Sapog v2.0 has been released. Abridged change log is provided here; please refer to the release page at github.com/PX4/sapog/releases/tag/v2.0 for the complete change log.
[li] Completely new, much more reliable spin up algorithm[/li]
[li] Significantly more reliable operation during rapid acceleration and deceleration, especially at high advance angles.[/li]
[li] PWM frequency range changed to 20…75 kHz.[/li]
[li] Raised the maximum RPM limit; for 14 pole motor the maximum is now 14285 mechanical RPM.[/li][/ul]
Grab the sources from GitHub at files.zubax.com/products/io.px4.sapog/