Even if the measurement was crappy for some reason, i use to look for the input power on my TF02 instrument, and it never exceeds 2.4kW, this happens after a few seconds when reaching top speed normally. This time with the crane scale it was 28-31kg. We did 4 measurements, all had the same result. A week before we recorded 33kg, but that was with a very cheap luggage scale capturing maximum weight. You can barely hold it with two hands and a big handle, sitting on a rack. The amount of water pushing through the duct is enormous. If i had 80A motor current it would be higher bollard thrust…

…maybe we stop the discussion about thrust here, this thread is about custom VESC and the problems arising.

The slow abs current limit is calculated in BLDC mode like this:

```
// Filter out outliers
if (fabsf(last_current_sample) > (conf->l_abs_current_max * 1.2)) {
last_current_sample = SIGN(last_current_sample) * conf->l_abs_current_max * 1.2;
}
filter_add_sample((float*) current_fir_samples, last_current_sample,
CURR_FIR_TAPS_BITS, (uint32_t*) ¤t_fir_index);
last_current_sample_filtered = filter_run_fir_iteration(
(float*) current_fir_samples, (float*) current_fir_coeffs,
CURR_FIR_TAPS_BITS, current_fir_index);
```

So, as a first step the outliers are truncated to 120% of the maximum threshold. Than a FIR filter with a length of 16 is implemented. This is rather slow i think. How can it be, that this error is reached at all? I suspect it is an implementation problem or a concept problem, there is something wrong. How can it be, that the control over the current is lost for 16 and even more control cycles? Ok, a commutation happens, how many control cycles is this? one or several? If the commutation happens too early or too late, could this cause the error?

@Flo, what do you miss, when disabling the error reaction at all? General current control is still active i expect.