Is there any code implemented to filter the current sense signals? The BLDC tool has the current filters in the current tab, and I got pretty good results filtering the data with an FIR filter. This seems like it would be pretty complicated to implement into the code myself. Since this was in the current tab, I figured it might be implemented in the firmware somewhere.
I did try changing the filter time constant (MCPWM_FOC_I_FILTER_CONST) in mcpwm_foc.h but it didn't seem to change anything. It looks like the firmware only uses the filtered value for overload sensing.
Discussions regarding the Field Oriented Control (FOC) implementation on the VESC.
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