ODriveMotor Control Mode Change Not Recognized by Lizard

[angelom93]

Issue Description: When the ODriveMotor is shut down, it resets its state, including the CONTROL_MODE. However, this change is not detected by Lizard. As a result, Lizard does not update the state of the ODrive before sending commands.

Expected Behavior: Lizard should recognize the state change of the ODriveMotor, including the CONTROL_MODE, and update the state accordingly before sending any commands.

[falkoschindler]

We just discussed this issue internally and came up with the following plan:

• [x] upgrade to ODrive 5.6 (i.e. Lizard will require this version)
• [x] read the motor error flag from the heartbeat message and store it in Lizard
• [ ] within a new step() function: if the last heartbeat message is older than e.g. 1 second, activate the error flag
• [x] within the set_mode() function: if the error flag is set, set axis_state and axis_control_mode to -1 (unknown) and exit early, i.e. don't send updates to the ODrive

This should correctly handle both cases, when the ODrive has been reset and lost its internal state as well as when the ODrive is in a motor error state.

[Johannes-Thiel]

This will be fixed with the PR #41.