Note: tested with gimbal motors on STM32G4 and SAMD21

Oh, and also important to mention: the change also implicitly, through its deltaT check, computes the velocity at most once per call to update() - since the timestamp is only updated during update().
So getVelocity() now has the same behaviour as getAngle(), where the value remains stable within one loop iteration, i.e. requiring a call to update() before the value changes.

I love it, its so simple and effective. That is more or less the solution I had in mind also. The only thing is that we might define this minDeltaT differently for different architectures. Like teensy/esp32/stm32g4/stm32f4 maybe go to 10us and the rest to 100us.
But exposing this variable is probably the best way to resolve this, leave it to the user to find the best value.

Im in for merging this :D

Ok then lets do it!