I think Yes. as early as 3.17
However, it’s true that several of us have seen more noise than desired anyhow.
and I note that @Deodand slowed the LP filter down for stormcore and unity and Benjamin seems to have applied that change to all hardware a few days later. all that is in fw5.0
So… I think that fw5.0 might actually be a fix for wild temperature sensor values that existed from the beginning of vesc. hw and cabling dependent obviously. or it’d be a bigger deal than it was.
Except… there’s the median filter bug, introduced the in the same fw5.0 commit that added the slower LPF,
and then fixed later in fw5.2 (on dev branch)