Hello,
is that normal, that the controller forgot the initial angle of the yaw-axis after a power-cycle?
I use the I2C-Encoder AS5048B for the yaw-axias and the standard Firmware V2.59b6.

Everytime i must set the mechanical position of the yaw-axis manually before i start the controller.... that is not comfortable.

What is the problem? The idea was to eliminate the problem of the "absolute and inital angle" with the digital encoder.