Hi there. ODrive is so good board, and thanks it uses normal STM32 I developed FBB joystick on it. I use ODrive as hardware only, with a custom firmware. And yep, it works! 
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Sweet! Do you use the FOC control from the ODrive code?
No. It was too complicated for me to understand it. So i used simple naive implementation of FOC with sinusoidal controll.
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