Hello Benjamin,
My use case is paragliding towing using current mode to get constant force on the rope. The speed of the motor slowly decreasing when angle of aircraft increases. I noticed some glitches on the ERPM close to switch between observer and hall sensors.
I added 'acceleration' to vesc rpm graph and really see some glitches: https://drive.google.com/file/d/1Zjigupop-Tyj5qj0amLei8AbIaCJNjYn/view?u... near 4000 ERPM. This is my 'Sensorles ERPM' settings in the FOC -> Hall sensors section.
Is it possible to reduce glitching on observer swiching?
You can play with different ERPM settings for Switching from HALL to BMF. As far as I know Benjamin tried his best to have a smooth transition. It depends on the motor and sensors though.