Startup_sensorless_control at set RPM

I was able to set up the drive in sensorless-velocity control mode and run a motor on a bench, however, when I set:

odrv0.axis0.controller.vel_setpoint = 0 #The drive stops here
odrv0.axis0.config.startup_sensorless_control = True

and power-cycle the drive, it boots and begins running in sensorless velocity control at 400rpm.

For my project, I need the system to boot in sensorless velocity control mode at 0rpm (So the system doesn’t drive away when I turn it on and the rest of the control systems boot up). Currently, I am booting in idle, then setting the rpm and then initializing sensorless control mode once the control systems are up and running. Even then, when I run:

odrv0.axis0.controller.vel_setpoint = 0

odrv0.axis0.requested_state = AXIS_STATE_SENSORLESS_CONTROL

it begins spinning at 400rpm.
Surely I am missing something, since no application I can think of would want a drive to actuate on startup like this.

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The setting you are looking for is odrv0.axis0.config.spin_up_target_vel.

Hi, I’m using ODrive 3.6Hw with 0.5.1 firmeware to Drive XXD2212 Motor and I want using Sensorless mode ,And wana Know a Complete Configure step