# SimpleFOC on VESC 6 (Flipsky FSVESC 6.7) **URL:** \ **Category:** hardware support\ **Created:** [March 7, 2022, 9:55pm UTC](https://community.simplefoc.com/t/simplefoc-on-vesc-6-flipsky-fsvesc-6-7/1787 "2022-03-07T21:55:28Z")\ **Posts on this page:** 1\ **Showing post:** 7
**Author:** ![luzz94](https://community.simplefoc.com/user_avatar/community.simplefoc.com/luzz94/32/2677_2.png) [@luzz94](https://community.simplefoc.com/u/luzz94)\ **Post date:** [March 8, 2022, 10:26pm UTC](https://community.simplefoc.com/t/simplefoc-on-vesc-6-flipsky-fsvesc-6-7/1787/7 "2022-03-08T22:26:25Z")
> [@Antun\_Skuric](#): > > The VESC does not have inline current sensing only low-side if I’m not mistaking The VESC 4 like the one that @Owen_Williams had tested it have the low-side current sensing in the two phase using the DRV8302 internal amplifiers. Instead the VESC 6 has the in-line current sensing with AD8418 in the tree phases and use the DRV8301. ![immagine](https://community.simplefoc.com/uploads/default/original/2X/5/512193cc62753accfae472c8763997a1dc8469d6.png) Now you put me in doubt and it is better to check tomorrow if it physically mounts this amplifier to be 100% sure. In any case one or two month ago i’ve tested the low-side current sensing in the B-G431B-ESC1 (if i remember correctly was in the dev branch) and effectively the “sound” and the behaviour of the motor was changed using the TorqueControlType::foc\_current and FOCModulationType::SinePWM but as i was saying the motor still was like jerky and “sounds” bad (but less in this modality). I have still in parallel this setup (B-G431B-ESC1 + unbranded motor) so i can compare the two! if I can make things work properly 😅 Today i’ve tried to use the TorqueControlType::foc\_current without success and to undestand what is going on i’ve tried to use the SimpleFOCStudio --- _[View the full topic](https://community.simplefoc.com/t/simplefoc-on-vesc-6-flipsky-fsvesc-6-7/1787)._