blezalex

I also noticed that some motors have hal sensors installed pretty badly: As you can see, the angle between hal reading changes are far from theoretical 60 degrees. I want...

Thank you for explaining the logic of pll_run. What is the main advantage of using PI controller VS a low pass filter or something else? I believe current approach gives...

I can see how cogging can cause issues at very low speeds, but I don't think i'm running my motors in that speed range. The picture I posted is from...

ok. looks like m_motor_state.phase does take "true" rotor position. But hal detection code is still confusing me. Detection code sets angle in openloop 0-360. When m_phase_now_override is set to 0,...

There are some good improvements made to vesc code, helping fight the noise picked up on hal wires. The link you sent may be describing, many things: - incorrect detection...

Tested on my system, works nice, thank you for a valuable contribution!