Motor stutters in FOC mode when full throttle

Hey! I have a problem that when i go full throttle the motor starts stuttering. It only happens in FOC mode and I don’t understand why or what settings to change. I use the Maytech MTSVESC6.0 based 200A VESC, 6374 192 kv sensorless motor and a 10s4p 30q battery. I have changed the motor amp, the battery amp and the obersver gain but that won’t solve the problem.