Jerking when changing between accelerating and braking

Hey everyone, yet another cry of help post to add to the archive. I have a small issue that I've been puzzling over for almost a year at this point and I figured I would make a post and pick some brains to see if I can finally get this solved.

I have an electric motorcycle setup with a QS273 electric hub and a Trampa 100/250. I have the controller configured with a single throttle that supports both regen and acceleration in the same unit (Spin-y).

My issue essentially extends from that fact that when the throttle is hovering around the mid point (either slightly above or slightly below centre) the controller has a tendency to cause the motor to jerk during commutation. Its not a show stopping problem but has been cause for annoyance for a fair while. This jerking is more obvious when slowly changing from accelerating to braking however it can also appear when switching from braking to accelerating however it is frequently less noticeable when doing this. The jerking happens most when either slightly above or below the centre point as mentioned above. When quickly changing between accelerating and braking the issue happens significantly less (or is less noticeable).

VESC Tool Photos - https://drive.google.com/drive/folders/1jxAJiYrDIv_-YTr5AlLaBOnQrt-d8Tnn...

If any other screenshots are required please feel fee to ask.

My troubleshooting steps have been as follows:

• New throttle (regular with no regen travel, issue still occurs when setting a centre point for regen).
• Filtering on / off.
• Disabled regen (fixes issue).
• Added more input deadband (up to 50%) seems to help slightly but far from resolves the issue.
• Run detection on motor more times than I can remember.
• Increasing ramping times (does not affect issue).
• Checked logging to see if there is any weird current being applied (nothing seems to be out of order)

I will point out that these troubleshooting steps were performed on older firmware from about 6 months ago so I'm happy to try / retry anything! Any help is appreciated :)