Thanks to the help from the community, recently we uncovered a hardware bug that affects all ODrives manufactured to date (v3.3 and earlier).

This bug is described in more detail here, and the fix is described in detail here.

In short, the bug means that the GND on the GPIO pins and the M1 motor gate driver has significant spikes of electrical noise. This causes glitches on the control signals on the GPIO pins, and motor control glitches on M1.

If you plan on using M1, it is strongly advised that you apply this fix. You can follow the instructions as linked above. If you do not feel comfortable applying the fix, you can also send the board to me (San Jose, CA, USA), and I will apply the fix for you, free of charge (you pay shipping to me, I pay shipping back to you). If you need help to apply the fix to your board, please email info@odriverobotics.com, and we can arrange it.

We have already started applying the fix to all the ODrive v3.3's:

The fix applied to an ODrive v3.3.

Applying the fix to all the ODrive v3.3.