Hi,
I’m having title issue with POS_FILTER input mode. When I’m using that input mode and entering to closed loop control, odrive sets input_pos to zero and then back to position where motor was when command was sent. It also tries to move motor to that position, but usually gives current error. I’m pretty sure that this was working differently earlier. If I use PASSTHROUGH mode there is no such problem: it will keep same position where motor was when closed loop command was sent. I can bypass this issue by entering to closed loop control using passthrough input mode and then change it to pos filter mode. I hope there is some solution for this 
Thanks in advance.