Here are my Vq and Vd in “FOC Current” + “angle control”:
Vq seems ok and reacts as expected when I change the angle.
However, Vd seems flat and non-reactive. Is it normal?
Hey @quentin,
Yes that is exactly how it’s supposed to be.
The current control loop is trying to keep the d component of the current equal to 0.
The reason is because only the q component of the current actually generates the torque, and the d component, at least for the BLDC motors, will generate only the heat. 
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