The whiteboard kAxis: who may write it, and through which door

One number through nine stops: the motor's pole pairs (5 on the SIL motor), which the parameter table keeps in four rows. kAxis and its 54 block structs, kAxisDw, the app table, the set_app_ front door (range check, refused while enabled, flux recomputed), the MAVLink debug link as a back door (pn set to 10 mid-move: the speed swings between −854 and +655 rpm, and a position following error trips at 28 ms), get_app_ copying 30 values back every position-loop tick, and the 448-row CSV behind it all, checked against the code by script.