I was running v4.12 VESCS with v3.3x firmware, and was having trouble with my motors cogging too much at low-moderate speed and high throttle input. Thinking that it had something to do with the FOC parameters, I flashed the VESCs with v2.18 firmware, and re-ran motor detection. The values returned were different, which I then applied to VESCs after reflashing them with v3.3x firmware again- this resulted in a huge improvement in performance- some cogging still occurs, but I could probably just raise my sensorless minimum ERPM up to 8000 or so and live with it.
So why did detection return different values between the firmware versions? Some values stayed pretty much the same, but L for example changed by over x2
Comparing detected/calc’ed parameters between v3.3x and v2.18 firmware: R from 220mOhm to 195mOhm L from 60uH to 140uH lambda stayed about the same Observer gain from 6 to 7 Current Kp from 0.06 to 0.1415 Current Ki from 225 to 195