I didnt find the usage of the observer gain anywhere else as in those codelines:
I dont really understand how this code affects the sensorless position estimation used for FOC current control.
The literature for the estimator implemented in the code is found here: https://cas.mines-paristech.fr/~praly/Telechargement/Journaux/2010-IEEE_...
The observer gain and how is is calculated is not mentioned in a single sentence.
In the help-bos of the VESC-Tool, it says: "The observer gain. If the motor does not run smoothly with the calculated value, this value can be tweaked. Try with doubling or halving it in that case."
It seems to me that the observer gain, which is calculated by 1/(lambda^2), cant have much of a effect.
Can anyone explain the need of the observer gain and how it works?