In the reference source code i saw the following

The MaxPositive torque is initialized with maximum Iq current. So my question is whether Torque equal to Iq current (T = Iq) or it is equal to some constant times the Iq current (T=K*Iq). Please help.

I donâ€™t want to be a downer/negative but this is pretty easy to find if you are looking for FOC theory which gives the feeling that you didnâ€™t really look for an answer before asking. If you did try to find the answer referencing what you did (such as â€śI already looked at resource X and googled with search term Yâ€ť) can help, both by telling people what you already tried so they donâ€™t tell you to do what you have already done and by making it clear that youâ€™ve already put in some effort yourself.

Now to answer your actual question, as the docs on torque control say:

And here they mean Iq with I as they are talking about the situation where the two fields are kept at 90 degrees to eachother by software.

Sorry I will be careful from next time.

This is the reference documentation i have and i am understanding

STM32F PMSM single/dual FOC SDK v4.3

on page 29, the torque equation is given as

p is the number of poles, which we can know from the motor, i am confused with the Flux (Phi_m), how do i get that value is it constant? Please advise, the subject of motor control is really huge and very confusing. I did some study on the flux but could not understand how to calculate it.