> ## Documentation Index
> Fetch the complete documentation index at: https://motorbridge.seeedstudio.com/llms.txt
> Use this file to discover all available pages before exploring further.

# MotorBridge 0.4.7 Release Test Note

<Note>Source: `CHANGELOG.md`</Note>

# MotorBridge 0.4.7 Release Test Note

Date: 2026-06-16

## Summary

Hardens Damiao mode switching and parameter persistence, and relaxes the
`dm-serial` timeout budget.

## Version Alignment

| Component             | Version  |
| --------------------- | -------- |
| Git release tag       | `v0.4.7` |
| Rust workspace crates | `0.4.7`  |
| Python package        | `0.4.7`  |
| C++ package metadata  | `0.4.7`  |

## Key Changes

### Fixed

* Hardened Damiao `ensure_control_mode()` so mode switching stays within one
  shared timeout budget instead of serially reusing the full timeout across
  every internal step. Reduces `ensure_mode` timeouts on slower joints/adapters.
* Improved Damiao mode-switch preparation and verification by reusing the hold
  position read, validating register writes through write ACKs, and making
  parameter persistence behave more reliably on real hardware.
* Raised the `dm-serial` transport timeout from `1 ms` to `10 ms` to reduce
  cross-platform serial write failures under tighter adapter/driver timing.

## See Also

* [Changelog](/source/repository/changelog)