Hello,
What are the benefits of using inertia feed-forward in Position Filter mode?
Will it allow the ODrive to handle more aggressive acceleration changes? When calculating the total system inertia, should the motor’s rotor inertia be included along with the load inertia?
Hi! Apologies for the delay in my response 
If you know your system’s inertia (which includes all inertia – rotor + load), then turning it on is strictly a benefit. Specifically, it’ll allow it to auto-calculate torque feedforwards to better track the position profile, so yes, it’ll help with transient performance.