Hi Anton,
There are two parameters that need to be adjusted in the voltage control mode to improve the step response. They are described in this post. Increasing the current sense resistors reduces the noise. It allows to increase the current m.current_ctl_bw.
If you don’t want to increase the resistance you can try to increase the parameters o.ekf.q_id and o.ekf.q_iq for example up to 14000 and 33000.
The v0.3 release doesn’t fully support the mitochondrik unfortunately. Please upload the latest stable firmware version supporting all Mitochondrik’s features com.zubax.telega-1-0.3.ab5f2ae9.application.bin (265.9 KB).
Yes, the command is 1002 (decimal). There’s no more commands now. But they willbe added later.