_BUS_UNDER_VOLTAGE = 0x02
+        ERROR_DC_BUS_OVER_VOLTAGE = 0x04
+        ERROR_CURRENT_MEASUREMENT_TIMEOUT = 0x08
+        ERROR_BRAKE_RESISTOR_DISARMED = 0x10 #<! the brake resistor was unexpectedly disarmed
+        ERROR_MOTOR_DISARMED = 0x20 #<! the motor was unexpectedly disarmed
+        ERROR_MOTOR_FAILED = 0x40 # Go to motor.hpp for information, check odrvX.axisX.motor.error for error value 
+        ERROR_SENSORLESS_ESTIMATOR_FAILED = 0x80
+        ERROR_ENCODER_FAILED = 0x100 # Go to encoder.hpp for information, check odrvX.axisX.encoder.error for error value
+        ERROR_CONTROLLER_FAILED = 0x200
+        ERROR_POS_CTRL_DURING_SENSORLESS = 0x400
+
+    class motor:
+        ERROR_NONE = 0
+        ERROR_PHASE_RESISTANCE_OUT_OF_RANGE = 0x0001
+        ERROR_PHASE_INDUCTANCE_OUT_OF_RANGE = 0x0002
+        ERROR_ADC_FAILED = 0x0004
+        ERROR_DRV_FAULT = 0x0008
+        ERROR_CONTROL_DEADLINE_MISSED = 0x0010
+        ERROR_NOT_IMPLEMENTED_MOTOR_TYPE = 0x0020
+        ERROR_BRAKE_CURRENT_OUT_OF_RANGE = 0x0040
+        ERROR_MODULATION_MAGNITUDE = 0x0080
+        ERROR_BRAKE_DEADTIME_VIOLATION = 0x0100
+        ERROR_UNEXPECTED_TIMER_CALLBACK = 0x0200
+        ERROR_CURRENT_SENSE_SATURATION = 0x0400
+
+    class encoder:
+        ERROR_NONE = 0
+        ERROR_UNSTABLE_GAIN = 0x01
+        ERROR_CPR_OUT_OF_RANGE = 0x02
+        ERROR_NO_RESPONSE = 0x04
+        ERROR_UNSUPPORTED_ENCODER_MODE = 0x08
+        ERROR_ILLEGAL_HALL_STATE = 0x10
+        ERROR_INDEX_NOT_FOUND_YET = 0x20
+
+    class controller:
+        ERROR_NONE = 0
+        ERROR_OVERSPEED = 0x01
 
 MOTOR_TYPE_HIGH_CURRENT = 0
 #MOTOR_TYPE_LOW_CURRENT = 1
diff --git a/tools/odrive/shell.py b/tools/odrive/shell.py
index 117907bb..c25278e3 100644
--- a/tools/odrive/shell.py
+++ b/tools/odrive/shell.py
@@ -5,7 +5,7 @@ import threading
 import fibre
 import odrive
 import odrive.enums
-from odrive.utils import start_liveplotter
+from odrive.utils import start_liveplotter, dump_errors
 #from odrive.enums import * # pylint: disable=W0614
 
 def print_banner():
@@ -76,7 +76,8 @@ def launch_shell(args, logger, app_shutdown_token):
     """
 
     interactive_variables = {
-        'start_liveplotter': start_liveplotter
+        'start_liveplotter': start_liveplotter,
+        'dump_errors': dump_errors
     }
 
     # Expose all enums from odrive.enums
diff --git a/tools/odrive/utils.py b/tools/odrive/utils.py
index 0dde8387..be8a5f4b 100755
--- a/tools/odrive/utils.py
+++ b/tools/odrive/utils.py
@@ -7,6 +7,7 @@ import platform
 import subprocess
 import os
 from fibre.utils import Event
+from odrive.enums import errors
 
 try:
     if platform.system() == 'Windows':
@@ -19,13 +20,48 @@ except ImportError:
     sys.stdout.flush()
     pass
 
-data_rate = 100
-plot_rate = 10
-num_samples = 1000
+_VT100Colors = {
+    'green': '\x1b[92;1m',
+    'cyan': '\x1b[96;1m',
+    'yellow': '\x1b[93;1m',
+    'red': '\x1b[91;1m',
+    'default': '\x1b[0m'
+}
 
 class OperationAbortedException(Exception):
     pass
 
+def dump_errors(odrv, clear=False):
+    axes = [axis for name, axis in odrv._remote_attributes.items() if 'axis' in name]
+    for num, axis in enumerate(axes):
+        print('Axis{}:'.format(num))
+
+        # Flatten axis and submodules
+        # (name, remote_obj, errorcode)
+        module_decode_map = [
+            ('axis', axis, errors.axis),
+            ('motor', axis.motor, errors.motor),
+            ('encoder', axis.encoder, errors.encoder),
+            ('controller', axis.controller, errors.controller),
+        ]
+
+        # Module error decode
+        for name, remote_obj, errorcodes in module_decode_map:
+            prefix = ' '*2 + name + ": "
+            if (remote_obj.error != errorcodes.ERROR_NONE):
+                print(prefix + _VT100Colors['red'] + "Error(s):" + _VT100Colors['default'])
+                errorcodes_tup = [(name, val) for name, val in errorcodes.__dict__.items() if 'ERROR_' in name]
+                for codename, codeval in errorcodes_tup:
+                    if remote_obj.error & codeval != 0:
+                        print("    " + codename)
+                if clear:
+                    remote_obj.error = errorcodes.ERROR_NONE
+            else:
+                print(prefix + _VT100Colors['green'] + "no error" + _VT100Colors['default'])
+
+data_rate = 100
+plot_rate = 10
+num_samples = 1000
 def start_liveplotter(get_var_callback):
     """
     Starts a liveplotter.