# MAXSpline Encoder Firmware Changelog

### Version 26.1.2

* Adds new status period get/set commands
* Fixes issue where updating from other firmware versions will reset the CAN ID
* Adds the ability to adjust the absolute position output (period, minimum high time, minimum low time)
* Updates default status frame periods
  * Status 0 - 250ms
  * Status 1 - 100ms
  * Status 2 - 20ms
  * Status 3 - 20ms
  * Status 4 - 20ms

### Version 26.1.1

* Fixes 'Set Periodic Frame Period' response command
* Fixes 'Get Periodic Frame Period' command
* Fixes angle conversion factor not being applied to the angle value

### Version 26.1.0

* Adds angle conversion factor
* Improves velocity measurements
* Adds velocity averaging
* Fixes led status flickering when intermittent errors occur
* Adds identify command
* Adds raw angle position in status 2
* Corrects angle offset behavior

Note: ABI output does not currently respect the inverted setting