The stat-zero-speed comes directly from the drive, 12th bit of the statusword.
No other processing is done. It seems there is some tolerance for zero.
Maybe your drive has some tolerance setting for this, mine didn't.
If the position is drifting in one direction I think you can check actual-velocity in hal
and switch modes when actual-velocity == 0.
Might combine this with oneshot component, so when actual-speed == 0,
you start oneshot to wait say 0.5 second before switching modes.
All done in hal at least when prototyping.
