add phase_interpolation_min_vel setting

Firmware/MotorControl/encoder.cpp

@@ -792,6 +792,9 @@ bool Encoder::update() {
         vel_estimate_counts_ = 0.0f;  //align delta-sigma on zero to prevent jitter
         snap_to_zero_vel = true;
     }
+    if (std::abs(vel_estimate_counts_ / (float)config_.cpr) < config_.phase_interpolation_min_vel) {
+        snap_to_zero_vel = true;
+    }
 
     // Outputs from Encoder for Controller
     pos_estimate_ = pos_estimate_counts_ / (float)config_.cpr;

Firmware/MotorControl/encoder.hpp

@@ -35,6 +35,7 @@ public:
         int32_t direction = 0; // direction with respect to motor
         bool use_index_offset = true;
         bool enable_phase_interpolation = true; // Use velocity to interpolate inside the count state
+        float phase_interpolation_min_vel = 0.0f;
         bool find_idx_on_lockin_only = false; // Only be sensitive during lockin scan constant vel state
         bool ignore_illegal_hall_state = false; // dont error on bad states like 000 or 111
         uint8_t hall_polarity = 0;

Firmware/odrive-interface.yaml

@@ -981,6 +981,9 @@ interfaces:
           direction: int32
           pre_calibrated: {type: bool, c_setter: set_pre_calibrated}
           enable_phase_interpolation: bool
+          phase_interpolation_min_vel:
+            type: float32
+            unit: turns/s
           bandwidth: {type: float32, c_setter: set_bandwidth}
           calib_range: float32
           calib_scan_distance: float32