> ## Documentation Index > Fetch the complete documentation index at: https://mintlify.com/vedderb/bldc/llms.txt > Use this file to discover all available pages before exploring further. # Changelog > Release history for VESC firmware from version 6.02 through 7.00. This page covers recent firmware releases. The current firmware version is **7.00** (development), as defined in `conf_general.h`: ```c theme={null} #define FW_VERSION_MAJOR 7 #define FW_VERSION_MINOR 00 #define FW_TEST_VERSION_NUMBER 1 ``` The full changelog is available in [`CHANGELOG.md`](https://github.com/vedderb/bldc/blob/master/CHANGELOG.md) in the repository. Current development branch. No release date set. **Motor control** * Configurable HFI reset ERPM. * Removed D-axis gain scaling parameters. * Sin/Cos encoder filter delay compensation. * Moved field weakening to fast loop for better stability. * New AB encoder sensor mode for encoders without an index pulse. Patch release on top of 6.06. * Persistent CAN ID and CAN baud rate across firmware updates. * Better current controller circle limiting. **LispBM scripting** * New core extensions, optimization, and much more unit testing. * Many bug fixes in the reader. * Moved `const` memory into its own flash sector. * Added `const-heap-erase` extension. * Added mutex support. * Added `can-ping` extension. * LBM Image support: super-fast boot, easier `const` blocks, automatic rebuild when needed. * Added `conf-detect-lambda-enc`. * Added many configuration parameters. **Motor control** * New offset calibration modes and automatic offset calibration. * Added HFI ambiguity resolution modes using id injection. * Overmodulation support. * Added PWM and PWM+ABI encoder modes. * Detect encoder parameters during flux linkage detection. **Communication** * Support for coordinated CAN baud rate update. **LispBM scripting** * `var` support in `progn`; curly brackets as `progn` shorthand. * Added `set`, `setq`, `defunret`. * Support for detaching individual ADCs. * Added `set-encoder`, `conf-restore-mc`, `conf-restore-app`, `conf-dc-cal`. * Code and data can be moved to flash. * Incremental code upload. * Removed typed arrays (byte arrays only). * Added position extensions, `phase-hall`, `loopwhile-thd`, `can-recv-sid`, `can-recv-eid`. * Added `foc-play-tone`, `foc-play-stop`, `foc-play-samples`. * Added `shutdown-hold`, `crc32`, `rand`, `app-adc-range-ok`. * Built-in fast sort function. * Thread profiler support. * Flat value support. * `recv-to` with timeout argument. * Remote message extensions. * Massive performance boost for string functions and 64-bit operations. * Better error descriptions. **Hall sensors** * Smooth transition to sensorless mode. * Bug fix in interpolation. * Less noisy speed estimator for interpolation. * Adjusted rate limit. **Motor control** * Added soft regen cutoff. * MTPA and field weakening input current limiting attempt. * Removed built-in balance app (use the balance package instead). * Added option to select PID controller speed source. * Persistent odometer without dedicated shutdown switch. * Dual motor flux linkage measurement current spike bug fix. * Runaway fix after faults during open-loop measurements. * Additional current sampling modes. * FOC interpolation mode. * Passive flux linkage measurement. * Braking glitch fixes. * Configurable HFI error truncation for noise rejection. * Option to short low-side phases on zero duty. * Added MXV observer type. * Removed GPDrive. **LispBM scripting** * Bug fixes. * Added `floor`, `ceil`, `round`. * Added resistance, inductance, and flux linkage estimator functions. * Added `adc_ctrl_type` setting. * Added `app_is_disabled`. * Added ICU driver. * Inductance measurement support. * Rewrote the event system. * Added `canget-vin`, `hw-type` sysinfo, `crc16` extension. **Firmware** * IMU filtering changes and new defaults. * Increased hall sensor switch hysteresis. * Added and updated hardware configs. * Fixed systime overflow. * Various CAN command fixes. Major release introducing LispBM scripting and significant motor control improvements. **Core** * Added stack checks. * Release motor fix when `cc_min_current` is 0. * Added sandboxed Lisp scripting via [LispBM](https://github.com/svenssonjoel/lispBM). * Added support for dynamic loading of C libraries. * Flash writes now work on lower MCU voltages. * Added `fwinfo` terminal command. * CAN status messages now configured via bitfields; two configurable send rates. **Temperature sensors** * Added NTC and PTC support with custom resistance and base temperature. * Added PT1000 temperature sensor support. **Motor control** * New silent HFI mode with much better performance at high load. * Second silent HFI mode, less sensitive to inductance accuracy. * Added openloop current boost and max parameters. * Added more observers: mxlemming, Ortega with flux linkage tracking, mxlemming with flux linkage tracking. **Application** * Added ADC min/max voltage limits for throttle fault detection. * APP ADC button bitfield and CC disable support. * Added BissC encoder support. * Added AS5x47 encoder support. * Added TLE5012 encoder support. * Disabled BMS limit options. * Better detection fault handling and reporting. * Encoder driver split and rewrite for easier multi-encoder support. **BMS** * Disable BMS limit configuration options added. **IMU** * No specific changes noted; general stability improvements. **Motor control** * Fixed inductance measurement bug. * Speed tracker windup protection. * Phase filter support. * Phase voltage offset calibration. * Better current offset calibration. * Synchronize observer state when running in open loop. * Force observer state magnitude above 50% of flux linkage (prevents motor getting stuck). * Observer global convergence update (helps tracking through zero speed). * Added HFI start sensor mode. * Field weakening support (experimental). * Used filtered current for axis decoupling. * Better current controller windup protection. * Added MTPA mode based on measured current. * Faster overvoltage protection. * Compensate inductance for motor saliency in observer. **Applications and peripherals** * Added power switch commands. * Added kill switch support. * Added servo\_out\_enable app config option. * Added process derivative term to position controller. * Added position PID angle offset. * Configurable PID controller rate. * Added several AUX port modes. * Added configurable safe start modes. * Added constant torque PAS mode. * Added fusion IMU filter. * Major UAVCAN update. **System** * Added custom UI support (QML). * Odometer is now persistent after firmware updates. * Added hardware runtime counter. * Added statistics counters. * Correct scaling for resistance and inductance. * Low-pass filter on input voltage. * Dual hardware CAN scan fix. * Disable motor for 5 seconds after flash operations. * Added configurable observer offset. * Added `p_pid_gain_dec_angle` parameter. * TEMP\_SENSOR\_KTY84\_130 support. * Added raw sampled data mode.