I am working on custom board based on VESC6 for 200A+, but it is not managing to track the motor position properly.
The board has 10k pull down resistors on the mosfet gates which I think are causing a voltage offset on the phases.
This means the absolute voltage on each phase does not go below 0 when the motor is free running. So I tried turning the motor with a drill and the BEMF plot looks nice but the tracking oscillates between 45 and 65 degrees.
Removed the resistors and still have the same problem, it won't even track when the main supply is turned off and just turning motor by hand, even though the adc inputs are very good.