ChrisRosser

Nice idea. One approach could be to limit the max rotation rate to something pretty low like 100 deg/s when in FOAC mode. This should greatly reduce the chance of...

[Log.zip](https://github.com/betaflight/betaflight/files/15126420/Log.zip) Hi Supafly! Thanks for helping me with this. Here is the log file.

Yes each trace is taken during one acceleration run which takes approximately 2 seconds. Logging is at ~100Hz. RPM and torque are both mechanically measured: RPM using an optical tape,...

Here is a test at Dshot600  And Dshot600 with Low RPM power protect off  Wiggles still seem to be there.

Sure @cbf123 . Here it is! Does this suggest that something might be going on with commutation? ESC current and torque are not directly proportional. 

@sskaug Happy to test. MAMBA F55 128K 4110 I have to mention that a slow throttle ramp is a very different test from an inertial dyno run. Ramping throttle slowly...

Test results: MC Firmware  FC Firmware  BOTH Firmware  AM32 for Comparison  Analysis: Disabling BEMF Filter definitely improves Torque with no visible penalty in terms of current...

> Great to hear, thank you for testing. The effect from the bemf filter feature is noticeable but probably not very significant in most systems. And with "byRPM" pwm, it...

> The above plots are more informative than the initial plots you shared, as individual measurement points are now shown. What is it that determines the sample rate in your...

> The low rpm power protection scheme use has a lot of inheritance from older BLH versions, and looking at is it in detail, the quantization steps at high power...