v6.5 PIN Lock Release

Includes full PIN Lock support - See https://pev.dev/t/new-feature-spec-pin-locking/815/4 for full details.

v6.2 bms/pinlock release with tronic X12 and thor300 firmware

Includes full PIN Lock support - See https://pev.dev/t/new-feature-spec-pin-locking/815/4 for full details.

Other improvements in this firmware:
-Field weakening is disabled below sensorless transition erpm to eliminate torque loss at low speed
-Thor300 momentary button support

Firmware bin files archive below (ZIP) - don't forget to backup/restore

V6.2 Firmware with BMS State and PIN Lock support

Requires my custom firmware in your XLite V3 for all features, and an updated float package (use the latest v1.4 release or look for bms branch in vesc_pkg if you want to build yourself)
Includes full PIN Lock support - See https://pev.dev/t/new-feature-spec-pin-locking/815/4 for full details.

Other improvements in this firmware:
-reject motor config writes and other dangerous VESC Tool commands above 500erpm
-BMS SOC limiting is entirely disabled (regardless of what's configured in the tool)
-Field weakening is disabled below sensorless transition erpm to eliminate torque loss at low speed
-Floatwheel ADV specific firmware
-Tronic firmware
-Fix for odometer on Floatwheel

Firmware bin files archive below (ZIP) - don't forget to backup/restore
VESC Package below as well (load as "Custom" package) - compatible with 1.2/1.3/1.4 float packages

V6.2 Firmware with PIN Lock support

This is for people testing the new PIN lock feature with Float Control.

See https://pev.dev/t/new-feature-spec-pin-locking/815/4 for full details.

Other improvements in this firmware:
-reject motor config writes above 500erpm
-BMS SOC limiting is entirely disabled (regardless of what's configured in the tool)
-Field weakening is disabled below sensorless transition erpm to eliminate torque loss at low speed
-Floatwheel ADV specific firmware
-Fix for odometer on Floatwheel

5.3.006 Stable - obsolete (use 6.2!)

The nose dips are now a thing of the past. Bump compensation has been removed. Instead there's Mitch's new magic filter virtually eliminating any IMU confusion caused by bumps!

To enable it make sure you set the D-term PT1 lowpass filter (in Balance - Tune) to 2Hz.
You can try values > 2Hz if you feel like you experience any side effects and would like to reduce their impact.
Values of 0 or 1Hz disable the lowpass filter (if you want to experience nosedips or make sure it's not just placebo)

Please read the release notes for 5.3.004 and 5.3.002 for all the other features (they are still important, but you can ignore bump compensation)

Other new things in this release:
UBox100 support (with servo buzzer support)
CAN-based BMS isn't allowed to limit current/voltage
Prevent writes to app config while riding

How to load?
https://pev.dev/t/how-to-load-new-firmware/73