add option to force precalib setting to bypass check

Firmware/MotorControl/encoder.cpp

@@ -127,6 +127,8 @@ void Encoder::update_pll_gains() {
 }
 
 void Encoder::check_pre_calibrated() {
+    if (config_.override_precal_check)
+        return;
     // TODO: restoring config from python backup is fragile here (ACIM motor type must be set first)
     if (axis_->motor_.config_.motor_type != Motor::MOTOR_TYPE_ACIM) {
         if (!is_ready_)

Firmware/MotorControl/encoder.hpp

@@ -27,6 +27,7 @@ public:
         int32_t cpr = (2048 * 4);   // Default resolution of CUI-AMT102 encoder,
         float index_offset = 0.0f;
         bool use_index = false;
+        bool override_precal_check = false; // If true, apply pre_calibrated unconditionally
         bool pre_calibrated = false; // If true, this means the offset stored in
                                     // configuration is valid and does not need
                                     // be determined by run_offset_calibration.

Firmware/odrive-interface.yaml

@@ -1088,6 +1088,7 @@ interfaces:
           phase_offset: int32
           phase_offset_float: float32
           direction: int32
+          override_precal_check: bool
           pre_calibrated: {type: bool, c_setter: set_pre_calibrated}
           enable_phase_interpolation: bool
           bandwidth: {type: float32, c_setter: set_bandwidth}