I just upgraded to new fw from 2.18. My HW version is 4.12.
There is my build: https://endless-sphere.com/forums/viewtopic.php?f=35&t=86275
With old HW I don't experienced any problems running FOC. But with new fw it cogs slighly(more like vibrates), most noticeable it is when I am accelerating uphill from standstill. And a had few cutouts after going uphill a then downhill. Motor detection was made without belt. I think there is possibility that it is caused by noised signal from motor temp sensor.
So I can try to connect capacitor for filtering, or use shielded cable. Is there the way to turn off motor temperature limit?
Or maybe Benjamin should implement some sw filter.
EDIT: I can see picture in edit but not in post.