It’s constant frequency so I’m assuming it’s a PWM thing, though I tried putting in code to change the PWM frequency and it made absolutely no difference.
try reducing the velocity_limit and/or limiting the output_ramp of the velocity PID. You could also try tuning the PID values for velocity and angle to see if it goes away…
My guess is the motor speed is exceeding the BGC3.1’s & AS5600 control loop’s bandwidth, causing this noise. Both the BGC3.1 and the sensor are a bit on the slow side for FOC control…