[Bug Report] : BLDC motor behaving erratically in Closed-Loop control mode

[Legohead259]

Describe the bug
The BLDC motor on the board is jittering at several points and not maintaining a constant set point.
Also, it jitters when the position and velocity targets are set to 0.
It also does not go to a position.

Expected behavior
The BLDC motor should maintain a constant velocity when set to a target.
The motor shaft should maintain a constant position when set to a target
No or minimal jittering expected

[Legohead259]

Potential causes:

• Untuned PID loop resulting in system instability
• Noisy/erroneous position sensor readings
• MCPWM mistimings, resulting from hardware control error

[Legohead259]

Increased strength of SimpleFOC low-pass filter and that seemed to reduce jittering.