another way for self centering. for airplane yokes/rudder pedals.

[nhy6iii]

because yokes have strong physical stops, and and N notch on encoder can be seen couple times in range of motion between stops (pitch) or not at all (roll) (or current position is after N notch)

So my proposition:
on start with settable maximum current and speed. go to one end stop and than to another end stop.
there should be information about how many "encoder tics" are between stops.
so range of motion should be limited as: don't use number of "encoder tics" from the left, and separate from the right.

to be possible to use range from 20-80mm range of pitch when from stop to stop is ex 0-200mm
center position should be of course in middle of used range. (ffb end-stop still should be used if range of motion is limited)

idea how it could work at startup:
checking on startup will only check if number of tics are the same as during "force encoder alignment" if not error. (but in that situation not looking for N notch but counting how many tics are between stops)

few tics difference at startup could be taken/added from one (or equal from both) dead zone. (if is not enough "tics" to take than error)