Jacques Gangloff

Hi Steffen, Thanks for your feedback. The blue and yellow traces are the RPM of two motors running simultaneously at different speed (resp. throttle 1076 and 1168) sampled at 200Hz....

 This is a step response of a motor speed regulation loop with BLHeli 32.7 using bidirectional DSHOT ERPM feedback. The velocity measurement is filtered with a 150Hz cutting frequency...

> Thanks again for the info. We will surely dig into this. Would you be willing to test experimental codes to help diagnose this? Which exact code does your ESC...

Dear Steffen, We tested the 3 experimental firmwares at 2 speeds: 4000 rpm and 15000 rpm. Below, the results. I would like to thank my PhD student [Miguel Arpa Perozo](https://github.com/MigAP)...

> So at 15000 rpm, there is not much difference in noise. > > > > But at 4000 rpm, 32P8 is a lot more noisy than 32P7, maybe due...

So I had just the confirmation that all the experiments were made with PWM min = PWM max = 48kHz. Below, you will find zoomed out plots where the spikes...

Thanks a lot for this fix. We will send you extensive tests of the firmware candidate, probably tomorrow. We will test it over a larger speed range (3000-25000rpm) and also...

Below you will find plots with the 32.81 firmware at 24kHz and 48kHz. The noise at 24kHz is not very different in amplitude though it seems sub-sampled wrt 48kHz, which...

> which should make it worth publishing this fix for all targets. Yes, it definitely desserves publication. Thanks for continuing investigating and improving this firmware. Best, Jacques