ODESC Tutorial Part 3 — Hall Speed Mode and PWM Control

I’m using an ofesc 3.6 in a combat robot.
The control signal comes from an RC receiver (servo-style PWM, 1000–2000 µs, neutral at 1500 µs).

At neutral stick, the motor still creeps very slowly due to small PWM drift/noise.

I couldn’t find any configuration for:
– deadband
– neutral zone
– minimum command threshold

Questions:
1. Is there any way to implement a true deadband directly inside ODrive (firmware or config)?
2. Are features like anti-cogging, input filtering, torque control, or endstops intended to address this use case?
3. What is the recommended architecture for safety-critical applications like combat robots?

Thanks.