Add Gen6 hybrid ADRC+MPCC demo (hardware + sim) - #41

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saeed95-lab wants to merge 16 commits into

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feature/gen6-hybrid-adrc-mpcc

Commits on Aug 4, 2026

Add Gen6 hybrid ADRC+MPCC demo for hardware and sim testing.

saeedamooei
and
cursoragent
committed
255cdb8
Fix hybrid firmware compile: remove */ inside block comments.

saeedamooei
and
cursoragent
committed
b5a6e1b
Add telemetry
datacrystals
committed
06d90f5
Harden hybrid ADRC+MPCC for clean Gen6 spin and current.

saeedamooei
and
cursoragent
committed
b4f9a51
second run, did nothing, likely bug
datacrystals
committed
1a498a6
Restore Mode-3 deadbeat+Ki in hybrid so Gen6 can spin again.

saeedamooei
and
cursoragent
committed
e2af843
Fix DTCMRAM overflow: move hybrid controller state to AXISRAM.

saeedamooei
and
cursoragent
committed
3346fe8
Hybrid new test, huge 300a spikes
datacrystals
committed
7362a63
Clear NOLOAD hybrid state before use to stop AXISRAM garbage spikes.

saeedamooei
and
cursoragent
committed
f89fe0c
Same problem, 400a spikes now
datacrystals
committed
e936da9
Fix Theta_E wrap spikes that drove HybridADRCMPC-4 overcurrent.

saeedamooei
and
cursoragent
committed
3176c03
Worked great then blew up 600 amps
datacrystals
committed
923b8d7
Worked great then blew up 200 amps
datacrystals
committed
f32e340
stable, speed control not working
datacrystals
committed
3a37612
Add 55 V demo speed loop and voltage-headroom safeguards.

saeedamooei
and
cursoragent
committed
bd9788a
Restore FOC-like current mode: IqVar is amps again.

saeedamooei
and
cursoragent
committed
b1e5163