1.6.0 (2021-04-08)

API changes:
- New packet format for firmware 7
New features:
- UDP support for firmware 7
  - Compiles and tested on Linux, Windows and MacOS
  - Uses link local
  - Detects MTU on network interface
- Most applications support option to set port (e.g. -pudp, -pfw, -pfw:1...)
- Improved and tested velocity estimation with firmware 6 and 7, code cleanup
- qladisp
  - Option to use different FireWire protocol (broadcast)
  - Display more information
  - Can be used to read from multiple boards, display data for first 2
  - Power functions can be used per axis or for all
- Utilities
  - Added qlacommand (replaces qlacloserelays) with commands to reboot, close/open relays, reset encoder offset, ethernet chip...
  - Added pgm1394multi script to upload firmware on multiple boards
- Added method to test if encoders are preloaded to save time when homing
- Added data collection from FPGA with firmware 7
Bug fixes:
- Code refactorization and cleanup
- qladisp resets the encoder preloads to midrange on exit
- See Github

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