Addressed PR comments

Updated API Migration Notes
Changed Axis error that is thrown for over temp from ERROR_OVER_TEMP to ERROR_MOTOR_FAILED
Moved setting of thermistor_.motor_ = this from motor apply_config() to motor constructor
Moved motor_thermistor apply_config call from Motor to config_apply_all() in main.cpp

CHANGELOG.md

@@ -13,6 +13,7 @@ Please add a note of your changes below this heading if you make a Pull Request.
 
 ### API Migration Notes
 
+* `odrive.axis.fet_thermistor`, `odrive.axis.motor_thermistor` moved to `odrive.axis.motor` object
 * `enable_uart` and `uart_baudrate` were renamed to `enable_uart0` and `uart0_baudrate`.
 * `enable_i2c_instead_of_can` was replaced by the separate settings `enable_i2c0` and `enable_can0`.
 * `<axis>.motor.gate_driver` was moved to `<axis>.gate_driver`.

Firmware/MotorControl/main.cpp

@@ -104,6 +104,7 @@ static bool config_apply_all() {
                && axes[i].min_endstop_.apply_config()
                && axes[i].max_endstop_.apply_config()
                && motors[i].apply_config()
+               && motors[i].motor_thermistor_.apply_config()
                && axes[i].apply_config();
     }
     return success;

Firmware/MotorControl/motor.cpp

@@ -21,6 +21,8 @@ Motor::Motor(TIM_HandleTypeDef* timer,
         fet_thermistor_(fet_thermistor),
         motor_thermistor_(motor_thermistor) {
     apply_config();
+    fet_thermistor_.motor_ = this;
+    motor_thermistor_.motor_ = this;
 }
 
 // @brief Arms the PWM outputs that belong to this motor.
@@ -70,9 +72,6 @@ bool Motor::apply_config() {
     config_.parent = this;
     is_calibrated_ = config_.pre_calibrated;
     update_current_controller_gains();
-    fet_thermistor_.motor_ = this;
-    motor_thermistor_.motor_ = this;
-    motor_thermistor_.apply_config();
     return true;
 }
 
@@ -118,12 +117,12 @@ bool Motor::do_checks() {
         return false;
     }
     if (!motor_thermistor_.do_checks()) {
-        axis_->error_ |= Axis::ERROR_OVER_TEMP;
+        axis_->error_ |= Axis::ERROR_MOTOR_FAILED;
         set_error(ERROR_MOTOR_THERMISTOR_OVER_TEMP);
         return false;
     }
     if (!fet_thermistor_.do_checks()) {
-        axis_->error_ |= Axis::ERROR_OVER_TEMP;
+        axis_->error_ |= Axis::ERROR_MOTOR_FAILED;
         set_error(ERROR_FET_THERMISTOR_OVER_TEMP);
         return false;
     }

Firmware/odrive-interface.yaml

@@ -355,6 +355,7 @@ interfaces:
             bit: 17
             doc: the min endstop was not enabled during homing
           OverTemp:
+            # unused
             doc: Check `motor.error` for more details.
       step_dir_active: readonly bool
       current_state: readonly AxisState