Merge pull request #277 from madcowswe/rc

Release of firmware v0.4.7

Author: madcowswe

CHANGELOG.md

@@ -2,6 +2,25 @@
 Please add a note of your changes below this heading if you make a Pull Request.
 
 # Releases
+## [0.4.7] - 2018-11-28
+### Added
+* Overspeed fault
+* Current sense saturation fault.
+* Supress startup transients by sampling encoder estimate into position setpoint when entering closed loop control.
+* Make step dir gpio pins configurable.
+* Configuration variable `encoder.config.zero_count_on_find_idx`, true by default. Set to false to leave the initial encoder count to be where the axis was at boot.
+* Circular position setpoint mode: position setpoints wrapped [0, cpr). Useful for infinite incremental position control.
+* Velocity setpoint ramping. Use velocity control mode, and set `controller.vel_ramp_enable` to true. This will ramp `controller.vel_setpoint` towards `controller.vel_ramp_target` at a ramp rate of `controller.config.vel_ramp_rate`.
+
+### Changed
+* Increased switching frequency from around 8kHz to 24kHz. Control loops still run at 8kHz.
+* Renamed `axis.enable_step_dir` to `axis.step_dir_active`
+* New process for working with STM32CubeMX.
+
+### Fixed
+* Would get ERROR_CONTROL_DEADLINE_MISSED along with every ERROR_PHASE_RESISTANCE_OUT_OF_RANGE.
+* ODrive tool can now run interactive nested scripts with "%run -i script.py"
+
 ## [0.4.6] - 2018-10-07
 ### Fixed
 * Broken printing of floats on ascii protocol