Investigate AS5600 Position Drift on Moteus Controllers

[VladimirKupryukhin]

Context

We use the AS5600 encoder (these) in order to measure the position of output shafts. As of now, it is only the arm that uses these. For some reason, the position that these report slowly drift to a higher/lower value despite not physically moving the shaft. After drifting for a really long time, power cycling the Moteus controller resets the position back to the expected value. Data is sent over I2C from the encoder to the Moteus controller.

Task

Figure out the core issue for the reason for this drift. If possible, solve this issue.