P7 model parameter (El encoder offset) was taken out and put into the controller parameter 1.20.21. Tape measure test before and after confirms that the sign was correct (difference of 1mm before and after).
Also moved soft El limit to 5.0 degrees and tested hard limits weren't tripped in velocity mode for either high or low limits.
More detailed notes on what was done in the Antenna Pointing Solutions page. New pointing model as before but P7 is now zero. A complete model should be determined some time soon.