Improper feedback from VESC with low speed ( BEMF )

Hello everyone,

             I have TRAMPA - VESC 6MK VI and GL40 motor and 12.6V and 6A  provided using DC power supply.  My project requirement is to get feedback from motor i.e. direction of rotation and speed and based on the input I should drive motor in same direction. 

             I tried to drive motor in FOC mode results in very low speed with 0.95 Duty cycle input and configuration detected is Sensorless. Then I changed motor type to BLDC mode then its running with required speed.

Control type is UART interface using Arduino. In App Settings -> General->Timeout = 1000ms 

BLDC ->Advanced-> Maximum switching frequency  = 40KHz 

1. Can you help with FOC configuration
2. If motor Sensor Mode changed to Sensored Mode then motor is not rotating( while in Sensorless mode it is rotating with required speed in BLDC motor type )
3. Feedback from VESC is improper with BEMF
   • if I drive motor with Duty cycle (+0.50) lets say in clockwise direction but because of some external force motor is being rotating in anticlockwise direction in that case VESC gives feedback in positive direction only and expected in negative direction ( i.e. RPM, motor average current, Duty cycle, in negative is expected but getting positive output only ) 
   • Motor direction of rotation is improper if external rotation is applied is opposite to the input provided to VESC

Reference video links :

I tried configurfation in both ways given below

1.  VESC 5.3 Config Settings for DIY Onewheels - Bing video

2.  VESC 5.3 Hub Motor Configuration using the Wizard - YouTube