Minimum Current Odrive Pro Firmware Modification

I previously made a winch (motor directly attached to a spool used to lift an object up and down with a thin line) using the Odrive v3.6 which used a custom firmware to set a minimum current. The purpose of the minimum current is to maintain a minimum line tension regardless of the winch’s position/velocity command. This helps prevent line tangles when the object being lifted by the winch hits the floor.

I’d like to do a similar setup using the Odrive Pro. I have not found any guidance for modifying the Odrive Pro firmware. Is it possible to get this access?

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